diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5e4dda5cb9e3666750b26da934decb4e136ba5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_102_success.json @@ -0,0 +1,684 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24613011269885304, + 0.1501793794402178, + 1.0499285864182282 + ], + "current_z": 1.0499285864182282, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1888221380081071, + "gripper_z": 1.0550253884542555, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24146475516212063, + 0.14565764954321986, + 1.0550253884542555 + ], + "object_minus_gripper": [ + 0.004665357536732417, + 0.00452172989699795, + -0.005096802036027359 + ], + "object_to_gripper_xy": 0.0064970456522138635, + "object_to_gripper_z": -0.005096802036027359, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24613011269885304, + 0.12580884002716114, + 1.0499285864182282 + ], + "finger_b": [ + 0.23504839915982642, + 0.1501793794402178, + 1.0499285864182282 + ], + "finger_midpoint": [ + 0.24058925592933972, + 0.13799410973368947, + 1.0499285864182282 + ], + "object_minus_finger_midpoint": [ + 0.005540856769513325, + 0.012185269706528334, + 0.0 + ], + "finger_gap": 0.02677176808214942, + "fingertip_max_gap": 0.09497719328738713, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385884041074715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499285864182282, + "object_top_z": 1.1025436488925415, + "finger_top_clearance": 0.05261506247431336, + "fingertip_min_top_clearance": 0.01578451874229399, + "object_projection_between_fingers": 0.8286596180407392, + "object_to_finger_line_xy": 0.01008776617735324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04998859664369357, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7562870170152218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24632300551673894, + 0.14952018575961734, + 1.2441732353230004 + ], + "held_position": [ + 0.25120442215475836, + 0.15365652667270557, + 1.238921988805175 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008277266126819503, + "max_held_gripper_dist": 0.008289963564229987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005251246517825381, + "max_held_gripper_z_dist": 0.005276487643113059, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08608004815783887, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25120442215475836, + 0.1285280206790598, + 1.238921988805175 + ], + "held_grasp_finger_b": [ + 0.24192696651703888, + 0.15365652667270557, + 1.238921988805175 + ], + "held_grasp_midpoint": [ + 0.24656569433589862, + 0.14109227367588267, + 1.238921988805175 + ], + "held_grasp_object_position": [ + 0.25120442215475836, + 0.15365652667270557, + 1.238921988805175 + ], + "held_grasp_finger_gap": 0.026786433069420506, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024481874496267875, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06183668754900482, + -0.9970971464886559, + 0.04442414362873658 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038940533262662963, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03690562569644171, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2083359460554245, + 0.15832625767944003, + 0.7611065100409329 + ], + "target_position": [ + 0.2215771517686523, + 0.14663126512369543, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017666419547235333, + "xy_threshold": 0.08, + "gripper_dist": 0.20463346938903118, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065100409329, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07665956951361973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08954977596963369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17871314806670113, + "release_required_pad_clearance": 0.05477488798481685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6017344274709995, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 349, + "max_placed_release_frames": 349 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12311de5adcb2cbf409b5df34e0f11a5b3b307b89b5e318c09b61423ce7ed141", + "visual_seed": 8071699470876147954, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42edb30d2bab6788ed597570ee688fea462cc762 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_104_success.json @@ -0,0 +1,684 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2473919037855421, + 0.14970436804587514, + 1.0498934258528085 + ], + "current_z": 1.0498934258528085, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.1887870370473319, + "gripper_z": 1.0549324499946087, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24250615026786448, + 0.1449358685564675, + 1.0549324499946087 + ], + "object_minus_gripper": [ + 0.004885753517677616, + 0.004768499489407635, + -0.00503902414180013 + ], + "object_to_gripper_xy": 0.006827091241222727, + "object_to_gripper_z": -0.00503902414180013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2473919037855421, + 0.12541834604415258, + 1.0498934258528085 + ], + "finger_b": [ + 0.235649169225739, + 0.14970436804587514, + 1.0498934258528085 + ], + "finger_midpoint": [ + 0.24152053650564054, + 0.13756135704501388, + 1.0498934258528085 + ], + "object_minus_finger_midpoint": [ + 0.005871367279901563, + 0.012143011000861265, + 0.0 + ], + "finger_gap": 0.026975964850402406, + "fingertip_max_gap": 0.0932130772902377, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013487982425201198, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498934258528085, + "object_top_z": 1.1014663345021551, + "finger_top_clearance": 0.051572908649346605, + "fingertip_min_top_clearance": 0.015471872594803981, + "object_projection_between_fingers": 0.8105107775391632, + "object_to_finger_line_xy": 0.010571792759268504, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910653864511885, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1314664383687343, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24731781216473947, + 0.1488812236687704, + 1.244332123159015 + ], + "held_position": [ + 0.25249075539994165, + 0.15318440295569702, + 1.2391387328907801 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008499882126727084, + "max_held_gripper_dist": 0.008514245497600919, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005193390268234843, + "max_held_gripper_z_dist": 0.005221313314518472, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587601017150957, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25249075539994165, + 0.12793889193073013, + 1.2391387328907801 + ], + "held_grasp_finger_b": [ + 0.24283568324804045, + 0.15318440295569702, + 1.2391387328907801 + ], + "held_grasp_midpoint": [ + 0.24766321932399105, + 0.1405616474432136, + 1.2391387328907801 + ], + "held_grasp_object_position": [ + 0.25249075539994165, + 0.15318440295569702, + 1.2391387328907801 + ], + "held_grasp_finger_gap": 0.027028803990745556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024443380369513795, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07438031955102277, + -0.9966733371559228, + 0.03331406708830475 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038986748795270224, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036780412533391565, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2144649014424714, + 0.15659370686652366, + 0.7611063346280101 + ], + "target_position": [ + 0.2226230597779347, + 0.1461967849895557, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013215579137603616, + "xy_threshold": 0.08, + "gripper_dist": 0.20868254812527473, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063346280101, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566445249496973, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09200342271571686, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1821450874390927, + "release_required_pad_clearance": 0.05600171135785843, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.242515014245881, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 350, + "max_placed_release_frames": 350 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "be08725becb4654c00a3aa1bc637d880cdf69ac66c17bbbd07c433918aa097da", + "visual_seed": 3457547563413411261, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c522dd818b519d6a676463737674804634adac39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24812158840653267, + 0.15443393122407706, + 1.0477423194439925 + ], + "current_z": 1.0477423194439925, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.18663593063851613, + "gripper_z": 1.052754982729681, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24292567411960134, + 0.14946544570012849, + 1.052754982729681 + ], + "object_minus_gripper": [ + 0.005195914286931336, + 0.004968485523948574, + -0.00501266328568839 + ], + "object_to_gripper_xy": 0.007189114944054219, + "object_to_gripper_z": -0.00501266328568839, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24812158840653267, + 0.12999932036863998, + 1.0477423194439925 + ], + "finger_b": [ + 0.23599787046877654, + 0.15443393122407706, + 1.0477423194439925 + ], + "finger_midpoint": [ + 0.2420597294376546, + 0.14221662579635852, + 1.0477423194439925 + ], + "object_minus_finger_midpoint": [ + 0.006061858968878064, + 0.012217305427718539, + 0.0 + ], + "finger_gap": 0.027277000280289496, + "fingertip_max_gap": 0.09212920652002962, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013638500140144748, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477423194439925, + "object_top_z": 1.0986592108337925, + "finger_top_clearance": 0.050916891389799934, + "fingertip_min_top_clearance": 0.015275067416939979, + "object_projection_between_fingers": 0.8024493644119399, + "object_to_finger_line_xy": 0.010860370527774506, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856460326001481, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7839313993471202, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24773373234739055, + 0.1533220757908198, + 1.2410653312519502 + ], + "held_position": [ + 0.25323755979892415, + 0.1577832183389825, + 1.2358800678933761 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008779570920554904, + "max_held_gripper_dist": 0.00879389029079216, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005185263358574055, + "max_held_gripper_z_dist": 0.0052170336658086125, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591560804916573, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25323755979892415, + 0.13236207820857204, + 1.2358800678933761 + ], + "held_grasp_finger_b": [ + 0.24329447664312315, + 0.1577832183389825, + 1.2358800678933761 + ], + "held_grasp_midpoint": [ + 0.24826601822102365, + 0.14507264827377728, + 1.2358800678933761 + ], + "held_grasp_object_position": [ + 0.25323755979892415, + 0.1577832183389825, + 1.2358800678933761 + ], + "held_grasp_finger_gap": 0.02729650651957388, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024574780517059344, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07667192918632101, + -0.9966954965314337, + 0.026823543181441194 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003997368651525105, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667050444395011, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20840589161289894, + 0.15346251190668705, + 0.7611067120303114 + ], + "target_position": [ + 0.2230403326184391, + 0.15183103551662486, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01472510029697476, + "xy_threshold": 0.08, + "gripper_dist": 0.20527215608661298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067120303114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758736293405551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09096409550957525, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17716688175266146, + "release_required_pad_clearance": 0.05548204775478763, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.1040787875273645, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 339, + "max_placed_release_frames": 339 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd6f5e57355fd6ac09287b6c463e499f6e86a6ba0fd91d3b2c245f78b4aed85d", + "visual_seed": 6591540485779624372, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..87649bc853127a7090cc4a7f155d5ec875902e9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25027147827030327, + 0.15015011476307905, + 1.0506413611699292 + ], + "current_z": 1.0506413611699292, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.18953497236445271, + "gripper_z": 1.0558386416608683, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2451256276799046, + 0.14533333890210826, + 1.0558386416608683 + ], + "object_minus_gripper": [ + 0.005145850590398682, + 0.00481677586097079, + -0.005197280490939038 + ], + "object_to_gripper_xy": 0.007048482673138763, + "object_to_gripper_z": -0.005197280490939038, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25027147827030327, + 0.1255633142636735, + 1.0506413611699292 + ], + "finger_b": [ + 0.23859841968005105, + 0.15015011476307905, + 1.0506413611699292 + ], + "finger_midpoint": [ + 0.24443494897517715, + 0.13785671451337628, + 1.0506413611699292 + ], + "object_minus_finger_midpoint": [ + 0.005836529295126125, + 0.012293400249702768, + 0.0 + ], + "finger_gap": 0.027217109612319774, + "fingertip_max_gap": 0.0922972209486255, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013608554806159894, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506413611699292, + "object_top_z": 1.1017536875070821, + "finger_top_clearance": 0.0511123263371529, + "fingertip_min_top_clearance": 0.015333697901145887, + "object_projection_between_fingers": 0.8160561271767346, + "object_to_finger_line_xy": 0.01054495377593261, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864861047431275, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8689827605066085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.250104280826264, + 0.14889909995921052, + 1.2465235019665495 + ], + "held_position": [ + 0.2555249603858104, + 0.15325894798151302, + 1.2411837064639073 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008769575683857046, + "max_held_gripper_dist": 0.008783332041953164, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005339795502642186, + "max_held_gripper_z_dist": 0.005371478426876797, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08644607224383835, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2555249603858104, + 0.12788089552548162, + 1.2411837064639073 + ], + "held_grasp_finger_b": [ + 0.24572834573015612, + 0.15325894798151302, + 1.2411837064639073 + ], + "held_grasp_midpoint": [ + 0.25062665305798326, + 0.1405699217534973, + 1.2411837064639073 + ], + "held_grasp_object_position": [ + 0.2555249603858104, + 0.15325894798151302, + 1.2411837064639073 + ], + "held_grasp_finger_gap": 0.02720329401327092, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02458813856768741, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07259966793672608, + -0.996899568334657, + 0.03034038347898404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003983336111472384, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671494981534679, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21188169105406304, + 0.15060733597653886, + 0.7611065117009064 + ], + "target_position": [ + 0.2252551993004123, + 0.14633545883606833, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01403921853660118, + "xy_threshold": 0.08, + "gripper_dist": 0.20447785066132837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065117009064, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528659882172375, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08924991347343299, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17770019033884213, + "release_required_pad_clearance": 0.054624956736716496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.289142156772558, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 342, + "max_placed_release_frames": 342 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e5f419b6906fd2b316b769b0cbb6e536d09469577ddb1796b1bc47fbe718062d", + "visual_seed": 7456346459484192625, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d9fdd87a7d4cd577a7708b46c52d206c3b9ee94c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2456913299190862, + 0.14865214827507933, + 1.047305685414818 + ], + "current_z": 1.047305685414818, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18619923700469654, + "gripper_z": 1.0525232757832625, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24035731093886983, + 0.14365175484168516, + 1.0525232757832625 + ], + "object_minus_gripper": [ + 0.005334018980216376, + 0.0050003934333941735, + -0.005217590368444602 + ], + "object_to_gripper_xy": 0.007311340025606805, + "object_to_gripper_z": -0.005217590368444602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2456913299190862, + 0.12406404055960354, + 1.047305685414818 + ], + "finger_b": [ + 0.23359520358080876, + 0.14865214827507933, + 1.047305685414818 + ], + "finger_midpoint": [ + 0.2396432667499475, + 0.13635809441734142, + 1.047305685414818 + ], + "object_minus_finger_midpoint": [ + 0.006048063169138723, + 0.012294053857737908, + 0.0 + ], + "finger_gap": 0.0274023961255108, + "fingertip_max_gap": 0.09019058441791647, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013701198062755413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047305685414818, + "object_top_z": 1.0971336088174901, + "finger_top_clearance": 0.04982792340267217, + "fingertip_min_top_clearance": 0.014948377020801651, + "object_projection_between_fingers": 0.8051432081092079, + "object_to_finger_line_xy": 0.010853826650169467, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04759529220895824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.043930344824679834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24503981205456593, + 0.14784297208157451, + 1.2408960750451012 + ], + "held_position": [ + 0.2506492117170941, + 0.15238023115756835, + 1.235502355198499 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009008013004003218, + "max_held_gripper_dist": 0.009020534186142116, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005393719846602307, + "max_held_gripper_z_dist": 0.005422138275839927, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587772962722137, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2506492117170941, + 0.1269185351133161, + 1.235502355198499 + ], + "held_grasp_finger_b": [ + 0.24054182106832356, + 0.15238023115756835, + 1.235502355198499 + ], + "held_grasp_midpoint": [ + 0.24559551639270882, + 0.13964938313544223, + 1.235502355198499 + ], + "held_grasp_object_position": [ + 0.2506492117170941, + 0.15238023115756835, + 1.235502355198499 + ], + "held_grasp_finger_gap": 0.0273944759244769, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02464635533839668, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07362650329197017, + -0.9972048651096556, + 0.012712002778137 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004105935318185244, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665290057002179, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21394742872027536, + 0.15605295940592737, + 0.761106365508334 + ], + "target_position": [ + 0.22046474075550482, + 0.14526951216811482, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012599924225773496, + "xy_threshold": 0.08, + "gripper_dist": 0.20736469774448688, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106365508334, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539801614109116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0895977086907561, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18125980379787232, + "release_required_pad_clearance": 0.054798854345378054, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.651988740317697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 354, + "max_placed_release_frames": 354 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62de5dbbdf8c6efe3424871219057a5ea9d4a15c5b2f46915a07d82eaea33ad0", + "visual_seed": 3576063673846090366, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0541da365b2bc7e9208abcbb2b94d1985b7f5dca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24933066979077045, + 0.1539619745962879, + 1.0499524431566707 + ], + "current_z": 1.0499524431566707, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18884581593261496, + "gripper_z": 1.0551347791245547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24402941651292293, + 0.14903560584032777, + 1.0551347791245547 + ], + "object_minus_gripper": [ + 0.0053012532778475285, + 0.004926368755960142, + -0.0051823359678839775 + ], + "object_to_gripper_xy": 0.007236877464458649, + "object_to_gripper_z": -0.0051823359678839775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24933066979077045, + 0.12930814695663687, + 1.0499524431566707 + ], + "finger_b": [ + 0.23745568248950524, + 0.1539619745962879, + 1.0499524431566707 + ], + "finger_midpoint": [ + 0.24339317614013783, + 0.14163506077646237, + 1.0499524431566707 + ], + "object_minus_finger_midpoint": [ + 0.005937493650632619, + 0.012326913819825536, + 0.0 + ], + "finger_gap": 0.027364695150701602, + "fingertip_max_gap": 0.09171467978877385, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013682347575350818, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499524431566707, + "object_top_z": 1.1006269885864355, + "finger_top_clearance": 0.050674545429764795, + "fingertip_min_top_clearance": 0.015202363628929454, + "object_projection_between_fingers": 0.8116849286950807, + "object_to_finger_line_xy": 0.010698598633609542, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048357339894386925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5448799359451617, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24865537554805434, + 0.15318080502535136, + 1.2457136686136918 + ], + "held_position": [ + 0.25420786451934074, + 0.1576862303093421, + 1.2403959774432334 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008911051012661287, + "max_held_gripper_dist": 0.008924727593295823, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005317691170458438, + "max_held_gripper_z_dist": 0.005351623113112103, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674383888484338, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25420786451934074, + 0.13232360664192958, + 1.2403959774432334 + ], + "held_grasp_finger_b": [ + 0.2440115466920451, + 0.1576862303093421, + 1.2403959774432334 + ], + "held_grasp_midpoint": [ + 0.24910970560569293, + 0.14500491847563585, + 1.2403959774432334 + ], + "held_grasp_object_position": [ + 0.25420786451934074, + 0.1576862303093421, + 1.2403959774432334 + ], + "held_grasp_finger_gap": 0.027335463715291535, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024626952469967166, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06605501303060957, + -0.9975494139993507, + 0.02306299813724022 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004259680421109697, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03673325592816523, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21040524815105693, + 0.16182582060341918, + 0.7611168065320925 + ], + "target_position": [ + 0.22423554160887862, + 0.1515478216859897, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01723120073808401, + "xy_threshold": 0.08, + "gripper_dist": 0.20390051789497898, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611168065320925, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576472615336455, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09416688648221395, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17758460426758357, + "release_required_pad_clearance": 0.05708344324110698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.68571259884096, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ab61352c059efbbf388a0519d0ab55001781267eaf774909975561f5236f56fa", + "visual_seed": 1663341067804058085, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec20dd92ff2654131afc61b0f379319756306d2c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2466365173949922, + 0.1510441682390495, + 1.0493083499979732 + ], + "current_z": 1.0493083499979732, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18820184198320722, + "gripper_z": 1.0543905819301922, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24157601364135922, + 0.14617389001459985, + 1.0543905819301922 + ], + "object_minus_gripper": [ + 0.005060503753632983, + 0.004870278224449659, + -0.005082231932219017 + ], + "object_to_gripper_xy": 0.007023411437761712, + "object_to_gripper_z": -0.005082231932219017, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2466365173949922, + 0.1266595000237811, + 1.0493083499979732 + ], + "finger_b": [ + 0.23471229984800915, + 0.1510441682390495, + 1.0493083499979732 + ], + "finger_midpoint": [ + 0.2406744086215007, + 0.1388518341314153, + 1.0493083499979732 + ], + "object_minus_finger_midpoint": [ + 0.005962108773491515, + 0.012192334107634206, + 0.0 + ], + "finger_gap": 0.027144041852246326, + "fingertip_max_gap": 0.09154046363015383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013572020926123158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493083499979732, + "object_top_z": 1.0998847425383422, + "finger_top_clearance": 0.05057639254036905, + "fingertip_min_top_clearance": 0.015172917762110731, + "object_projection_between_fingers": 0.8070206901079111, + "object_to_finger_line_xy": 0.010712040977265174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827023181507692, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5641428790315731, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24647854151566756, + 0.15008139730570047, + 1.2426567693734314 + ], + "held_position": [ + 0.25182790561192747, + 0.15446748120196377, + 1.2374046857331646 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008685494271702243, + "max_held_gripper_dist": 0.008699271323044941, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005252083640266747, + "max_held_gripper_z_dist": 0.005280633194436168, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.085920593447533, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25182790561192747, + 0.12911861294566476, + 1.2374046857331646 + ], + "held_grasp_finger_b": [ + 0.24204201138288914, + 0.15446748120196377, + 1.2374046857331646 + ], + "held_grasp_midpoint": [ + 0.24693495849740832, + 0.14179304707381427, + 1.2374046857331646 + ], + "held_grasp_object_position": [ + 0.25182790561192747, + 0.15446748120196377, + 1.2374046857331646 + ], + "held_grasp_finger_gap": 0.02717220726656429, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453502474838521, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07516176537676159, + -0.9969103779672865, + 0.0228124379795489 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003937413966291265, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671721260985767, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21078300414693868, + 0.1456938983297487, + 0.7611070528600488 + ], + "target_position": [ + 0.22168975260248683, + 0.14788062372041025, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011123800151331643, + "xy_threshold": 0.08, + "gripper_dist": 0.2052504385634487, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070528600488, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533719718093865, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625906207940694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17666416459629253, + "release_required_pad_clearance": 0.05312953103970347, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2838788273557726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 351, + "max_placed_release_frames": 351 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e394585e9be1e7e424a74a0886039f650cf46ff9c5ca5828a1793056b076793", + "visual_seed": 9125750297707146994, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29be9c2b824be2b59cd8fab1af9212ad06c55f47 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24620201116992216, + 0.15228301803387767, + 1.0487047624714223 + ], + "current_z": 1.0487047624714223, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18759825445665645, + "gripper_z": 1.053670101870759, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24114205163460245, + 0.14738710919462877, + 1.053670101870759 + ], + "object_minus_gripper": [ + 0.005059959535319708, + 0.004895908839248897, + -0.004965339399336743 + ], + "object_to_gripper_xy": 0.007040817698343589, + "object_to_gripper_z": -0.004965339399336743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24620201116992216, + 0.12794896174371895, + 1.0487047624714223 + ], + "finger_b": [ + 0.2341751781681414, + 0.15228301803387767, + 1.0487047624714223 + ], + "finger_midpoint": [ + 0.24018859466903178, + 0.1401159898887983, + 1.0487047624714223 + ], + "object_minus_finger_midpoint": [ + 0.006013416500890378, + 0.012167028145079362, + 0.0 + ], + "finger_gap": 0.02714389448080979, + "fingertip_max_gap": 0.09259465174437678, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013571947240404895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487047624714223, + "object_top_z": 1.0997651117327212, + "finger_top_clearance": 0.051060349261298876, + "fingertip_min_top_clearance": 0.015318104778389663, + "object_projection_between_fingers": 0.8036828482383862, + "object_to_finger_line_xy": 0.01078185856729504, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879732587218839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9369126534191443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24597663617468316, + 0.15129754076127866, + 1.244653693931463 + ], + "held_position": [ + 0.2513751510022296, + 0.15568718904807005, + 1.239550292033655 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008628886681114778, + "max_held_gripper_dist": 0.008642102462560993, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005103401897808002, + "max_held_gripper_z_dist": 0.005132702156827262, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600064958790457, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2513751510022296, + 0.13035715773020815, + 1.239550292033655 + ], + "held_grasp_finger_b": [ + 0.24147420781492362, + 0.15568718904807005, + 1.239550292033655 + ], + "held_grasp_midpoint": [ + 0.24642467940857662, + 0.14302217338913908, + 1.239550292033655 + ], + "held_grasp_object_position": [ + 0.2513751510022296, + 0.15568718904807005, + 1.239550292033655 + ], + "held_grasp_finger_gap": 0.027196307884750203, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024507321379457502, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07482442481922195, + -0.9967675697586406, + 0.029252646511491398 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00400661210041434, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036725757001208344, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21421875401825727, + 0.1544502703389725, + 0.7611126842898968 + ], + "target_position": [ + 0.2211999575690525, + 0.14939620636431683, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008618628990596367, + "xy_threshold": 0.08, + "gripper_dist": 0.20776877191948895, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611126842898968, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555073608016045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08707964318789761, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18001907658308064, + "release_required_pad_clearance": 0.05353982159394881, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.058042405323875, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 353, + "max_placed_release_frames": 353 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cb9ebbfc549a1d0f86836037b2363c90e0917a9606f5f12344de6704b6e4966e", + "visual_seed": 7159390691209536730, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24cc1a6b10ce7032a2e3a1194182539d7ae24346 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24741540796110612, + 0.14994690076694808, + 1.0486150052907568 + ], + "current_z": 1.0486150052907568, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1875086164852804, + "gripper_z": 1.0537801846849124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24281372820058775, + 0.14532213319212853, + 1.0537801846849124 + ], + "object_minus_gripper": [ + 0.004601679760518368, + 0.004624767574819555, + -0.005165179394155617 + ], + "object_to_gripper_xy": 0.006524103903178331, + "object_to_gripper_z": -0.005165179394155617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24741540796110612, + 0.12589788458033369, + 1.0486150052907568 + ], + "finger_b": [ + 0.23583878901877614, + 0.14994690076694808, + 1.0486150052907568 + ], + "finger_midpoint": [ + 0.24162709848994113, + 0.13792239267364087, + 1.0486150052907568 + ], + "object_minus_finger_midpoint": [ + 0.005788309471164987, + 0.012024508093307212, + 0.0 + ], + "finger_gap": 0.02669032194785133, + "fingertip_max_gap": 0.09742672539452113, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013345160973925678, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486150052907568, + "object_top_z": 1.102867342924689, + "finger_top_clearance": 0.05425233763393211, + "fingertip_min_top_clearance": 0.016275701290179617, + "object_projection_between_fingers": 0.8118709546947792, + "object_to_finger_line_xy": 0.010430983068481623, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05121336269726057, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9649630031058174, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24727709073155696, + 0.14993903127699854, + 1.244355763435995 + ], + "held_position": [ + 0.2521475954152015, + 0.15415411129744805, + 1.2390679646889071 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008333638523592186, + "max_held_gripper_dist": 0.008348706883600326, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005287798747087846, + "max_held_gripper_z_dist": 0.005318437158600586, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08653179105837669, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2521475954152015, + 0.1291759790383723, + 1.2390679646889071 + ], + "held_grasp_finger_b": [ + 0.24248043457479096, + 0.15415411129744805, + 1.2390679646889071 + ], + "held_grasp_midpoint": [ + 0.24731401499499622, + 0.14166504516791018, + 1.2390679646889071 + ], + "held_grasp_object_position": [ + 0.2521475954152015, + 0.15415411129744805, + 1.2390679646889071 + ], + "held_grasp_finger_gap": 0.026783597403378198, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024167563885904235, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0718153912764677, + -0.9953432292823808, + 0.06429934290123074 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004007760989947291, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03694221718885632, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20882701000650214, + 0.15130227836841753, + 0.7611069934333685 + ], + "target_position": [ + 0.2229817420288959, + 0.1467273345244581, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014875703338032845, + "xy_threshold": 0.08, + "gripper_dist": 0.2040083476870317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069934333685, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563392930883633, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856634351285138, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17696716627713216, + "release_required_pad_clearance": 0.052831717564256905, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7077556352402435, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 346, + "max_placed_release_frames": 346 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2c1a229398375c2a6b84dde0f3b46968585230bf5460a81f282b0d7979e780e", + "visual_seed": 7933709350468745214, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2e6ae7a9e34382f1d5a896f6690b68bb9df264ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25009165250449933, + 0.1492636381515733, + 1.0505545600346151 + ], + "current_z": 1.0505545600346151, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18944811162449393, + "gripper_z": 1.0554398000557381, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24496066557249077, + 0.14449604731042553, + 1.0554398000557381 + ], + "object_minus_gripper": [ + 0.005130986932008558, + 0.0047675908411477785, + -0.004885240021123005 + ], + "object_to_gripper_xy": 0.007004066627684147, + "object_to_gripper_z": -0.004885240021123005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25009165250449933, + 0.12462189337985823, + 1.0505545600346151 + ], + "finger_b": [ + 0.2385814787252307, + 0.1492636381515733, + 1.0505545600346151 + ], + "finger_midpoint": [ + 0.244336565614865, + 0.13694276576571576, + 1.0505545600346151 + ], + "object_minus_finger_midpoint": [ + 0.005755086889634331, + 0.01232087238585755, + 0.0 + ], + "finger_gap": 0.0271974205729755, + "fingertip_max_gap": 0.0926231716670542, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013598710286487762, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505545600346151, + "object_top_z": 1.1016647076200408, + "finger_top_clearance": 0.05111014758542565, + "fingertip_min_top_clearance": 0.01533304427562771, + "object_projection_between_fingers": 0.8208947455729904, + "object_to_finger_line_xy": 0.010428590600560573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488115858335271, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8378294927231462, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24967890843930124, + 0.1487107187487961, + 1.2438869192103403 + ], + "held_position": [ + 0.2550037567823078, + 0.15311044102704832, + 1.238837740682439 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008556037038745771, + "max_held_gripper_dist": 0.008568283157517741, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005049178527901432, + "max_held_gripper_z_dist": 0.005078262673012146, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576913392041699, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2550037567823078, + 0.12780520079215488, + 1.238837740682439 + ], + "held_grasp_finger_b": [ + 0.2451413515431229, + 0.15311044102704832, + 1.238837740682439 + ], + "held_grasp_midpoint": [ + 0.25007255416271534, + 0.1404578209096016, + 1.238837740682439 + ], + "held_grasp_object_position": [ + 0.2550037567823078, + 0.15311044102704832, + 1.238837740682439 + ], + "held_grasp_finger_gap": 0.02715920139561493, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024739489055774177, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05288221520146802, + -0.9982531150684099, + 0.02634747751876531 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004268511199361295, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03682895970594531, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22501550232458017, + 0.15035581608168222, + 0.7611064154571408 + ], + "target_position": [ + 0.22515568592531368, + 0.14768055797722132, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002678928399080186, + "xy_threshold": 0.08, + "gripper_dist": 0.2136027661562654, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064154571408, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580723337119993, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09075965364408013, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1843531492576207, + "release_required_pad_clearance": 0.05537982682204007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.8836896352235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ed4f36850d782a234f56242ad9d91070f711a86842a1cbf22dd1ea142492ee2", + "visual_seed": 6809029941916764410, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8e247a84b71671506bcc53220acb933e65f88ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24539575680912964, + 0.15834847340327252, + 1.0493401307270354 + ], + "current_z": 1.0493401307270354, + "required_z": 0.8611069252472795, + "initial_z": 0.7611069252472795, + "lift_margin": 0.18823320547975586, + "gripper_z": 1.054581078137941, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2402098473746192, + 0.15341975021527515, + 1.054581078137941 + ], + "object_minus_gripper": [ + 0.005185909434510444, + 0.004928723187997364, + -0.005240947410905639 + ], + "object_to_gripper_xy": 0.007154437009775635, + "object_to_gripper_z": -0.005240947410905639, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24539575680912964, + 0.1338768457602344, + 1.0493401307270354 + ], + "finger_b": [ + 0.23338203690946346, + 0.15834847340327252, + 1.0493401307270354 + ], + "finger_midpoint": [ + 0.23938889685929654, + 0.14611265958175346, + 1.0493401307270354 + ], + "object_minus_finger_midpoint": [ + 0.006006859949833104, + 0.01223581382151906, + 0.0 + ], + "finger_gap": 0.027261511794600506, + "fingertip_max_gap": 0.09214940132498353, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363075589730026, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493401307270354, + "object_top_z": 1.100195174479031, + "finger_top_clearance": 0.05085504375199568, + "fingertip_min_top_clearance": 0.015256513125598718, + "object_projection_between_fingers": 0.8057973588059081, + "object_to_finger_line_xy": 0.010784261790302379, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857470066249177, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7398673385539888, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2449749240734482, + 0.15727240358581016, + 1.244015552083917 + ], + "held_position": [ + 0.2504586889888191, + 0.16171264160451468, + 1.2386186344064336 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008883361510561965, + "max_held_gripper_dist": 0.008896316890355648, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005396917677483293, + "max_held_gripper_z_dist": 0.005435109964913698, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08690166257449222, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2504586889888191, + 0.13632905286354755, + 1.2386186344064336 + ], + "held_grasp_finger_b": [ + 0.24049529025551597, + 0.16171264160451468, + 1.2386186344064336 + ], + "held_grasp_midpoint": [ + 0.24547698962216755, + 0.1490208472340311, + 1.2386186344064336 + ], + "held_grasp_object_position": [ + 0.2504586889888191, + 0.16171264160451468, + 1.2386186344064336 + ], + "held_grasp_finger_gap": 0.027268954723079143, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024594740443689797, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07174204926391856, + -0.9970826168327759, + 0.026064028416911578 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004072166310289734, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670808520548946, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20530564591085607, + 0.16961292598117317, + 0.7611077099342904 + ], + "target_position": [ + 0.22033400376769352, + 0.1535082645412285, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022027520513403415, + "xy_threshold": 0.08, + "gripper_dist": 0.2037475795407275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077099342904, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07797813836715718, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561138524747962, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17888431175091232, + "release_required_pad_clearance": 0.05280569262373981, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6572986359497308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 355, + "max_placed_release_frames": 355 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "860687fb39a28aa00907e600cdba6626ba837dbe4957649f3ae6cf861589900a", + "visual_seed": 1815489440198376413, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fdbaa25eefc14115f1677b37f1c9975014ab7dc9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2471841566635347, + 0.14718576041022507, + 1.0494122491729434 + ], + "current_z": 1.0494122491729434, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18830580076282233, + "gripper_z": 1.0545871733274448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2424099101220467, + 0.14240769072334208, + 1.0545871733274448 + ], + "object_minus_gripper": [ + 0.004774246541487975, + 0.004778069686882991, + -0.005174924154501381 + ], + "object_to_gripper_xy": 0.006754508122107783, + "object_to_gripper_z": -0.005174924154501381, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2471841566635347, + 0.12308638134430097, + 1.0494122491729434 + ], + "finger_b": [ + 0.23528935253043054, + 0.14718576041022507, + 1.0494122491729434 + ], + "finger_midpoint": [ + 0.24123675459698263, + 0.13513607087726304, + 1.0494122491729434 + ], + "object_minus_finger_midpoint": [ + 0.00594740206655206, + 0.012049689532962038, + 0.0 + ], + "finger_gap": 0.026875015101912265, + "fingertip_max_gap": 0.09545186962366928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013437507550956115, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494122491729434, + "object_top_z": 1.1021079235191733, + "finger_top_clearance": 0.052695674346229904, + "fingertip_min_top_clearance": 0.015808702303868955, + "object_projection_between_fingers": 0.8041077943398999, + "object_to_finger_line_xy": 0.01066631563299849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05022593481183464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9454958974688479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2472959818399734, + 0.14625974227023392, + 1.2424574242799773 + ], + "held_position": [ + 0.25238833063218485, + 0.15052780085854367, + 1.237107053155233 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008530815406939658, + "max_held_gripper_dist": 0.008543857247057099, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005350371124744235, + "max_held_gripper_z_dist": 0.005375729024656772, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870253013192055, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25238833063218485, + 0.1252644887442305, + 1.237107053155233 + ], + "held_grasp_finger_b": [ + 0.24292069581301168, + 0.15052780085854367, + 1.237107053155233 + ], + "held_grasp_midpoint": [ + 0.24765451322259827, + 0.13789614480138707, + 1.237107053155233 + ], + "held_grasp_object_position": [ + 0.25238833063218485, + 0.15052780085854367, + 1.237107053155233 + ], + "held_grasp_finger_gap": 0.02697908538209595, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02441356415171298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07867207030765347, + -0.9958473564359133, + 0.045812094834341115 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003771377497734742, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03676862956209739, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20884961685884218, + 0.14794933765606993, + 0.7611063314634036 + ], + "target_position": [ + 0.22246097311323718, + 0.14578763831782102, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013781943372146164, + "xy_threshold": 0.08, + "gripper_dist": 0.2058447657910557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063314634036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756269576775948, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09362624924294712, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782819266809647, + "release_required_pad_clearance": 0.05681312462147356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.086158759149825, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 349, + "max_placed_release_frames": 349 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c3e152b060f0117a27b1e4fb7fa2090a543c810c185d04d28ae8313825bfcaac", + "visual_seed": 5416270273022382263, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a94e654e0a7c2d91cad3e15560ffebf2c77b5e64 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24625303871336804, + 0.15465755387224345, + 1.0474318375442064 + ], + "current_z": 1.0474318375442064, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.1863254487387298, + "gripper_z": 1.0526477267244538, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24087351402860108, + 0.14968190946726123, + 1.0526477267244538 + ], + "object_minus_gripper": [ + 0.005379524684766962, + 0.004975644404982216, + -0.005215889180247402 + ], + "object_to_gripper_xy": 0.007327777499272744, + "object_to_gripper_z": -0.005215889180247402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24625303871336804, + 0.12998275456125832, + 1.0474318375442064 + ], + "finger_b": [ + 0.23425825339130613, + 0.15465755387224345, + 1.0474318375442064 + ], + "finger_midpoint": [ + 0.24025564605233707, + 0.14232015421675087, + 1.0474318375442064 + ], + "object_minus_finger_midpoint": [ + 0.00599739266103097, + 0.012337399655492576, + 0.0 + ], + "finger_gap": 0.027435753971045588, + "fingertip_max_gap": 0.09023087752443318, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013717876985522813, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474318375442064, + "object_top_z": 1.0972391987938135, + "finger_top_clearance": 0.04980736124960705, + "fingertip_min_top_clearance": 0.014942208374882082, + "object_projection_between_fingers": 0.8088601857121942, + "object_to_finger_line_xy": 0.010787708656105456, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761543876221659, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23839948813306658, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2455311798681732, + 0.15389257804097106, + 1.2424507036352714 + ], + "held_position": [ + 0.2511640418617504, + 0.15842956468634928, + 1.2370802130936895 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00900863756159873, + "max_held_gripper_dist": 0.009022239239391518, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005370490541581896, + "max_held_gripper_z_dist": 0.00540619268813658, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08681535302247728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2511640418617504, + 0.13300945446647067, + 1.2370802130936895 + ], + "held_grasp_finger_b": [ + 0.24094856700769396, + 0.15842956468634928, + 1.2370802130936895 + ], + "held_grasp_midpoint": [ + 0.24605630443472218, + 0.14571950957640997, + 1.2370802130936895 + ], + "held_grasp_object_position": [ + 0.2511640418617504, + 0.15842956468634928, + 1.2370802130936895 + ], + "held_grasp_finger_gap": 0.027395947329571145, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024638291757050308, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07021150745189454, + -0.997459705192876, + 0.01202001405463915 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004205594411553542, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668386030272968, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2061750824649351, + 0.1603471770150269, + 0.7611091780010067 + ], + "target_position": [ + 0.2209625456444947, + 0.15104324487705964, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017470896385553054, + "xy_threshold": 0.08, + "gripper_dist": 0.2023696201947814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091780010067, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573493456327723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08948431865286939, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1762010824398894, + "release_required_pad_clearance": 0.0547421593264347, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.522446516719147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 346, + "max_placed_release_frames": 346 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d080f1bcb41f2042d5c877f2e889508e3c53d059833d6c5654a3e63cad75608e", + "visual_seed": 6222421376822273868, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3b0a7e2d01d88da85eabf05912d5b7db1238d4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2500951686569401, + 0.14949757835001573, + 1.0482166120347087 + ], + "current_z": 1.0482166120347087, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18711010401994288, + "gripper_z": 1.0531622460643153, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24474247878806568, + 0.14464365775097432, + 1.0531622460643153 + ], + "object_minus_gripper": [ + 0.005352689868874411, + 0.004853920599041411, + -0.0049456340296065715 + ], + "object_to_gripper_xy": 0.007225775668684248, + "object_to_gripper_z": -0.0049456340296065715, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2500951686569401, + 0.12464085743408368, + 1.0482166120347087 + ], + "finger_b": [ + 0.23853852246647492, + 0.14949757835001573, + 1.0482166120347087 + ], + "finger_midpoint": [ + 0.24431684556170752, + 0.1370692178920497, + 1.0482166120347087 + ], + "object_minus_finger_midpoint": [ + 0.005778323095232574, + 0.012428360457966026, + 0.0 + ], + "finger_gap": 0.027411907008891723, + "fingertip_max_gap": 0.09495199810961147, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013705953504445857, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482166120347087, + "object_top_z": 1.1003416291427521, + "finger_top_clearance": 0.0521250171080434, + "fingertip_min_top_clearance": 0.01563750513241302, + "object_projection_between_fingers": 0.8222600166410516, + "object_to_finger_line_xy": 0.010479399663342732, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049975999054805736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5628601222964704, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24947929318934334, + 0.14855891732704896, + 1.2419346149542876 + ], + "held_position": [ + 0.2550170434801952, + 0.1530463518237856, + 1.2368225091312826 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008771395133724965, + "max_held_gripper_dist": 0.00878454233148439, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005112105823005031, + "max_held_gripper_z_dist": 0.005141138372859455, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595398864998303, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2550170434801952, + 0.12760516622658896, + 1.2368225091312826 + ], + "held_grasp_finger_b": [ + 0.2450183648219027, + 0.1530463518237856, + 1.2368225091312826 + ], + "held_grasp_midpoint": [ + 0.25001770415104896, + 0.1403257590251873, + 1.2368225091312826 + ], + "held_grasp_object_position": [ + 0.2550170434801952, + 0.1530463518237856, + 1.2368225091312826 + ], + "held_grasp_finger_gap": 0.027335462306366787, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024999332783953096, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04042207434773369, + -0.9985187215039582, + 0.03642003173429731 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004505324638354708, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03681641634601392, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21840335187018528, + 0.14842741273149893, + 0.7611135016371563 + ], + "target_position": [ + 0.22487469237002775, + 0.14777999177671858, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006503645266893792, + "xy_threshold": 0.08, + "gripper_dist": 0.20798889134825027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611135016371563, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581904852854596, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544437148510382, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1788652378140517, + "release_required_pad_clearance": 0.052722185742551914, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4762142236063599, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 294, + "max_placed_release_frames": 294 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b72cef343ef27089c9c3b606a63cd55cb155cf747be12af5231a78bc8d59e495", + "visual_seed": 7714725380373693447, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5963a83f78c3bfebaebe08693d655e0be0399e9f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2495244452666306, + 0.15813132000725996, + 1.0496552868743563 + ], + "current_z": 1.0496552868743563, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1885487788595901, + "gripper_z": 1.0544388592459621, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2444345746302131, + 0.15319120759794264, + 1.0544388592459621 + ], + "object_minus_gripper": [ + 0.005089870636417498, + 0.0049401124093173265, + -0.004783572371605871 + ], + "object_to_gripper_xy": 0.007093059545228428, + "object_to_gripper_z": -0.004783572371605871, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2495244452666306, + 0.13381218116483135, + 1.0496552868743563 + ], + "finger_b": [ + 0.23738298088294751, + 0.15813132000725996, + 1.0496552868743563 + ], + "finger_midpoint": [ + 0.24345371307478905, + 0.14597175058604567, + 1.0496552868743563 + ], + "object_minus_finger_midpoint": [ + 0.006070732191841538, + 0.012159569421214295, + 0.0 + ], + "finger_gap": 0.027181531807783845, + "fingertip_max_gap": 0.09168800561332152, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359076590389191, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496552868743563, + "object_top_z": 1.1004176278913276, + "finger_top_clearance": 0.0507623410169713, + "fingertip_min_top_clearance": 0.015228702305091373, + "object_projection_between_fingers": 0.8004763940303437, + "object_to_finger_line_xy": 0.010862888824118297, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834400280666076, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6807619218681598, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2494154434303592, + 0.15669415491766725, + 1.2457284577452712 + ], + "held_position": [ + 0.2548697269084492, + 0.16108088027806627, + 1.2407971418403636 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008562151844070985, + "max_held_gripper_dist": 0.00857584583361176, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004931315904907585, + "max_held_gripper_z_dist": 0.004963050589727125, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866182551801854, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2548697269084492, + 0.1356847586387309, + 1.2407971418403636 + ], + "held_grasp_finger_b": [ + 0.24502646496110797, + 0.16108088027806627, + 1.2407971418403636 + ], + "held_grasp_midpoint": [ + 0.2499480959347786, + 0.1483828194583986, + 1.2407971418403636 + ], + "held_grasp_object_position": [ + 0.2548697269084492, + 0.16108088027806627, + 1.2407971418403636 + ], + "held_grasp_finger_gap": 0.027236974870273226, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024427457890914668, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08750057049639431, + -0.9957720822884782, + 0.027957294176539797 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003808812479906508, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036645230088699916, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21295545000991983, + 0.16076709901528474, + 0.7611284510076096 + ], + "target_position": [ + 0.2245719819997046, + 0.15333617990422482, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013789937429328982, + "xy_threshold": 0.08, + "gripper_dist": 0.20583247415271444, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611284510076096, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583484383201855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08819287711609743, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782392028270048, + "release_required_pad_clearance": 0.054096438558048715, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.15941805876398, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 342, + "max_placed_release_frames": 342 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b19ce4895b464b2a221782224e9c70bda298c8224661a83e6fd8129d1a25a84", + "visual_seed": 2381101174566928118, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3131ed594caf992169076bd332ffcc9e22a9323 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24508165288305395, + 0.14936760910248387, + 1.0485237926639286 + ], + "current_z": 1.0485237926639286, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.1874171654398732, + "gripper_z": 1.0534975830063997, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23990317212819687, + 0.14436412865707612, + 1.0534975830063997 + ], + "object_minus_gripper": [ + 0.005178480754857079, + 0.005003480445407743, + -0.0049737903424711405 + ], + "object_to_gripper_xy": 0.00720079714309484, + "object_to_gripper_z": -0.0049737903424711405, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24508165288305395, + 0.12500175171918748, + 1.0485237926639286 + ], + "finger_b": [ + 0.2328335310513261, + 0.14936760910248387, + 1.0485237926639286 + ], + "finger_midpoint": [ + 0.23895759196719002, + 0.13718468041083567, + 1.0485237926639286 + ], + "object_minus_finger_midpoint": [ + 0.006124060915863927, + 0.012182928691648193, + 0.0 + ], + "finger_gap": 0.027271074317451953, + "fingertip_max_gap": 0.09067562707635266, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635537158725976, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485237926639286, + "object_top_z": 1.0986388769870707, + "finger_top_clearance": 0.050115084323142156, + "fingertip_min_top_clearance": 0.015034525296942613, + "object_projection_between_fingers": 0.7982867153072161, + "object_to_finger_line_xy": 0.01094331621450415, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783781353817633, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25221939351995865, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24474876310373164, + 0.14819365834559795, + 1.243862388006405 + ], + "held_position": [ + 0.25028807479776505, + 0.15267202709551153, + 1.2387419212951514 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008772624467336707, + "max_held_gripper_dist": 0.008787057565377284, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005120466711253657, + "max_held_gripper_z_dist": 0.005155576408218954, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08605202173055865, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25028807479776505, + 0.1272386161639775, + 1.2387419212951514 + ], + "held_grasp_finger_b": [ + 0.2402803194808314, + 0.15267202709551153, + 1.2387419212951514 + ], + "held_grasp_midpoint": [ + 0.24528419713929822, + 0.1399553216297445, + 1.2387419212951514 + ], + "held_grasp_object_position": [ + 0.25028807479776505, + 0.15267202709551153, + 1.2387419212951514 + ], + "held_grasp_finger_gap": 0.027331548768701138, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024482155707374293, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08535448523013385, + -0.996184215281427, + 0.01821046609031407 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003907289248852286, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662496541302191, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21220140208258115, + 0.14905823329649284, + 0.7611097677074946 + ], + "target_position": [ + 0.21996298865821484, + 0.14443508825911855, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009034140590430046, + "xy_threshold": 0.08, + "gripper_dist": 0.20983021612736868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097677074946, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538835888427098, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08878557777825609, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18262947934077528, + "release_required_pad_clearance": 0.054392788889128046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.801263192566752, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 365, + "max_placed_release_frames": 365 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fe33b5fc93da5bf113145fa12bd02c0a94ac8a783a59d9ca81415bb4ee44d08", + "visual_seed": 338855686333432876, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e1bbdf98f00df93cf7763daf1e9dca527dd8ec93 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25254768639526304, + 0.15154430092768292, + 1.0504854082145556 + ], + "current_z": 1.0504854082145556, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.1893787213858552, + "gripper_z": 1.0554724047617499, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24753091431702287, + 0.14670607571778846, + 1.0554724047617499 + ], + "object_minus_gripper": [ + 0.005016772078240167, + 0.0048382252098944645, + -0.004986996547194256 + ], + "object_to_gripper_xy": 0.006969678993086302, + "object_to_gripper_z": -0.004986996547194256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25254768639526304, + 0.12719576582131084, + 1.0504854082145556 + ], + "finger_b": [ + 0.24065803470434685, + 0.15154430092768292, + 1.0504854082145556 + ], + "finger_midpoint": [ + 0.24660286054980496, + 0.13937003337449688, + 1.0504854082145556 + ], + "object_minus_finger_midpoint": [ + 0.005944825845458079, + 0.012174267553186041, + 0.0 + ], + "finger_gap": 0.02709640159057176, + "fingertip_max_gap": 0.09225261810220034, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013548200795285875, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0504854082145556, + "object_top_z": 1.101498587373903, + "finger_top_clearance": 0.05101317915934733, + "fingertip_min_top_clearance": 0.015303953747804199, + "object_projection_between_fingers": 0.8074626351351328, + "object_to_finger_line_xy": 0.010683913162090846, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862630905110017, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8066965720928592, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25246367762141486, + 0.15052638904137428, + 1.2441665377562505 + ], + "held_position": [ + 0.2577627350236438, + 0.15488042317409426, + 1.239003323969722 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008584660691396354, + "max_held_gripper_dist": 0.00859917249664398, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005163213786528509, + "max_held_gripper_z_dist": 0.005193934227650132, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08612155157118939, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2577627350236438, + 0.12954510749260884, + 1.239003323969722 + ], + "held_grasp_finger_b": [ + 0.24805873660421593, + 0.15488042317409426, + 1.239003323969722 + ], + "held_grasp_midpoint": [ + 0.25291073581392987, + 0.14221276533335153, + 1.239003323969722 + ], + "held_grasp_object_position": [ + 0.2577627350236438, + 0.15488042317409426, + 1.239003323969722 + ], + "held_grasp_finger_gap": 0.027130164135234773, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024510590580470806, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07636082573417094, + -0.9966955308614845, + 0.027695542131169204 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038868524067276642, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03672394944762906, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.214063840901715, + 0.15987713052987756, + 0.7611068928529812 + ], + "target_position": [ + 0.2276912950288137, + 0.1482519123878504, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017912375689335465, + "xy_threshold": 0.08, + "gripper_dist": 0.20359967921887248, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068928529812, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547618684714574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09402633498892114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17792821220712762, + "release_required_pad_clearance": 0.05701316749446057, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.55163330779271, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 331, + "max_placed_release_frames": 331 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b07689c6dd8e118169aabecd3432582523ec625439c7f02efcf1678873f66e6", + "visual_seed": 309411642833805687, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a8174bd2e4a9f3d09b71d0715d3bd8b08e381d3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25204097618932797, + 0.14919494357210852, + 1.0490814449232824 + ], + "current_z": 1.0490814449232824, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1879749965131613, + "gripper_z": 1.054492080736186, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24708881241522623, + 0.14439062895447785, + 1.054492080736186 + ], + "object_minus_gripper": [ + 0.004952163774101737, + 0.004804314617630673, + -0.005410635812903575 + ], + "object_to_gripper_xy": 0.006899664121586304, + "object_to_gripper_z": -0.005410635812903575, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25204097618932797, + 0.12486562741303084, + 1.0490814449232824 + ], + "finger_b": [ + 0.2402385691461562, + 0.14919494357210852, + 1.0490814449232824 + ], + "finger_midpoint": [ + 0.2461397726677421, + 0.13703028549256968, + 1.0490814449232824 + ], + "object_minus_finger_midpoint": [ + 0.005901203521585879, + 0.012164658079538843, + 0.0 + ], + "finger_gap": 0.027040940012896537, + "fingertip_max_gap": 0.09416119676485879, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013520470006448269, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490814449232824, + "object_top_z": 1.1012997064280645, + "finger_top_clearance": 0.05221826150478215, + "fingertip_min_top_clearance": 0.015665478451434612, + "object_projection_between_fingers": 0.8094988473856921, + "object_to_finger_line_xy": 0.010618879826459588, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0495805983824294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5020665119048313, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.251917027850311, + 0.1482869259703133, + 1.2434191103155428 + ], + "held_position": [ + 0.257150180650077, + 0.15262144819412224, + 1.237852914890694 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008783877426398837, + "max_held_gripper_dist": 0.008798447162657269, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005566195424848708, + "max_held_gripper_z_dist": 0.00559598416567586, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08594136978234068, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.257150180650077, + 0.12734376346184245, + 1.237852914890694 + ], + "held_grasp_finger_b": [ + 0.24743302343002466, + 0.15262144819412224, + 1.237852914890694 + ], + "held_grasp_midpoint": [ + 0.25229160204005086, + 0.13998260582798233, + 1.237852914890694 + ], + "held_grasp_object_position": [ + 0.257150180650077, + 0.15262144819412224, + 1.237852914890694 + ], + "held_grasp_finger_gap": 0.02708107253902153, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024437838130159335, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07669501186901884, + -0.9962579993066127, + 0.03984813636792073 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00390848420210294, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03675607351669036, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21855331410328047, + 0.15281672450897282, + 0.7611237461525651 + ], + "target_position": [ + 0.22726091189097536, + 0.1450972485566358, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011636690603903608, + "xy_threshold": 0.08, + "gripper_dist": 0.20751855757010026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611237461525651, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566787356666829, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08925384576086408, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18034807325545799, + "release_required_pad_clearance": 0.05462692288043204, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.2107318164749845, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "379f7eb2aa86153964e03a7877069adb8ee90a3440440756d98dd0ba64d35de6", + "visual_seed": 3424737246552831726, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc7ba9c9124357eafc26311a373999120de2394 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2510020019972381, + 0.14813922129463739, + 1.0502535166885987 + ], + "current_z": 1.0502535166885987, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.18914694906918772, + "gripper_z": 1.0551394170417572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24612686357779595, + 0.14339791018490466, + 1.0551394170417572 + ], + "object_minus_gripper": [ + 0.004875138419442149, + 0.004741311109732721, + -0.004885900353158501 + ], + "object_to_gripper_xy": 0.006800515101666624, + "object_to_gripper_z": -0.004885900353158501, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2510020019972381, + 0.12384457430287611, + 1.0502535166885987 + ], + "finger_b": [ + 0.23931432253402082, + 0.14813922129463739, + 1.0502535166885987 + ], + "finger_midpoint": [ + 0.24515816226562948, + 0.13599189779875676, + 1.0502535166885987 + ], + "object_minus_finger_midpoint": [ + 0.005843839731608624, + 0.01214732349588063, + 0.0 + ], + "finger_gap": 0.026959816833376407, + "fingertip_max_gap": 0.09311396383648471, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013479908416688191, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502535166885987, + "object_top_z": 1.1016715869347868, + "finger_top_clearance": 0.05141807024618816, + "fingertip_min_top_clearance": 0.015425421073856464, + "object_projection_between_fingers": 0.8120584905931789, + "object_to_finger_line_xy": 0.010532269134714318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905698191824236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0361248266707597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25098624401767244, + 0.14727382729406707, + 1.2460388568002945 + ], + "held_position": [ + 0.2561590861773828, + 0.15155353996178295, + 1.241020310799255 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008382126251258322, + "max_held_gripper_dist": 0.008396252631970065, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005018546001039459, + "max_held_gripper_z_dist": 0.0050468367670968295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08607638083866219, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2561590861773828, + 0.1263363153255114, + 1.241020310799255 + ], + "held_grasp_finger_b": [ + 0.24647114638134013, + 0.15155353996178295, + 1.241020310799255 + ], + "held_grasp_midpoint": [ + 0.2513151162793615, + 0.1389449276436472, + 1.241020310799255 + ], + "held_grasp_object_position": [ + 0.2561590861773828, + 0.15155353996178295, + 1.241020310799255 + ], + "held_grasp_finger_gap": 0.02701415547167685, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024448781363842507, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07133934589720571, + -0.9969341596705039, + 0.0321399908062383 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003953535279065595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036804728100032616, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2090467798142247, + 0.154873397139808, + 0.7611192251261637 + ], + "target_position": [ + 0.22629978699237718, + 0.14430175519984118, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02023427463479347, + "xy_threshold": 0.08, + "gripper_dist": 0.2033306063111048, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611192251261637, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552161739710804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09058190309780152, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1779995819120219, + "release_required_pad_clearance": 0.05529095154890076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.630038739548929, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 344, + "max_placed_release_frames": 344 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cce32c2903901f5ae4ebdf45028ac318af77423a1415ed0586eabfe653f00ea6", + "visual_seed": 3567754300896134053, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6d963867bb87d6de5df486766c40cf6b57f9b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24401775722294441, + 0.15079603096427094, + 1.0472907910411857 + ], + "current_z": 1.0472907910411857, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18618434263106443, + "gripper_z": 1.0523587131562309, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23884413941218516, + 0.1458885629815617, + 1.0523587131562309 + ], + "object_minus_gripper": [ + 0.005173617810759257, + 0.004907467982709246, + -0.0050679221150451426 + ], + "object_to_gripper_xy": 0.007130887970871634, + "object_to_gripper_z": -0.0050679221150451426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24401775722294441, + 0.12630247746908937, + 1.0472907910411857 + ], + "finger_b": [ + 0.23207978167404758, + 0.15079603096427094, + 1.0472907910411857 + ], + "finger_midpoint": [ + 0.238048769448496, + 0.13854925421668016, + 1.0472907910411857 + ], + "object_minus_finger_midpoint": [ + 0.005968987774448403, + 0.012246776747590782, + 0.0 + ], + "finger_gap": 0.02724792511416933, + "fingertip_max_gap": 0.09019349538797897, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362396255708466, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472907910411857, + "object_top_z": 1.0971345948290239, + "finger_top_clearance": 0.04984380378783815, + "fingertip_min_top_clearance": 0.014953141136351426, + "object_projection_between_fingers": 0.8080471803386355, + "object_to_finger_line_xy": 0.010731218670995976, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047596747693989486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.03107084005226088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24349394137177335, + 0.14998089025398298, + 1.2435073851939895 + ], + "held_position": [ + 0.24897168921591356, + 0.1544232962814972, + 1.2383016826752025 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008765844595438776, + "max_held_gripper_dist": 0.008777748649295267, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005205702518787048, + "max_held_gripper_z_dist": 0.005237944089723223, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08682612759199769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24897168921591356, + 0.12907549632403192, + 1.2383016826752025 + ], + "held_grasp_finger_b": [ + 0.23893461826579027, + 0.1544232962814972, + 1.2383016826752025 + ], + "held_grasp_midpoint": [ + 0.2439531537408519, + 0.14174939630276456, + 1.2383016826752025 + ], + "held_grasp_object_position": [ + 0.24897168921591356, + 0.1544232962814972, + 1.2383016826752025 + ], + "held_grasp_finger_gap": 0.02726268064482078, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453701903866117, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07365229884935566, + -0.9971781547221666, + 0.014528131989350546 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004075726210344749, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671248720157381, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21119721444789885, + 0.14435955490886726, + 0.7611170237630227 + ], + "target_position": [ + 0.2189055501355777, + 0.14748930817452463, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008319482831152199, + "xy_threshold": 0.08, + "gripper_dist": 0.21124775390724024, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611170237630227, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566322173951735, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530970394516042, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18180657181371906, + "release_required_pad_clearance": 0.05265485197258021, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3275348879556782, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 328, + "max_placed_release_frames": 328 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8d74cb9903aa0932769a0212b0fb5167a2cf306ec0cd819b1d1dd5068b4807a", + "visual_seed": 6587884853785084594, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4b9fbbec96992d0e2ab67ed4f2407f526080b3c6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24906247396548564, + 0.1495164669119884, + 1.047373273858299 + ], + "current_z": 1.047373273858299, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1862667062388883, + "gripper_z": 1.0523486398436752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24401547793684736, + 0.14475610764007413, + 1.0523486398436752 + ], + "object_minus_gripper": [ + 0.005046996028638284, + 0.004760359271914261, + -0.004975365985376179 + ], + "object_to_gripper_xy": 0.006937808682198629, + "object_to_gripper_z": -0.004975365985376179, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24906247396548564, + 0.12497266611196892, + 1.047373273858299 + ], + "finger_b": [ + 0.23751305605336714, + 0.1495164669119884, + 1.047373273858299 + ], + "finger_midpoint": [ + 0.2432877650094264, + 0.13724456651197864, + 1.047373273858299 + ], + "object_minus_finger_midpoint": [ + 0.005774708956059249, + 0.01227190040000975, + 0.0 + ], + "finger_gap": 0.027125397910810454, + "fingertip_max_gap": 0.09175564576996006, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013562698955405239, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047373273858299, + "object_top_z": 1.09811210040617, + "finger_top_clearance": 0.050738826547870985, + "fingertip_min_top_clearance": 0.015221647964361295, + "object_projection_between_fingers": 0.8187124593007582, + "object_to_finger_line_xy": 0.010450228731142099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048377822884980035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.597112998078904, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24878294444919613, + 0.14869581877075133, + 1.243043925498469 + ], + "held_position": [ + 0.25407991292414045, + 0.1530397220781569, + 1.2379295070160914 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008548955923475656, + "max_held_gripper_dist": 0.008561216289099742, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005114418482377703, + "max_held_gripper_z_dist": 0.005143789962965384, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08603103591267769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25407991292414045, + 0.1277527555471987, + 1.2379295070160914 + ], + "held_grasp_finger_b": [ + 0.24428545608002078, + 0.1530397220781569, + 1.2379295070160914 + ], + "held_grasp_midpoint": [ + 0.24918268450208061, + 0.1403962388126778, + 1.2379295070160914 + ], + "held_grasp_object_position": [ + 0.25407991292414045, + 0.1530397220781569, + 1.2379295070160914 + ], + "held_grasp_finger_gap": 0.02711756001577432, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024558258113600906, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06768333900358119, + -0.9973983880454682, + 0.024807683197509926 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004042751733179893, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03677819947035811, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21512813597131525, + 0.14917073197189482, + 0.7611175952458302 + ], + "target_position": [ + 0.22413833041019476, + 0.14462259048080006, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010093027040954213, + "xy_threshold": 0.08, + "gripper_dist": 0.20773791455104546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611175952458302, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588905677097116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0875333999473747, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17977843905753876, + "release_required_pad_clearance": 0.053766699973687354, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4895672629169217, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 336, + "max_placed_release_frames": 336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dddacec7dc230d361caf7b0556c08c8f310e003ccf8feed388d9b5bfa92c188f", + "visual_seed": 1402505889823688042, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7403c9b71c2c4d82e58f50f6f22cad9d3055b517 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24432551720413342, + 0.14786712758649942, + 1.0501758130254872 + ], + "current_z": 1.0501758130254872, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18906936461536583, + "gripper_z": 1.0551961404244585, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23939243920309158, + 0.14299194338956228, + 1.0551961404244585 + ], + "object_minus_gripper": [ + 0.004933078001041841, + 0.004875184196937138, + -0.0050203273989712915 + ], + "object_to_gripper_xy": 0.0069356095275345895, + "object_to_gripper_z": -0.0050203273989712915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24432551720413342, + 0.12367064966922618, + 1.0501758130254872 + ], + "finger_b": [ + 0.23226780997390695, + 0.14786712758649942, + 1.0501758130254872 + ], + "finger_midpoint": [ + 0.23829666358902019, + 0.1357688886278628, + 1.0501758130254872 + ], + "object_minus_finger_midpoint": [ + 0.006028853615113239, + 0.012098238958636626, + 0.0 + ], + "finger_gap": 0.027034382686700047, + "fingertip_max_gap": 0.09292358505016979, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01351719134335003, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501758130254872, + "object_top_z": 1.1015606864155234, + "finger_top_clearance": 0.05138487339003617, + "fingertip_min_top_clearance": 0.015415462017010866, + "object_projection_between_fingers": 0.8010717074507442, + "object_to_finger_line_xy": 0.010791962594827573, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048961792525084896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1084043194723054, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24440214089430784, + 0.14673448174102846, + 1.244283784724611 + ], + "held_position": [ + 0.2496857693327866, + 0.15106316892555482, + 1.2390930371456466 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008578934820005952, + "max_held_gripper_dist": 0.008591774436266192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0051907475789645385, + "max_held_gripper_z_dist": 0.005216512521150962, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08646324838829886, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2496857693327866, + 0.12570408580459122, + 1.2390930371456466 + ], + "held_grasp_finger_b": [ + 0.24007559533760467, + 0.15106316892555482, + 1.2390930371456466 + ], + "held_grasp_midpoint": [ + 0.24488068233519564, + 0.13838362736507304, + 1.2390930371456466 + ], + "held_grasp_object_position": [ + 0.2496857693327866, + 0.15106316892555482, + 1.2390930371456466 + ], + "held_grasp_finger_gap": 0.02711897013077031, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024418724457475484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08650033690478516, + -0.9956987650274662, + 0.03319127954956324 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037149965999242708, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667960455306048, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20605774494582493, + 0.14656307310541208, + 0.7611178302627035 + ], + "target_position": [ + 0.21939326085430283, + 0.1441196712180344, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013557514422950391, + "xy_threshold": 0.08, + "gripper_dist": 0.20591623975169288, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611178302627035, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575917498486853, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09168813527596271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17855429784924376, + "release_required_pad_clearance": 0.05584406763798136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.8383073643290215, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 353, + "max_placed_release_frames": 353 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f231fab7185affd3b363aab78ba5746f128feb8240613cbd746e9c4ecf04502b", + "visual_seed": 206349605585426013, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..473182739af1efb5c53194e252881c1e5c2930e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24885401142535896, + 0.1552499959452928, + 1.0497499245949151 + ], + "current_z": 1.0497499245949151, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18864341658014916, + "gripper_z": 1.054522567659885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24408685345041098, + 0.15049522340713034, + 1.054522567659885 + ], + "object_minus_gripper": [ + 0.0047671579749479776, + 0.0047547725381624495, + -0.004772643064969939 + ], + "object_to_gripper_xy": 0.0067330273315778155, + "object_to_gripper_z": -0.004772643064969939, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24885401142535896, + 0.13111864418613883, + 1.0497499245949151 + ], + "finger_b": [ + 0.23702954442801097, + 0.1552499959452928, + 1.0497499245949151 + ], + "finger_midpoint": [ + 0.24294177792668498, + 0.1431843200657158, + 1.0497499245949151 + ], + "object_minus_finger_midpoint": [ + 0.00591223349867398, + 0.012065675879576993, + 0.0 + ], + "finger_gap": 0.02687266561946162, + "fingertip_max_gap": 0.09305924944890784, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013436332809730816, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497499245949151, + "object_top_z": 1.1013733648980222, + "finger_top_clearance": 0.05162344030310706, + "fingertip_min_top_clearance": 0.01548703209093215, + "object_projection_between_fingers": 0.8063838185425057, + "object_to_finger_line_xy": 0.010618238492532099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902962472445392, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2172782026911901, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24916786088062232, + 0.1540789437774558, + 1.244831787227978 + ], + "held_position": [ + 0.25427749481318856, + 0.15830461077227892, + 1.2399000658687964 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00826356436657797, + "max_held_gripper_dist": 0.00827797925566248, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004931721359181518, + "max_held_gripper_z_dist": 0.004960142693105629, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636252530844843, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25427749481318856, + 0.13303503124440372, + 1.2399000658687964 + ], + "held_grasp_finger_b": [ + 0.24485201670907056, + 0.15830461077227892, + 1.2399000658687964 + ], + "held_grasp_midpoint": [ + 0.24956475576112958, + 0.1456698210083413, + 1.2399000658687964 + ], + "held_grasp_object_position": [ + 0.25427749481318856, + 0.15830461077227892, + 1.2399000658687964 + ], + "held_grasp_finger_gap": 0.0269701925652528, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024304851419540134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08968138683772647, + -0.9952734409285525, + 0.037256229507309446 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003592660494929778, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03672253441233907, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20547132903831808, + 0.15194054890626496, + 0.7611064548591824 + ], + "target_position": [ + 0.22417916065511823, + 0.15195715407952354, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01870783898621982, + "xy_threshold": 0.08, + "gripper_dist": 0.202651152568564, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064548591824, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565850921292976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08532789401199119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17482638007993576, + "release_required_pad_clearance": 0.052663947005995596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.38562899895212976, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 335, + "max_placed_release_frames": 335 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01fcf692b3072d0aa835deacd757b1f74914c369064df993de37e310ac9d5d3e", + "visual_seed": 115505125168984598, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b790915308229b761a4f49478e87a1ed5a16022d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24927168913126935, + 0.15162511000384393, + 1.0476079352808152 + ], + "current_z": 1.0476079352808152, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1865014868706939, + "gripper_z": 1.0524756026658981, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24418132320304337, + 0.14673298533349138, + 1.0524756026658981 + ], + "object_minus_gripper": [ + 0.005090365928225982, + 0.004892124670352549, + -0.00486766738508293 + ], + "object_to_gripper_xy": 0.007060078545846072, + "object_to_gripper_z": -0.00486766738508293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24927168913126935, + 0.1272333035576483, + 1.0476079352808152 + ], + "finger_b": [ + 0.23729623904147892, + 0.15162511000384393, + 1.0476079352808152 + ], + "finger_midpoint": [ + 0.24328396408637415, + 0.1394292067807461, + 1.0476079352808152 + ], + "object_minus_finger_midpoint": [ + 0.005987725044895198, + 0.012195903223097826, + 0.0 + ], + "finger_gap": 0.027172994434948312, + "fingertip_max_gap": 0.09114542357271291, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013586497217474161, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476079352808152, + "object_top_z": 1.0979958993804018, + "finger_top_clearance": 0.05038796409958657, + "fingertip_min_top_clearance": 0.015116389229876003, + "object_projection_between_fingers": 0.8057734077339014, + "object_to_finger_line_xy": 0.010749748666659958, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048072711786356456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.42390899065134197, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.249000978235363, + 0.1504273228614898, + 1.241405374744968 + ], + "held_position": [ + 0.25438751900005485, + 0.15483312758461082, + 1.2363604728602504 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008595171417394193, + "max_held_gripper_dist": 0.008609006734228784, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005044901884717623, + "max_held_gripper_z_dist": 0.005074673685997233, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593692419934831, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25438751900005485, + 0.1294471270209526, + 1.2363604728602504 + ], + "held_grasp_finger_b": [ + 0.24459705869579845, + 0.15483312758461082, + 1.2363604728602504 + ], + "held_grasp_midpoint": [ + 0.24949228884792665, + 0.1421401273027817, + 1.2363604728602504 + ], + "held_grasp_object_position": [ + 0.25438751900005485, + 0.15483312758461082, + 1.2363604728602504 + ], + "held_grasp_finger_gap": 0.02720849385003286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024536950683831976, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07821789453268399, + -0.9967202124606944, + 0.02075521734847141 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038965988335507564, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668598553667432, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21679277599246355, + 0.15176920229912555, + 0.7611287434438636 + ], + "target_position": [ + 0.2243003373672385, + 0.14882270355891736, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008065068668155363, + "xy_threshold": 0.08, + "gripper_dist": 0.20880852486384116, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611287434438636, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519830436447465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08987170119754546, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18097079183571466, + "release_required_pad_clearance": 0.054935850598772734, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.842431166505822, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 351, + "max_placed_release_frames": 351 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5ad733ad82b6fd70dc5228c198e21745de2430460a6e72ba104a072dd8cbae85", + "visual_seed": 3945476462890811614, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42618d66d44815b87c7d893f82729495e9b2f5d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25119428284831896, + 0.15384696923707403, + 1.047639581697362 + ], + "current_z": 1.047639581697362, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18653313328724097, + "gripper_z": 1.0525420105209584, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2461094018402869, + 0.14901650974700303, + 1.0525420105209584 + ], + "object_minus_gripper": [ + 0.0050848810080320606, + 0.004830459490070993, + -0.004902428823596372 + ], + "object_to_gripper_xy": 0.007013512226485533, + "object_to_gripper_z": -0.004902428823596372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25119428284831896, + 0.1293587109922455, + 1.047639581697362 + ], + "finger_b": [ + 0.23943466189636659, + 0.15384696923707403, + 1.047639581697362 + ], + "finger_midpoint": [ + 0.24531447237234277, + 0.14160284011465976, + 1.047639581697362 + ], + "object_minus_finger_midpoint": [ + 0.005879810475976188, + 0.012244129122414266, + 0.0 + ], + "finger_gap": 0.027165483187291367, + "fingertip_max_gap": 0.09222091206907532, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013582741593645684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047639581697362, + "object_top_z": 1.0986929956529103, + "finger_top_clearance": 0.0510534139555483, + "fingertip_min_top_clearance": 0.015316024186664506, + "object_projection_between_fingers": 0.8126076841452394, + "object_to_finger_line_xy": 0.010600681487875263, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861045603453766, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8223314320387497, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2509823491472801, + 0.1526120408977632, + 1.2443456093646268 + ], + "held_position": [ + 0.25636429723826293, + 0.15697238981214762, + 1.2393045020005387 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008566841387901985, + "max_held_gripper_dist": 0.0085797118588982, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005041107364088138, + "max_held_gripper_z_dist": 0.005073077382856006, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08626970158712079, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25636429723826293, + 0.1316291096975401, + 1.2393045020005387 + ], + "held_grasp_finger_b": [ + 0.2465453530650558, + 0.15697238981214762, + 1.2393045020005387 + ], + "held_grasp_midpoint": [ + 0.25145482515165934, + 0.14430074975484386, + 1.2393045020005387 + ], + "held_grasp_object_position": [ + 0.25636429723826293, + 0.15697238981214762, + 1.2393045020005387 + ], + "held_grasp_finger_gap": 0.027178916675320578, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02454867635503303, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07292292174164959, + -0.9968994675633647, + 0.02955840077780602 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003990465375446998, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036729885795050134, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21811158604524233, + 0.15256025020633007, + 0.7611064082044546 + ], + "target_position": [ + 0.2262431634994217, + 0.15150294456909055, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00820002726238496, + "xy_threshold": 0.08, + "gripper_dist": 0.20756890669656047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064082044546, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541704860934434, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701257996620544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17904570897376434, + "release_required_pad_clearance": 0.05350628998310272, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0247950795779155, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d580e854bb96d2b36d27da4573475c7aac78b3d9232d99abc99774d1bdd2e4ea", + "visual_seed": 3483568444652970396, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..91f7a4236ea6aa8a571bde8f480948964127565a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24347943838074956, + 0.14940628897756722, + 1.047608549234748 + ], + "current_z": 1.047608549234748, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18650198161533715, + "gripper_z": 1.052597119024333, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23829083840235396, + 0.14441687254938762, + 1.052597119024333 + ], + "object_minus_gripper": [ + 0.005188599978395603, + 0.004989416428179599, + -0.004988569789585062 + ], + "object_to_gripper_xy": 0.007198322445514324, + "object_to_gripper_z": -0.004988569789585062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24347943838074956, + 0.12501304577448197, + 1.047608549234748 + ], + "finger_b": [ + 0.23127870948603652, + 0.14940628897756722, + 1.047608549234748 + ], + "finger_midpoint": [ + 0.23737907393339303, + 0.13720966737602458, + 1.047608549234748 + ], + "object_minus_finger_midpoint": [ + 0.006100364447356538, + 0.01219662160154264, + 0.0 + ], + "finger_gap": 0.027274312081648378, + "fingertip_max_gap": 0.09135865556450756, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013637156040824208, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047608549234748, + "object_top_z": 1.0980256512227178, + "finger_top_clearance": 0.05041710198796978, + "fingertip_min_top_clearance": 0.015125130596390934, + "object_projection_between_fingers": 0.799892234252831, + "object_to_finger_line_xy": 0.010911928641598873, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048179327782253784, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5378314996963566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24311518744902966, + 0.14826875939212064, + 1.2444176811026941 + ], + "held_position": [ + 0.24866248071005956, + 0.15271849550089697, + 1.2392914694838673 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008766450793942282, + "max_held_gripper_dist": 0.008779169662237832, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00512621161882687, + "max_held_gripper_z_dist": 0.005154771588514739, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613948755395742, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24866248071005956, + 0.12731395097471104, + 1.2392914694838673 + ], + "held_grasp_finger_b": [ + 0.2386320260007017, + 0.15271849550089697, + 1.2392914694838673 + ], + "held_grasp_midpoint": [ + 0.24364725335538062, + 0.140016223237804, + 1.2392914694838673 + ], + "held_grasp_object_position": [ + 0.24866248071005956, + 0.15271849550089697, + 1.2392914694838673 + ], + "held_grasp_finger_gap": 0.027313017121135527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024514698187313045, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0799296393864065, + -0.9965314980954922, + 0.023156555251439226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003995079835683701, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666117034863788, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2062051638968143, + 0.1547795490940684, + 0.76111756233923 + ], + "target_position": [ + 0.21830453221557056, + 0.14618887376316836, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014838949300872269, + "xy_threshold": 0.08, + "gripper_dist": 0.2054307054624245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76111756233923, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532351385449716, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08896889022577496, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1793545362896726, + "release_required_pad_clearance": 0.054484445112887483, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9470238428149655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 379, + "max_placed_release_frames": 379 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "70814b736bca531c71d53a18812d33e60c3d317153bf8e4206cad9d2a0ee2587", + "visual_seed": 1445282898257866675, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..47e844f08cbe8a3f1f577e6b0c6185e27b9028db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25170261573623565, + 0.15297242814117382, + 1.0475070138274987 + ], + "current_z": 1.0475070138274987, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.18640050581273293, + "gripper_z": 1.0526194123836277, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24639389357488486, + 0.14804890644094065, + 1.0526194123836277 + ], + "object_minus_gripper": [ + 0.005308722161350782, + 0.004923521700233163, + -0.005112398556128994 + ], + "object_to_gripper_xy": 0.007240414140025678, + "object_to_gripper_z": -0.005112398556128994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25170261573623565, + 0.1283118652622985, + 1.0475070138274987 + ], + "finger_b": [ + 0.23982889622462672, + 0.15297242814117382, + 1.0475070138274987 + ], + "finger_midpoint": [ + 0.24576575598043118, + 0.14064214670173616, + 1.0475070138274987 + ], + "object_minus_finger_midpoint": [ + 0.005936859755804463, + 0.012330281439437651, + 0.0 + ], + "finger_gap": 0.027370213308327083, + "fingertip_max_gap": 0.09154107119110433, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013685106654163542, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475070138274987, + "object_top_z": 1.0981409725369344, + "finger_top_clearance": 0.05063395870943577, + "fingertip_min_top_clearance": 0.01519018761283073, + "object_projection_between_fingers": 0.8118010453013218, + "object_to_finger_line_xy": 0.010698221578458622, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048270535595552166, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4927862347447457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25112357539616964, + 0.15214891504255623, + 1.2399659739191293 + ], + "held_position": [ + 0.25665592213769683, + 0.1566510907926222, + 1.2346748073838194 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008881041057069397, + "max_held_gripper_dist": 0.00889523505906535, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005291166535309921, + "max_held_gripper_z_dist": 0.005323590403954581, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08586760846990049, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25665592213769683, + 0.13122572620954515, + 1.2346748073838194 + ], + "held_grasp_finger_b": [ + 0.24662808508997805, + 0.1566510907926222, + 1.2346748073838194 + ], + "held_grasp_midpoint": [ + 0.25164200361383743, + 0.1439384085010837, + 1.2346748073838194 + ], + "held_grasp_object_position": [ + 0.25665592213769683, + 0.1566510907926222, + 1.2346748073838194 + ], + "held_grasp_finger_gap": 0.027331422942064157, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02470623720794469, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06566874343148818, + -0.9976160846514154, + 0.021207634967378874 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004177205889116305, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0367086160078633, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21264977104777477, + 0.16042871248580384, + 0.7611062655902906 + ], + "target_position": [ + 0.22658538477658538, + 0.15021836211648665, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017275780290997873, + "xy_threshold": 0.08, + "gripper_dist": 0.2072978792883327, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062655902906, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759470756138242, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09100019219179152, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18066503437227588, + "release_required_pad_clearance": 0.05550009609589576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.143208226328105, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d30054d21835523ddd9c775ec1639a8a321c327feb42cb5cbb36f71289241850", + "visual_seed": 805616368915428205, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..74b26406dcabc2b61e1de596026d6cb7e17a4ed1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24880407742910246, + 0.15516522533655058, + 1.049440800277866 + ], + "current_z": 1.049440800277866, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1883343518677446, + "gripper_z": 1.0545774634390828, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24357001028017572, + 0.1502173856193323, + 1.0545774634390828 + ], + "object_minus_gripper": [ + 0.005234067148926741, + 0.004947839717218294, + -0.005136663161216859 + ], + "object_to_gripper_xy": 0.0072025396067468385, + "object_to_gripper_z": -0.005136663161216859, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24880407742910246, + 0.130642720387843, + 1.049440800277866 + ], + "finger_b": [ + 0.23678681608124366, + 0.15516522533655058, + 1.049440800277866 + ], + "finger_midpoint": [ + 0.24279544675517306, + 0.1429039728621968, + 1.049440800277866 + ], + "object_minus_finger_midpoint": [ + 0.006008630673929399, + 0.012261252474353779, + 0.0 + ], + "finger_gap": 0.027308749866336413, + "fingertip_max_gap": 0.09123172511285535, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654374933168194, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049440800277866, + "object_top_z": 1.0999325085295, + "finger_top_clearance": 0.05049170825163407, + "fingertip_min_top_clearance": 0.01514751247549022, + "object_projection_between_fingers": 0.8063545160132728, + "object_to_finger_line_xy": 0.010791169581733541, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811586255642768, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4826097557437067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24840924368353995, + 0.1540565114609154, + 1.2432471772762097 + ], + "held_position": [ + 0.25393061557329244, + 0.15851852928506976, + 1.2379446576318704 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008860692139253229, + "max_held_gripper_dist": 0.008874889255661088, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005302519644339254, + "max_held_gripper_z_dist": 0.005335048296334133, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599847876201287, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25393061557329244, + 0.13309771260514885, + 1.2379446576318704 + ], + "held_grasp_finger_b": [ + 0.24396176137737738, + 0.15851852928506976, + 1.2379446576318704 + ], + "held_grasp_midpoint": [ + 0.2489461884753349, + 0.1458081209451093, + 1.2379446576318704 + ], + "held_grasp_object_position": [ + 0.25393061557329244, + 0.15851852928506976, + 1.2379446576318704 + ], + "held_grasp_finger_gap": 0.027305603356336194, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02459331344139997, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07515439893383208, + -0.9969198474481042, + 0.02241950233486567 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004025485239662891, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036674390104242074, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21285989212757309, + 0.15338657005295928, + 0.7611063925108317 + ], + "target_position": [ + 0.22372369063909628, + 0.15140573486325892, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011042908409822513, + "xy_threshold": 0.08, + "gripper_dist": 0.2059885265405424, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063925108317, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593786383485977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0896152426071155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17742843084046653, + "release_required_pad_clearance": 0.05480762130355775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6701290300529354, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d7ffe0fdc3f4d153f3fc44b38626460defc4ac0c4a4641865f5d45dcff33db59", + "visual_seed": 7153513588958124138, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75c57fd63e245ba284b6d20e019c5c6eeede600e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24363606051540668, + 0.15370819290121576, + 1.0471007268568098 + ], + "current_z": 1.0471007268568098, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.18599409963275415, + "gripper_z": 1.0521844119606498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23857655109165912, + 0.14883945065148368, + 1.0521844119606498 + ], + "object_minus_gripper": [ + 0.005059509423747555, + 0.004868742249732078, + -0.005083685103840052 + ], + "object_to_gripper_xy": 0.007021629917855005, + "object_to_gripper_z": -0.005083685103840052, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24363606051540668, + 0.12931514326147744, + 1.0471007268568098 + ], + "finger_b": [ + 0.23172440154855253, + 0.15370819290121576, + 1.0471007268568098 + ], + "finger_midpoint": [ + 0.2376802310319796, + 0.1415116680813466, + 1.0471007268568098 + ], + "object_minus_finger_midpoint": [ + 0.005955829483427072, + 0.012196524819869159, + 0.0 + ], + "finger_gap": 0.027146058462866655, + "fingertip_max_gap": 0.09153646191382664, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573029231433328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471007268568098, + "object_top_z": 1.0978153625890938, + "finger_top_clearance": 0.050714635732284075, + "fingertip_min_top_clearance": 0.015214390719685238, + "object_projection_between_fingers": 0.8074555779249075, + "object_to_finger_line_xy": 0.010703641888474119, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826823095691332, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6243580775172779, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2433876536244382, + 0.15269502562982076, + 1.2433988184959368 + ], + "held_position": [ + 0.2487673215483134, + 0.1570657970942547, + 1.2381776231214887 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008677865596080633, + "max_held_gripper_dist": 0.00869133028058321, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0052211953744480954, + "max_held_gripper_z_dist": 0.005250126681249467, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602284043726449, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2487673215483134, + 0.13173806751006395, + 1.2381776231214887 + ], + "held_grasp_finger_b": [ + 0.2389134719716462, + 0.1570657970942547, + 1.2381776231214887 + ], + "held_grasp_midpoint": [ + 0.24384039675997982, + 0.1444019323021593, + 1.2381776231214887 + ], + "held_grasp_object_position": [ + 0.2487673215483134, + 0.1570657970942547, + 1.2381776231214887 + ], + "held_grasp_finger_gap": 0.02717705350786718, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02445459971344702, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07956966250740799, + -0.9964836016890697, + 0.026250721385074553 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003918211229059297, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670888272815737, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20696871758902816, + 0.15729410457230128, + 0.7611128465580758 + ], + "target_position": [ + 0.21862239378059029, + 0.14865253067270337, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01450810009063881, + "xy_threshold": 0.08, + "gripper_dist": 0.2054915541708615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611128465580758, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754122818394345, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08828049607795542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17916950226351758, + "release_required_pad_clearance": 0.05414024803897771, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.286834513138481, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 372, + "max_placed_release_frames": 372 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b35eac53327f6d5ea798458a3e4a3d1858c0685ad695608f4d080bafa0c68a7", + "visual_seed": 3590384965416784987, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..044d426f83f4998a0e7fd23b0e6b258b1ef25df0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24365495429871886, + 0.14999128738029008, + 1.0488398897472644 + ], + "current_z": 1.0488398897472644, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1877333817324982, + "gripper_z": 1.0537767133853844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23856447603592598, + 0.1450501814523432, + 1.0537767133853844 + ], + "object_minus_gripper": [ + 0.00509047826279288, + 0.004941105927946887, + -0.00493682363811998 + ], + "object_to_gripper_xy": 0.007094187531716278, + "object_to_gripper_z": -0.00493682363811998, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24365495429871886, + 0.12566219868554765, + 1.0488398897472644 + ], + "finger_b": [ + 0.2315339468437278, + 0.14999128738029008, + 1.0488398897472644 + ], + "finger_midpoint": [ + 0.23759445057122333, + 0.13782674303291886, + 1.0488398897472644 + ], + "object_minus_finger_midpoint": [ + 0.006060503727495531, + 0.012164544347371214, + 0.0 + ], + "finger_gap": 0.027181305679466406, + "fingertip_max_gap": 0.0906038443842358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013590652839733203, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488398897472644, + "object_top_z": 1.0987790264366435, + "finger_top_clearance": 0.049939136689379104, + "fingertip_min_top_clearance": 0.014981741006813765, + "object_projection_between_fingers": 0.801144866268248, + "object_to_finger_line_xy": 0.010849113317793363, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478019221921179, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2816979569822674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24334460484856074, + 0.14910181848165044, + 1.2435986294115424 + ], + "held_position": [ + 0.24876092215449425, + 0.15353339364006288, + 1.2385056380480464 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008655282350787783, + "max_held_gripper_dist": 0.008669630544501592, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005092991363496058, + "max_held_gripper_z_dist": 0.00512278274829403, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577257753369064, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24876092215449425, + 0.1281727545829112, + 1.2385056380480464 + ], + "held_grasp_finger_b": [ + 0.2388417061430676, + 0.15353339364006288, + 1.2385056380480464 + ], + "held_grasp_midpoint": [ + 0.24380131414878092, + 0.14085307411148704, + 1.2385056380480464 + ], + "held_grasp_object_position": [ + 0.24876092215449425, + 0.15353339364006288, + 1.2385056380480464 + ], + "held_grasp_finger_gap": 0.027231468187897446, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024496282886940515, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07885472571870548, + -0.9967595803835881, + 0.01588304584646749 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003949558794257581, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036689931568699166, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20633482227425676, + 0.16213148107537043, + 0.761108599544737 + ], + "target_position": [ + 0.21861362042188132, + 0.14830815932625968, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018489270081037446, + "xy_threshold": 0.08, + "gripper_dist": 0.2069084436923604, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108599544737, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524742818926282, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08750449705550524, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18186657936187253, + "release_required_pad_clearance": 0.05375224852775262, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5032691903658733, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 394, + "max_placed_release_frames": 394 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b34040aca2f70899b7071ca1fec20b63d1452a2c2f744bcb8212038045100ec", + "visual_seed": 406164825468660011, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2f4282e42e4ac7571b1b9f254f37bd4dd5e3eb2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2456097338883079, + 0.15612132359770078, + 1.0508899189695202 + ], + "current_z": 1.0508899189695202, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.1897835897686886, + "gripper_z": 1.0560890966054666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24059055355737716, + 0.1513151252521844, + 1.0560890966054666 + ], + "object_minus_gripper": [ + 0.005019180330930739, + 0.004806198345516377, + -0.00519917763594635 + ], + "object_to_gripper_xy": 0.006949223966087607, + "object_to_gripper_z": -0.00519917763594635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2456097338883079, + 0.13170500045950606, + 1.0508899189695202 + ], + "finger_b": [ + 0.23384913834209176, + 0.15612132359770078, + 1.0508899189695202 + ], + "finger_midpoint": [ + 0.2397294361151998, + 0.14391316202860344, + 1.0508899189695202 + ], + "object_minus_finger_midpoint": [ + 0.005880297773108084, + 0.012208161569097348, + 0.0 + ], + "finger_gap": 0.027101078266194907, + "fingertip_max_gap": 0.0930780205645689, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013550539133097447, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508899189695202, + "object_top_z": 1.1023484315082668, + "finger_top_clearance": 0.05145851253874656, + "fingertip_min_top_clearance": 0.015437553761623951, + "object_projection_between_fingers": 0.8116847512183453, + "object_to_finger_line_xy": 0.01059553787246207, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049039010282284454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0989667626361876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24549225487274237, + 0.15518983172732187, + 1.243355413347708 + ], + "held_position": [ + 0.2507724900513637, + 0.1595352992457772, + 1.2379741169748986 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008701857396413312, + "max_held_gripper_dist": 0.00871478031050666, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005381296372809485, + "max_held_gripper_z_dist": 0.005413661991710894, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701631494542417, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2507724900513637, + 0.13419442558036435, + 1.2379741169748986 + ], + "held_grasp_finger_b": [ + 0.2411284558135629, + 0.1595352992457772, + 1.2379741169748986 + ], + "held_grasp_midpoint": [ + 0.2459504729324633, + 0.14686486241307078, + 1.2379741169748986 + ], + "held_grasp_object_position": [ + 0.2507724900513637, + 0.1595352992457772, + 1.2379741169748986 + ], + "held_grasp_finger_gap": 0.027113968254504697, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457859826055758, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07105604086693879, + -0.9969610947535307, + 0.0319314046693474 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003930961102331023, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03674568404889294, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20797365007367627, + 0.15916828391319995, + 0.7611231666492027 + ], + "target_position": [ + 0.22070366157074386, + 0.15369767930053702, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013855710286505061, + "xy_threshold": 0.08, + "gripper_dist": 0.20687210112295762, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611231666492027, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564806208313321, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09247586807333343, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17962182222271786, + "release_required_pad_clearance": 0.056237934036666715, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.688666882974124, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 351, + "max_placed_release_frames": 351 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "43322c88c3fd3f4d840e5c322d62b4883cae6d69ed52fffdeff9a0bfe08ac692", + "visual_seed": 3004145719280659230, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c17d8402d9c80de7bce028454afe271605f7f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24338014730266277, + 0.14822654123787082, + 1.0488928813732366 + ], + "current_z": 1.0488928813732366, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1877863733584706, + "gripper_z": 1.0539235798950533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2381166244741137, + 0.1432189945852675, + 1.0539235798950533 + ], + "object_minus_gripper": [ + 0.005263522828549083, + 0.005007546652603334, + -0.005030698521816701 + ], + "object_to_gripper_xy": 0.007264998007202493, + "object_to_gripper_z": -0.005030698521816701, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24338014730266277, + 0.12373569849916076, + 1.0488928813732366 + ], + "finger_b": [ + 0.2312106950256992, + 0.14822654123787082, + 1.0488928813732366 + ], + "finger_midpoint": [ + 0.23729542116418098, + 0.1359811198685158, + 1.0488928813732366 + ], + "object_minus_finger_midpoint": [ + 0.006084726138481794, + 0.012245421369355025, + 0.0 + ], + "finger_gap": 0.02734770459789124, + "fingertip_max_gap": 0.09054983008870077, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013673852298945615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488928813732366, + "object_top_z": 1.0988502446032413, + "finger_top_clearance": 0.04995736323000477, + "fingertip_min_top_clearance": 0.014987208969001397, + "object_projection_between_fingers": 0.8019839907621116, + "object_to_finger_line_xy": 0.010898177609916635, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047774915044350386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.24137233234350977, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2429211139283476, + 0.1471365703569571, + 1.244856870617157 + ], + "held_position": [ + 0.24851162127970639, + 0.15163181384970095, + 1.2396775531404134 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008847955471720825, + "max_held_gripper_dist": 0.008860172951701066, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005179317476743606, + "max_held_gripper_z_dist": 0.00520818951907831, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08603137988572336, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24851162127970639, + 0.12618880978579344, + 1.2396775531404134 + ], + "held_grasp_finger_b": [ + 0.23843630605349314, + 0.15163181384970095, + 1.2396775531404134 + ], + "held_grasp_midpoint": [ + 0.24347396366659976, + 0.1389103118177472, + 1.2396775531404134 + ], + "held_grasp_object_position": [ + 0.24851162127970639, + 0.15163181384970095, + 1.2396775531404134 + ], + "held_grasp_finger_gap": 0.02736527786636888, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024502395496666166, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08405259741562723, + -0.9963152089878453, + 0.017063563730735698 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003956713955066933, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662219590721754, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20980763472786607, + 0.1491949553006743, + 0.7611067201518726 + ], + "target_position": [ + 0.21814332993299235, + 0.14578695207996784, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00900545948328629, + "xy_threshold": 0.08, + "gripper_dist": 0.21082147114077515, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067201518726, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556033767478842, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725119019818085, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18296365546040982, + "release_required_pad_clearance": 0.05362559509909043, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.259730482434169, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 381, + "max_placed_release_frames": 381 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "557178b59623bb40d6ebe87355228dfacf6675330867972870364d83bb1b0950", + "visual_seed": 6486256309425484822, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e6b4a014f18d1841bda81d1ac7ce606e4a451a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24539616469473563, + 0.1542980235619857, + 1.0469695940914325 + ], + "current_z": 1.0469695940914325, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1858630264720217, + "gripper_z": 1.0520563271522723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24070446440770618, + 0.14974882680561302, + 1.0520563271522723 + ], + "object_minus_gripper": [ + 0.004691700287029449, + 0.004549196756372664, + -0.005086733060839732 + ], + "object_to_gripper_xy": 0.006535077865756749, + "object_to_gripper_z": -0.005086733060839732, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24539616469473563, + 0.12995538858482297, + 1.0469695940914325 + ], + "finger_b": [ + 0.2342120956701287, + 0.1542980235619857, + 1.0469695940914325 + ], + "finger_midpoint": [ + 0.23980413018243218, + 0.14212670607340433, + 1.0469695940914325 + ], + "object_minus_finger_midpoint": [ + 0.005592034512303445, + 0.012171317488581357, + 0.0 + ], + "finger_gap": 0.02678893946349048, + "fingertip_max_gap": 0.09437703868736863, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013394469731745233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469695940914325, + "object_top_z": 1.0992687799211447, + "finger_top_clearance": 0.05229918582971216, + "fingertip_min_top_clearance": 0.015689755748913646, + "object_projection_between_fingers": 0.8257035122195114, + "object_to_finger_line_xy": 0.010162765502398348, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968851934368432, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5366760346653112, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24543772819683238, + 0.15367835491991766, + 1.2402390657331717 + ], + "held_position": [ + 0.25033532257526614, + 0.15784562014776404, + 1.2349899094493466 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008300974151682655, + "max_held_gripper_dist": 0.008316689723425589, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005249156283825052, + "max_held_gripper_z_dist": 0.005274537083010067, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08565696174823414, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25033532257526614, + 0.1327195658375225, + 1.2349899094493466 + ], + "held_grasp_finger_b": [ + 0.2409984603279594, + 0.15784562014776404, + 1.2349899094493466 + ], + "held_grasp_midpoint": [ + 0.24566689145161277, + 0.1452825929926433, + 1.2349899094493466 + ], + "held_grasp_object_position": [ + 0.25033532257526614, + 0.15784562014776404, + 1.2349899094493466 + ], + "held_grasp_finger_gap": 0.026804768266604898, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024461077621405865, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06359973856540978, + -0.9971680913363021, + 0.04013565590753143 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038935421284590132, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036895889261442175, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20845375852806963, + 0.1571333846416647, + 0.7611064398407095 + ], + "target_position": [ + 0.2207669965218813, + 0.1529085607424961, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013017871057559055, + "xy_threshold": 0.08, + "gripper_dist": 0.20667497645667776, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064398407095, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530213554586221, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874784930726641, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17940370360524674, + "release_required_pad_clearance": 0.05373924653633205, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4875946380661857, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 362, + "max_placed_release_frames": 362 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2132e88e34f981bdece9e977455acf8ecdab4cfb24d9fb90e9cf30f6244e079b", + "visual_seed": 9215340923482707344, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f3076127eb43134569e99461355cb90ad4633e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24960288881535836, + 0.15023126958062652, + 1.0488642521247713 + ], + "current_z": 1.0488642521247713, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.18775756529607102, + "gripper_z": 1.0537071926093482, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24452245380774093, + 0.14528791097306193, + 1.0537071926093482 + ], + "object_minus_gripper": [ + 0.005080435007617429, + 0.004943358607564591, + -0.004842940484576896 + ], + "object_to_gripper_xy": 0.007088555155291354, + "object_to_gripper_z": -0.004842940484576896, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24960288881535836, + 0.12591153187449003, + 1.0488642521247713 + ], + "finger_b": [ + 0.23747187938676328, + 0.15023126958062652, + 1.0488642521247713 + ], + "finger_midpoint": [ + 0.24353738410106082, + 0.13807140072755827, + 1.0488642521247713 + ], + "object_minus_finger_midpoint": [ + 0.006065504714297537, + 0.012159868853068245, + 0.0 + ], + "finger_gap": 0.027177399284183532, + "fingertip_max_gap": 0.09139458836398523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013588699642091766, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488642521247713, + "object_top_z": 1.0994415579536057, + "finger_top_clearance": 0.05057730582883435, + "fingertip_min_top_clearance": 0.015173191748650321, + "object_projection_between_fingers": 0.8007592854554572, + "object_to_finger_line_xy": 0.010855452515127002, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819729418199262, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5600946127175006, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2495081139476794, + 0.14885564751865277, + 1.2451065226049087 + ], + "held_position": [ + 0.2549584519664971, + 0.15325045679254704, + 1.240116376012644 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008597796001625567, + "max_held_gripper_dist": 0.008610854745374126, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004990146592264821, + "max_held_gripper_z_dist": 0.005019105074801189, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08647940820487707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2549584519664971, + 0.12783845216521722, + 1.240116376012644 + ], + "held_grasp_finger_b": [ + 0.24513750502740828, + 0.15325045679254704, + 1.240116376012644 + ], + "held_grasp_midpoint": [ + 0.2500479784969527, + 0.14054445447888214, + 1.240116376012644 + ], + "held_grasp_object_position": [ + 0.2549584519664971, + 0.15325045679254704, + 1.240116376012644 + ], + "held_grasp_finger_gap": 0.0272437328198584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024442009305225092, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08793472602266399, + -0.9958132762332962, + 0.02496803630300304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037879157793688323, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663564313911062, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21635797427194142, + 0.15151604170105046, + 0.7611064138109025 + ], + "target_position": [ + 0.22463223850492106, + 0.14727319224022098, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009298667654262472, + "xy_threshold": 0.08, + "gripper_dist": 0.20979030064051513, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064138109025, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532844572900353, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08944933144646149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18225776901207477, + "release_required_pad_clearance": 0.054724665723230745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.496584356463869, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 352, + "max_placed_release_frames": 352 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b2abd1e131d351769278913b1020caac9ce439a3fff512fad730d6ce86bd134", + "visual_seed": 4869292466268854512, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3c7f3f71585ffca291fae0ab91b2014cb6cc33 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24931224274834896, + 0.1540820949422462, + 1.0503707714383257 + ], + "current_z": 1.0503707714383257, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.1892643826328494, + "gripper_z": 1.0554149863367939, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24404900852877587, + 0.14904452694390635, + 1.0554149863367939 + ], + "object_minus_gripper": [ + 0.0052632342195730875, + 0.005037567998339848, + -0.00504421489846818 + ], + "object_to_gripper_xy": 0.0072855147922424035, + "object_to_gripper_z": -0.00504421489846818, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24931224274834896, + 0.12965211993219086, + 1.0503707714383257 + ], + "finger_b": [ + 0.23701492834729435, + 0.1540820949422462, + 1.0503707714383257 + ], + "finger_midpoint": [ + 0.24316358554782164, + 0.14186710743721853, + 1.0503707714383257 + ], + "object_minus_finger_midpoint": [ + 0.006148657200527319, + 0.012214987505027669, + 0.0 + ], + "finger_gap": 0.027350459236918007, + "fingertip_max_gap": 0.09074092727384198, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675229618459009, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503707714383257, + "object_top_z": 1.1005851928402497, + "finger_top_clearance": 0.050214421401924, + "fingertip_min_top_clearance": 0.015064326420577166, + "object_projection_between_fingers": 0.7978418253863205, + "object_to_finger_line_xy": 0.010984206184846902, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04787046363692099, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3482436291371099, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24903212945814915, + 0.15247865934964033, + 1.2469471004710828 + ], + "held_position": [ + 0.254662742633904, + 0.15694482085216221, + 1.2417512225430194 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008868345434461213, + "max_held_gripper_dist": 0.008881680727793613, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005195877928063419, + "max_held_gripper_z_dist": 0.00522654405859746, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08665396555490264, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.254662742633904, + 0.13146039865022657, + 1.2417512225430194 + ], + "held_grasp_finger_b": [ + 0.24465647993973794, + 0.15694482085216221, + 1.2417512225430194 + ], + "held_grasp_midpoint": [ + 0.24965961128682096, + 0.1442026097511944, + 1.2417512225430194 + ], + "held_grasp_object_position": [ + 0.254662742633904, + 0.15694482085216221, + 1.2417512225430194 + ], + "held_grasp_finger_gap": 0.02737847819129415, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024471761441743223, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09019622866628693, + -0.9956783951677698, + 0.02211727222135651 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038441521073800298, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658184219116551, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2097333786087205, + 0.1486670304908618, + 0.7611063482991587 + ], + "target_position": [ + 0.22412359152483696, + 0.15249616694951057, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0148909540926738, + "xy_threshold": 0.08, + "gripper_dist": 0.205547198880952, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063482991587, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574253311871429, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560091832701287, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17616668919653725, + "release_required_pad_clearance": 0.05280045916350644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.647702616801924, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 339, + "max_placed_release_frames": 339 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f103f02d6cdb91b75252608bcffb011a36adb2a9ac3f1a4011f3ff1ab3a94b9", + "visual_seed": 1517566825728471331, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..81dde75a3dcb682864c0e07457a34e6d81698e22 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24718522726872771, + 0.1499868114978143, + 1.0493530683339984 + ], + "current_z": 1.0493530683339984, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.18824626229600838, + "gripper_z": 1.0544694562954078, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24193588856596565, + 0.14506665623922652, + 1.0544694562954078 + ], + "object_minus_gripper": [ + 0.005249338702762063, + 0.004920155258587772, + -0.005116387961409341 + ], + "object_to_gripper_xy": 0.007194684467363708, + "object_to_gripper_z": -0.005116387961409341, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24718522726872771, + 0.12540942446439812, + 1.0493530683339984 + ], + "finger_b": [ + 0.2352601847939632, + 0.1499868114978143, + 1.0493530683339984 + ], + "finger_midpoint": [ + 0.24122270603134546, + 0.1376981179811062, + 1.0493530683339984 + ], + "object_minus_finger_midpoint": [ + 0.005962521237382251, + 0.012288693516708082, + 0.0 + ], + "finger_gap": 0.027317660796914337, + "fingertip_max_gap": 0.09123195841441387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013658830398457169, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493530683339984, + "object_top_z": 1.0997334112589543, + "finger_top_clearance": 0.05038034292495586, + "fingertip_min_top_clearance": 0.015114102877486773, + "object_projection_between_fingers": 0.8094395134571396, + "object_to_finger_line_xy": 0.010728824348141833, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048115979207206935, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.43396154565307293, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2467580435106811, + 0.14887490472701065, + 1.2444350928119559 + ], + "held_position": [ + 0.2522925411474155, + 0.15333125219048493, + 1.239167997358992 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008844885036950191, + "max_held_gripper_dist": 0.008857068918695234, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005267095452963888, + "max_held_gripper_z_dist": 0.005300002636308365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08610596363891493, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2522925411474155, + 0.12791161247415891, + 1.239167997358992 + ], + "held_grasp_finger_b": [ + 0.24230286037565632, + 0.15333125219048493, + 1.239167997358992 + ], + "held_grasp_midpoint": [ + 0.2472977007615359, + 0.14062143233232194, + 1.239167997358992 + ], + "held_grasp_object_position": [ + 0.2522925411474155, + 0.15333125219048493, + 1.239167997358992 + ], + "held_grasp_finger_gap": 0.027312118285286374, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02465909673799128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06945428743502007, + -0.9973753829962415, + 0.020455985676427365 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004108487214600733, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036696875541393566, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2105291463265956, + 0.14468946343281694, + 0.7611063953873448 + ], + "target_position": [ + 0.22204599218299467, + 0.14787083289712766, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011948173506796129, + "xy_threshold": 0.08, + "gripper_dist": 0.20688200267614335, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063953873448, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586927816718862, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09001059681528444, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17743300635053177, + "release_required_pad_clearance": 0.05500529840764222, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.085825892078947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 349, + "max_placed_release_frames": 349 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f54404ef34d637675638424d27586286ccf8373d3b31bc2b5d5a08004931a6c", + "visual_seed": 4495138882258655284, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e025d1341250dfc7bb86bc47b4529694a2d69717 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24320803226699406, + 0.15053593594908043, + 1.0508209979157708 + ], + "current_z": 1.0508209979157708, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.18971443029635982, + "gripper_z": 1.0557890376065144, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23822441512109638, + 0.1456386410860812, + 1.0557890376065144 + ], + "object_minus_gripper": [ + 0.004983617145897679, + 0.004897294862999224, + -0.004968039690743664 + ], + "object_to_gripper_xy": 0.0069871265075168, + "object_to_gripper_z": -0.004968039690743664, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24320803226699406, + 0.12629191319363475, + 1.0508209979157708 + ], + "finger_b": [ + 0.2311324052579693, + 0.15053593594908043, + 1.0508209979157708 + ], + "finger_midpoint": [ + 0.23717021876248168, + 0.1384139245713576, + 1.0508209979157708 + ], + "object_minus_finger_midpoint": [ + 0.006037813504512379, + 0.012122011377722841, + 0.0 + ], + "finger_gap": 0.02708492951860234, + "fingertip_max_gap": 0.09193523084503796, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01354246475930117, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508209979157708, + "object_top_z": 1.1017242600883264, + "finger_top_clearance": 0.050903262172555586, + "fingertip_min_top_clearance": 0.015270978651766675, + "object_projection_between_fingers": 0.8012239937489094, + "object_to_finger_line_xy": 0.010809028533450596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048467615422518984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.771997325662727, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24323029271931534, + 0.14916875381366523, + 1.246731980771948 + ], + "held_position": [ + 0.2485879805552576, + 0.1535106774189069, + 1.2416175296594205 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008585728258196338, + "max_held_gripper_dist": 0.008597969859659762, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005114451112527396, + "max_held_gripper_z_dist": 0.005141337112661848, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08641465263933058, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2485879805552576, + 0.128141695488255, + 1.2416175296594205 + ], + "held_grasp_finger_b": [ + 0.23887734948712813, + 0.1535106774189069, + 1.2416175296594205 + ], + "held_grasp_midpoint": [ + 0.24373266502119287, + 0.14082618645358094, + 1.2416175296594205 + ], + "held_grasp_object_position": [ + 0.2485879805552576, + 0.1535106774189069, + 1.2416175296594205 + ], + "held_grasp_finger_gap": 0.02716397614376555, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024384547914746778, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0897367393240125, + -0.9955444153264913, + 0.028959190729868856 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003716290231346034, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665657574388928, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20013592965020505, + 0.14542003537230297, + 0.7611071754019093 + ], + "target_position": [ + 0.21822432081516777, + 0.14699728486819064, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018157026488634622, + "xy_threshold": 0.08, + "gripper_dist": 0.20489466707258489, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071754019093, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547312694331242, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795560278903632, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.177096298092803, + "release_required_pad_clearance": 0.05397780139451816, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9661148104167556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 383, + "max_placed_release_frames": 383 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "feba45b644cf9e0a8ed9b7172da93807975102820daca6bb5fc4feb806f80c2a", + "visual_seed": 8716599244079613139, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9095ac03aee7cdab28abc1571389b852da3c80ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2510443154243349, + 0.1475057170532706, + 1.047532948128852 + ], + "current_z": 1.047532948128852, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18642644011408604, + "gripper_z": 1.052574218363609, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24592714237381944, + 0.14256680612332728, + 1.052574218363609 + ], + "object_minus_gripper": [ + 0.005117173050515483, + 0.004938910929943308, + -0.005041270234757089 + ], + "object_to_gripper_xy": 0.0071118423212860535, + "object_to_gripper_z": -0.005041270234757089, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2510443154243349, + 0.12313974625756795, + 1.047532948128852 + ], + "finger_b": [ + 0.23894681330249132, + 0.1475057170532706, + 1.047532948128852 + ], + "finger_midpoint": [ + 0.24499556436341313, + 0.13532273165541928, + 1.047532948128852 + ], + "object_minus_finger_midpoint": [ + 0.0060487510609217865, + 0.012182985397851315, + 0.0 + ], + "finger_gap": 0.02720386168184665, + "fingertip_max_gap": 0.09154035318141177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601930840923314, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047532948128852, + "object_top_z": 1.0980795618543637, + "finger_top_clearance": 0.050546613725511724, + "fingertip_min_top_clearance": 0.0151639841176535, + "object_projection_between_fingers": 0.8022437136546928, + "object_to_finger_line_xy": 0.01083549779987641, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048270176590705885, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.581187715300859, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2508366425359211, + 0.1464145863935966, + 1.2434236541914963 + ], + "held_position": [ + 0.25629903825137046, + 0.15082379423355638, + 1.2382403467998029 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008726142116932631, + "max_held_gripper_dist": 0.008740187171560708, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00518330739169337, + "max_held_gripper_z_dist": 0.005212616143046134, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636035241582242, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25629903825137046, + 0.12544222364139068, + 1.2382403467998029 + ], + "held_grasp_finger_b": [ + 0.24638440087542407, + 0.15082379423355638, + 1.2382403467998029 + ], + "held_grasp_midpoint": [ + 0.25134171956339724, + 0.13813300893747354, + 1.2382403467998029 + ], + "held_grasp_object_position": [ + 0.25629903825137046, + 0.15082379423355638, + 1.2382403467998029 + ], + "held_grasp_finger_gap": 0.02724929650507704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024499467403880842, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08001480658139433, + -0.9965019739026219, + 0.024113206670211544 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003938254401741519, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667719857619363, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21838167067728614, + 0.15332465744323145, + 0.7611223367881947 + ], + "target_position": [ + 0.22602075734121688, + 0.14451338211217668, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011661655886652581, + "xy_threshold": 0.08, + "gripper_dist": 0.20815981820050264, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611223367881947, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539008385426631, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09067170417435634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18162819386236476, + "release_required_pad_clearance": 0.05533585208717817, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.717905659468011, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7a44b61931a1b82a581a906cb79065d3423dc80a428671241405a276098848d3", + "visual_seed": 8906719067778999431, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2d995fe496ee433b7da8417f9aba4f7921430306 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24407341750502998, + 0.1470187756865842, + 1.0492844862800002 + ], + "current_z": 1.0492844862800002, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1881779782652342, + "gripper_z": 1.0544033375539128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23885047279356236, + 0.14206404016976312, + 1.0544033375539128 + ], + "object_minus_gripper": [ + 0.005222944711467614, + 0.004954735516821074, + -0.00511885127391265 + ], + "object_to_gripper_xy": 0.0071992051992352405, + "object_to_gripper_z": -0.00511885127391265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24407341750502998, + 0.12253366393238381, + 1.0492844862800002 + ], + "finger_b": [ + 0.2320107110207573, + 0.1470187756865842, + 1.0492844862800002 + ], + "finger_midpoint": [ + 0.23804206426289365, + 0.134776219809484, + 1.0492844862800002 + ], + "object_minus_finger_midpoint": [ + 0.006031353242136328, + 0.012242555877100186, + 0.0 + ], + "finger_gap": 0.027295230084053077, + "fingertip_max_gap": 0.09027161725595553, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013647615042026526, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492844862800002, + "object_top_z": 1.0990780618438345, + "finger_top_clearance": 0.04979357556383435, + "fingertip_min_top_clearance": 0.01493807266915032, + "object_projection_between_fingers": 0.8046938127174675, + "object_to_finger_line_xy": 0.010820817975009236, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04763580862797777, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18481311615739182, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24348198092186601, + 0.1463271304227269, + 1.2436875155954454 + ], + "held_position": [ + 0.24897632464517505, + 0.15082140352647638, + 1.2384039384639367 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008848869474998113, + "max_held_gripper_dist": 0.008862106847930803, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005283577131508732, + "max_held_gripper_z_dist": 0.005315561047478656, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672822870931465, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24897632464517505, + 0.12544474005287662, + 1.2384039384639367 + ], + "held_grasp_finger_b": [ + 0.23890271635624472, + 0.15082140352647638, + 1.2384039384639367 + ], + "held_grasp_midpoint": [ + 0.24393952050070988, + 0.1381330717896765, + 1.2384039384639367 + ], + "held_grasp_object_position": [ + 0.24897632464517505, + 0.15082140352647638, + 1.2384039384639367 + ], + "held_grasp_finger_gap": 0.027302978464100548, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024604994447681255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07019486032857972, + -0.9974561865022413, + 0.012403128309319444 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041368024281985116, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671063731940815, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20400301467115695, + 0.1591389725493475, + 0.7611098672928542 + ], + "target_position": [ + 0.21889757103790097, + 0.1447251390036806, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020726948806910967, + "xy_threshold": 0.08, + "gripper_dist": 0.20571020900260498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098672928542, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0760003963409211, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087591084655724, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18117166308008723, + "release_required_pad_clearance": 0.053795542327862, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5835787761616205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 380, + "max_placed_release_frames": 380 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31cf946b3c41031f02a458f2697cc4b70f014d12fd3ec08421825a7bb5daf8f3", + "visual_seed": 7736316511747159808, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a454fa4c8694de0d4d672a47e29cfe5943b9f21d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24836256920107092, + 0.15201433924787003, + 1.0484126077602176 + ], + "current_z": 1.0484126077602176, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1873061593500962, + "gripper_z": 1.0534206106686748, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24318459141456653, + 0.14705813088614175, + 1.0534206106686748 + ], + "object_minus_gripper": [ + 0.00517797778650439, + 0.004956208361728276, + -0.005008002908457154 + ], + "object_to_gripper_xy": 0.00716766735293974, + "object_to_gripper_z": -0.005008002908457154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24836256920107092, + 0.12758713415873799, + 1.0484126077602176 + ], + "finger_b": [ + 0.23626020393814376, + 0.15201433924787003, + 1.0484126077602176 + ], + "finger_midpoint": [ + 0.24231138656960732, + 0.139800736703304, + 1.0484126077602176 + ], + "object_minus_finger_midpoint": [ + 0.006051182631463592, + 0.012213602544566021, + 0.0 + ], + "finger_gap": 0.027260880276026016, + "fingertip_max_gap": 0.09081656494876453, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013630440138013015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484126077602176, + "object_top_z": 1.0986801450422319, + "finger_top_clearance": 0.050267537282014274, + "fingertip_min_top_clearance": 0.015080261184604298, + "object_projection_between_fingers": 0.8029117371202036, + "object_to_finger_line_xy": 0.010844365821931722, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047908282474382266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.34494492812684685, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24806241466956117, + 0.15091743622129078, + 1.2413145783989936 + ], + "held_position": [ + 0.2535516479012407, + 0.15537200868070253, + 1.2361309021006206 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008766150650897954, + "max_held_gripper_dist": 0.008778688135235743, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005183676298373019, + "max_held_gripper_z_dist": 0.005215087107356631, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860454045510536, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2535516479012407, + 0.12993314015139668, + 1.2361309021006206 + ], + "held_grasp_finger_b": [ + 0.24366867500891376, + 0.15537200868070253, + 1.2361309021006206 + ], + "held_grasp_midpoint": [ + 0.24861016145507722, + 0.14265257441604962, + 1.2361309021006206 + ], + "held_grasp_object_position": [ + 0.2535516479012407, + 0.15537200868070253, + 1.2361309021006206 + ], + "held_grasp_finger_gap": 0.027291192448146644, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024539257650686007, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0819012513951946, + -0.9964549118554706, + 0.01923001973497018 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003891088904404215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0366411933973657, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22139548279477156, + 0.1506006005715273, + 0.7611129395847728 + ], + "target_position": [ + 0.2233085258228799, + 0.14697779942564143, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004096879516171537, + "xy_threshold": 0.08, + "gripper_dist": 0.20974153038888393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611129395847728, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565458391731739, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09315051130537301, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18118688156318963, + "release_required_pad_clearance": 0.05657525565268651, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.50631857456925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9bb38812f09f1507fe8c22c3d7ccaca5d3ce899923b8d3d1ec764d3a162bff8f", + "visual_seed": 8664523832395076525, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ca017e66587e8dda6f4fc88c222eb58ab356271f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24702702351336897, + 0.15380716676174894, + 1.0495272342448883 + ], + "current_z": 1.0495272342448883, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18842078583476707, + "gripper_z": 1.0543958744205144, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24204212714062076, + 0.14893900980384386, + 1.0543958744205144 + ], + "object_minus_gripper": [ + 0.00498489637274821, + 0.004868156957905073, + -0.00486864017562616 + ], + "object_to_gripper_xy": 0.006967649819977884, + "object_to_gripper_z": -0.00486864017562616, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24702702351336897, + 0.12954427047115363, + 1.0495272342448883 + ], + "finger_b": [ + 0.23501804411318578, + 0.15380716676174894, + 1.0495272342448883 + ], + "finger_midpoint": [ + 0.24102253381327737, + 0.14167571861645128, + 1.0495272342448883 + ], + "object_minus_finger_midpoint": [ + 0.0060044897000915975, + 0.012131448145297652, + 0.0 + ], + "finger_gap": 0.027072194640298516, + "fingertip_max_gap": 0.09277333194583712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013536097320149258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495272342448883, + "object_top_z": 1.100648328618191, + "finger_top_clearance": 0.0511210943733027, + "fingertip_min_top_clearance": 0.015336328311990843, + "object_projection_between_fingers": 0.803227106400675, + "object_to_finger_line_xy": 0.010762800194588409, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888666597291856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.001746615249528, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24688649595442147, + 0.15277902179017877, + 1.244274993208409 + ], + "held_position": [ + 0.25219707132758856, + 0.15714532923567748, + 1.2392447269565032 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008518827975007354, + "max_held_gripper_dist": 0.008532284943088964, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005030266251905724, + "max_held_gripper_z_dist": 0.005060127419576732, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587550357477702, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25219707132758856, + 0.13182338142052258, + 1.2392447269565032 + ], + "held_grasp_finger_b": [ + 0.24243419823283152, + 0.15714532923567748, + 1.2392447269565032 + ], + "held_grasp_midpoint": [ + 0.24731563478021004, + 0.14448435532810003, + 1.2392447269565032 + ], + "held_grasp_object_position": [ + 0.25219707132758856, + 0.15714532923567748, + 1.2392447269565032 + ], + "held_grasp_finger_gap": 0.027138804915061366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02450323407539428, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07539940870744533, + -0.9967380518381498, + 0.0287782067623652 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003930331187515012, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036732518173767416, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20563902090439828, + 0.16903010333304846, + 0.7611069242816197 + ], + "target_position": [ + 0.2221652561404151, + 0.15038242254736703, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024916910919310132, + "xy_threshold": 0.08, + "gripper_dist": 0.20375484298640126, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069242816197, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07852351692481845, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740324312598692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1806059729340397, + "release_required_pad_clearance": 0.05370162156299346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4118679684700295, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 347, + "max_placed_release_frames": 347 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a2519754b205cdd6ee5bec83dc5baf6334628babe092c38bf07d9d7269370ed9", + "visual_seed": 1455206762126020424, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d30a1bf796c1da79ab19e89292a6b7826b877f9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2522207222208158, + 0.15706550190786886, + 1.0477232718667477 + ], + "current_z": 1.0477232718667477, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18661670424733712, + "gripper_z": 1.0527823263813694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2468985962006821, + 0.15209441410228894, + 1.0527823263813694 + ], + "object_minus_gripper": [ + 0.005322126020133711, + 0.004971087805579921, + -0.00505905451462163 + ], + "object_to_gripper_xy": 0.007282632720724675, + "object_to_gripper_z": -0.00505905451462163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2522207222208158, + 0.13246784662441793, + 1.0477232718667477 + ], + "finger_b": [ + 0.2401823580729756, + 0.15706550190786886, + 1.0477232718667477 + ], + "finger_midpoint": [ + 0.24620154014689571, + 0.1447666742661434, + 1.0477232718667477 + ], + "object_minus_finger_midpoint": [ + 0.006019182073920104, + 0.012298827641725463, + 0.0 + ], + "finger_gap": 0.027385522759288086, + "fingertip_max_gap": 0.09051916381950517, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013692761379644043, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477232718667477, + "object_top_z": 1.0977209076533263, + "finger_top_clearance": 0.049997635786578565, + "fingertip_min_top_clearance": 0.014999290735973569, + "object_projection_between_fingers": 0.8067618454841244, + "object_to_finger_line_xy": 0.010812849332401252, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775958190975259, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2124066766857005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2517245403973869, + 0.1558981988479163, + 1.2415469105801828 + ], + "held_position": [ + 0.25732316055977766, + 0.1604003786276503, + 1.2363162707740374 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008886718363569733, + "max_held_gripper_dist": 0.008900580022364348, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005230639806145465, + "max_held_gripper_z_dist": 0.005269116458798129, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08598274180674986, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25732316055977766, + 0.1349338659991064, + 1.2363162707740374 + ], + "held_grasp_finger_b": [ + 0.2472926186933558, + 0.1604003786276503, + 1.2363162707740374 + ], + "held_grasp_midpoint": [ + 0.25230788962656675, + 0.14766712231337836, + 1.2363162707740374 + ], + "held_grasp_object_position": [ + 0.25732316055977766, + 0.1604003786276503, + 1.2363162707740374 + ], + "held_grasp_finger_gap": 0.02737069665890563, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02468132262022099, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07146320568481496, + -0.9973150885325371, + 0.015988258772851482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040976920036475736, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036662774083454315, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2263433628795764, + 0.15426292342246975, + 0.7611179796156587 + ], + "target_position": [ + 0.22707925826707245, + 0.15189383483948363, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0024807504379467833, + "xy_threshold": 0.08, + "gripper_dist": 0.21098994181753933, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611179796156587, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533260978382836, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08780356050897216, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18209906593118008, + "release_required_pad_clearance": 0.05390178025448608, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.783063385000173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 298, + "max_placed_release_frames": 298 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2c92a05599ca3b27942e02a84064975ea79487e4052f2bdb5f0f19179fe2cf5", + "visual_seed": 7524019400829405194, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4715ebc0497b837ff200ad5f8cf75ef25cf3ff4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2446512093883924, + 0.15112210253429426, + 1.0502990082711903 + ], + "current_z": 1.0502990082711903, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.18919244065177954, + "gripper_z": 1.0550190519573754, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23954003629169865, + 0.14621091105693806, + 1.0550190519573754 + ], + "object_minus_gripper": [ + 0.005111173096693761, + 0.0049111914773561915, + -0.004720043686185171 + ], + "object_to_gripper_xy": 0.0070882926118792655, + "object_to_gripper_z": -0.004720043686185171, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2446512093883924, + 0.12671167954574294, + 1.0502990082711903 + ], + "finger_b": [ + 0.23265967530739515, + 0.15112210253429426, + 1.0502990082711903 + ], + "finger_midpoint": [ + 0.23865544234789376, + 0.1389168910400186, + 1.0502990082711903 + ], + "object_minus_finger_midpoint": [ + 0.005995767040498645, + 0.01220521149427567, + 0.0 + ], + "finger_gap": 0.027196794665837246, + "fingertip_max_gap": 0.09058451615744878, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013598397332918642, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502990082711903, + "object_top_z": 1.1003232758246044, + "finger_top_clearance": 0.05002426755341416, + "fingertip_min_top_clearance": 0.01500728026602428, + "object_projection_between_fingers": 0.8055920380496363, + "object_to_finger_line_xy": 0.010762974931250436, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779225807872439, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.14392220872834544, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2442519519625713, + 0.15044792572593796, + 1.2433057919336339 + ], + "held_position": [ + 0.2496469568617122, + 0.1549054375144423, + 1.2384190603175584 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008535551247222462, + "max_held_gripper_dist": 0.008549267745174161, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004886731616075446, + "max_held_gripper_z_dist": 0.004919356440353129, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08677581893225908, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2496469568617122, + 0.12955170063545618, + 1.2384190603175584 + ], + "held_grasp_finger_b": [ + 0.23971100855610994, + 0.1549054375144423, + 1.2384190603175584 + ], + "held_grasp_midpoint": [ + 0.24467898270891109, + 0.14222856907494924, + 1.2384190603175584 + ], + "held_grasp_object_position": [ + 0.2496469568617122, + 0.1549054375144423, + 1.2384190603175584 + ], + "held_grasp_finger_gap": 0.027231141042204997, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024542150439207776, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07435215056204766, + -0.9971275510300083, + 0.01443622816725332 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004015964511400221, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671041572609632, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21899869139855116, + 0.15368695796411141, + 0.7611066460450997 + ], + "target_position": [ + 0.21961676140485178, + 0.1492501999328792, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00447960180824056, + "xy_threshold": 0.08, + "gripper_dist": 0.21146678907506797, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066460450997, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532217806250399, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850793913470755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18337645431347643, + "release_required_pad_clearance": 0.05253969567353775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803745031154336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 361, + "max_placed_release_frames": 361 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5ef3dabc6c2be8aca3b338ee5368c31d15f35757ef8516cf7b2541268da9d69f", + "visual_seed": 5576617390562410089, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf72209c35d3e47ffd990907f35d0d9bbe4792c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_41_success.json @@ -0,0 +1,684 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25142646712848377, + 0.1505367751022961, + 1.0511712127537147 + ], + "current_z": 1.0511712127537147, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19006452592501444, + "gripper_z": 1.056166210133316, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2461592282106583, + 0.14549735536585323, + 1.056166210133316 + ], + "object_minus_gripper": [ + 0.005267238917825462, + 0.005039419736442868, + -0.004994997379601296 + ], + "object_to_gripper_xy": 0.00728968840880768, + "object_to_gripper_z": -0.004994997379601296, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25142646712848377, + 0.12610628359476828, + 1.0511712127537147 + ], + "finger_b": [ + 0.23912374523831398, + 0.1505367751022961, + 1.0511712127537147 + ], + "finger_midpoint": [ + 0.24527510618339887, + 0.1383215293485322, + 1.0511712127537147 + ], + "object_minus_finger_midpoint": [ + 0.006151360945084894, + 0.012215245753763898, + 0.0 + ], + "finger_gap": 0.02735335228461499, + "fingertip_max_gap": 0.09111625759079786, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013676676142307482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511712127537147, + "object_top_z": 1.101658195308458, + "finger_top_clearance": 0.050486982554743376, + "fingertip_min_top_clearance": 0.015146094766423012, + "object_projection_between_fingers": 0.797706794735633, + "object_to_finger_line_xy": 0.010988106303384294, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805812879539893, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5133330887575853, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2511808735862544, + 0.1489399165643397, + 1.2456218557436907 + ], + "held_position": [ + 0.25679301547532085, + 0.15341648421618925, + 1.2404479842787834 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008848996579272782, + "max_held_gripper_dist": 0.008862550565739386, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00517387146490722, + "max_held_gripper_z_dist": 0.0052041008522571985, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08652859966657815, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25679301547532085, + 0.12789971206128464, + 1.2404479842787834 + ], + "held_grasp_finger_b": [ + 0.2468636250552573, + 0.15341648421618925, + 1.2404479842787834 + ], + "held_grasp_midpoint": [ + 0.25182832026528906, + 0.14065809813873695, + 1.2404479842787834 + ], + "held_grasp_object_position": [ + 0.25679301547532085, + 0.15341648421618925, + 1.2404479842787834 + ], + "held_grasp_finger_gap": 0.027380621894313596, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024524806399178877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08897499377047195, + -0.9957479612116559, + 0.023863114347782655 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038223943639905176, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657437941973588, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21425622369014016, + 0.1523348883232702, + 0.7611249895404226 + ], + "target_position": [ + 0.22630552860135894, + 0.14512677322242992, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014040750412655388, + "xy_threshold": 0.08, + "gripper_dist": 0.20718665946643142, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611249895404226, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584296667899562, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08833371356587043, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18014219372031537, + "release_required_pad_clearance": 0.054166856782935216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.265154225488119, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 337, + "max_placed_release_frames": 337 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8e369ee9bcb734a9507ff94125214ea0a36303548eea96bd5895b7d0ba55590", + "visual_seed": 6841656803040397292, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1a2ae013f343f0258a09327b350f2c074004ec4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2512161283885228, + 0.15123641822261527, + 1.0477414703539256 + ], + "current_z": 1.0477414703539256, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18663502194380444, + "gripper_z": 1.0526652499843574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24630897150338468, + 0.1465549068110722, + 1.0526652499843574 + ], + "object_minus_gripper": [ + 0.004907156885138125, + 0.004681511411543077, + -0.004923779630431779 + ], + "object_to_gripper_xy": 0.006782089485679658, + "object_to_gripper_z": -0.004923779630431779, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2512161283885228, + 0.12680498438724433, + 1.0477414703539256 + ], + "finger_b": [ + 0.23976431403567947, + 0.15123641822261527, + 1.0477414703539256 + ], + "finger_midpoint": [ + 0.24549022121210112, + 0.1390207013049298, + 1.0477414703539256 + ], + "object_minus_finger_midpoint": [ + 0.005725907176421685, + 0.01221571691768547, + 0.0 + ], + "finger_gap": 0.026982198042859607, + "fingertip_max_gap": 0.09321898114718627, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01349109902142981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477414703539256, + "object_top_z": 1.0993267544723568, + "finger_top_clearance": 0.05158528411843122, + "fingertip_min_top_clearance": 0.015475585235529348, + "object_projection_between_fingers": 0.8198667242412075, + "object_to_finger_line_xy": 0.010369216185131503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910949057359314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1098762717033475, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25100564189144325, + 0.15079463804754567, + 1.241801393910477 + ], + "held_position": [ + 0.25613928959187077, + 0.1550861519677615, + 1.236728322813081 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00839687327513916, + "max_held_gripper_dist": 0.008411014849450926, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005073071097396076, + "max_held_gripper_z_dist": 0.005103839944392563, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0868378757393782, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25613928959187077, + 0.12989526770114498, + 1.236728322813081 + ], + "held_grasp_finger_b": [ + 0.2464508998974671, + 0.1550861519677615, + 1.236728322813081 + ], + "held_grasp_midpoint": [ + 0.25129509474466893, + 0.14249070983445322, + 1.236728322813081 + ], + "held_grasp_object_position": [ + 0.25613928959187077, + 0.1550861519677615, + 1.236728322813081 + ], + "held_grasp_finger_gap": 0.026989730361837518, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453156745575815, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06172290577547716, + -0.9975657366376839, + 0.03244817389541377 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040785498127691505, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0368564707779922, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21925934696021304, + 0.14551184000014802, + 0.7611067593492437 + ], + "target_position": [ + 0.22648863421704798, + 0.14698391745098244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0073776423241501245, + "xy_threshold": 0.08, + "gripper_dist": 0.2073471931062819, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067593492437, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590770564067463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619838147433641, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17763202407454962, + "release_required_pad_clearance": 0.053099190737168206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2258726703788674, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 287, + "max_placed_release_frames": 287 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bcfbc4b54dc655b0ad23ff733a3be6aca4eb95b51b4764efac1f73284d57ca75", + "visual_seed": 5241833149741014178, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..393b22492a0551323d4a0636fa915b6169d94865 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24998852415274486, + 0.15633667369251453, + 1.0493169801778048 + ], + "current_z": 1.0493169801778048, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.1882105913723282, + "gripper_z": 1.054106867289042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24486622289408208, + 0.15145563327294964, + 1.054106867289042 + ], + "object_minus_gripper": [ + 0.005122301258662781, + 0.004881040419564886, + -0.004789887111237068 + ], + "object_to_gripper_xy": 0.007075487669547907, + "object_to_gripper_z": -0.004789887111237068, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24998852415274486, + 0.13187180645240648, + 1.0493169801778048 + ], + "finger_b": [ + 0.2380960426372671, + 0.15633667369251453, + 1.0493169801778048 + ], + "finger_midpoint": [ + 0.244042283395006, + 0.1441042400724605, + 1.0493169801778048 + ], + "object_minus_finger_midpoint": [ + 0.005946240757738863, + 0.012232433620054023, + 0.0 + ], + "finger_gap": 0.027202221337091055, + "fingertip_max_gap": 0.0918087568602369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013601110668545522, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493169801778048, + "object_top_z": 1.1001340023796222, + "finger_top_clearance": 0.050817022201817386, + "fingertip_min_top_clearance": 0.015245106660545231, + "object_projection_between_fingers": 0.8088667563653034, + "object_to_finger_line_xy": 0.010695743477202207, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840437843011845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6758130546979959, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24972437634824976, + 0.1554187544036033, + 1.2456058282565916 + ], + "held_position": [ + 0.2551561411934773, + 0.15981998175958573, + 1.2406767855232221 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008553965971424018, + "max_held_gripper_dist": 0.008566723812634687, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004929042733369471, + "max_held_gripper_z_dist": 0.004961834685599076, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08719551911190246, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2551561411934773, + 0.13446951437090504, + 1.2406767855232221 + ], + "held_grasp_finger_b": [ + 0.24523940671665573, + 0.15981998175958573, + 1.2406767855232221 + ], + "held_grasp_midpoint": [ + 0.2501977739550665, + 0.14714474806524538, + 1.2406767855232221 + ], + "held_grasp_object_position": [ + 0.2551561411934773, + 0.15981998175958573, + 1.2406767855232221 + ], + "held_grasp_finger_gap": 0.027221091445942144, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024496185970292354, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07752785206969913, + -0.9966289262622045, + 0.026836830865518028 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003975782928767799, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670333396141538, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2153536468764211, + 0.16328996816867097, + 0.7611064262234489 + ], + "target_position": [ + 0.22504686086032175, + 0.15285946815136392, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014239161771281667, + "xy_threshold": 0.08, + "gripper_dist": 0.20609360233781668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064262234489, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557291540627997, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0877300006081944, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17953414734554915, + "release_required_pad_clearance": 0.0538650003040972, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7394730645953342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 335, + "max_placed_release_frames": 335 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6037f357294d72433216b430e84572a3fa9e16a583fc4493e3c25b97b330f0d8", + "visual_seed": 7631519302655492196, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b8f13d7e4ad982a94e0c22071b0e1cf9204adfe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24592028363531088, + 0.1504314567422203, + 1.048982298059759 + ], + "current_z": 1.048982298059759, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18787584964963777, + "gripper_z": 1.0544160614148506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2409899374546787, + 0.14571485761856506, + 1.0544160614148506 + ], + "object_minus_gripper": [ + 0.004930346180632178, + 0.004716599123655241, + -0.005433763355091603 + ], + "object_to_gripper_xy": 0.006823094661085957, + "object_to_gripper_z": -0.005433763355091603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24592028363531088, + 0.12600569645446688, + 1.048982298059759 + ], + "finger_b": [ + 0.2343836557144758, + 0.1504314567422203, + 1.048982298059759 + ], + "finger_midpoint": [ + 0.24015196967489333, + 0.13821857659834358, + 1.048982298059759 + ], + "object_minus_finger_midpoint": [ + 0.005768313960417548, + 0.012212880143876725, + 0.0 + ], + "finger_gap": 0.027013173627298652, + "fingertip_max_gap": 0.09437411735623907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013506586813649345, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048982298059759, + "object_top_z": 1.101102891109764, + "finger_top_clearance": 0.05212059305000505, + "fingertip_min_top_clearance": 0.015636177915001513, + "object_projection_between_fingers": 0.8176076781437306, + "object_to_finger_line_xy": 0.010431610591602292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968705867811954, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5158641569003062, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24578133480476888, + 0.14965629575265488, + 1.2444687888313977 + ], + "held_position": [ + 0.250959797454251, + 0.1539428538388051, + 1.2388871074442367 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008737632559555283, + "max_held_gripper_dist": 0.00875083920462601, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005581681387160975, + "max_held_gripper_z_dist": 0.005609133937727551, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08594774312814324, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.250959797454251, + 0.12870635962742163, + 1.2388871074442367 + ], + "held_grasp_finger_b": [ + 0.2413031799035716, + 0.1539428538388051, + 1.2388871074442367 + ], + "held_grasp_midpoint": [ + 0.24613148867891133, + 0.14132460673311337, + 1.2388871074442367 + ], + "held_grasp_object_position": [ + 0.250959797454251, + 0.1539428538388051, + 1.2388871074442367 + ], + "held_grasp_finger_gap": 0.027020934524943443, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024569228511935215, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.062013433503134, + -0.9972886214491262, + 0.03961993933935315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004068086997369999, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0368367958037832, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2173654778225905, + 0.14861115444521486, + 0.7611074270015065 + ], + "target_position": [ + 0.22110113250779226, + 0.14526124573045968, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005017669212319859, + "xy_threshold": 0.08, + "gripper_dist": 0.21128196818496878, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074270015065, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533431950595468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08977018468719404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18337464767724637, + "release_required_pad_clearance": 0.05488509234359702, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.830814754436408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 361, + "max_placed_release_frames": 361 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37c75564b83056e5738c76a56de5ca3d77111416854542de1eb636afae805913", + "visual_seed": 5535036473123771786, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea506bed14a3104089cbbffdc42ae26edc0c6bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2515198735218009, + 0.15664793140016003, + 1.0477833660295985 + ], + "current_z": 1.0477833660295985, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.18667667920089814, + "gripper_z": 1.052674450954972, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24643943356474715, + 0.15173248912413145, + 1.052674450954972 + ], + "object_minus_gripper": [ + 0.005080439957053734, + 0.004915442276028581, + -0.004891084925373379 + ], + "object_to_gripper_xy": 0.007069118963930171, + "object_to_gripper_z": -0.004891084925373379, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2515198735218009, + 0.13229653975882638, + 1.0477833660295985 + ], + "finger_b": [ + 0.23947086471620121, + 0.15664793140016003, + 1.0477833660295985 + ], + "finger_midpoint": [ + 0.24549536911900105, + 0.1444722355794932, + 1.0477833660295985 + ], + "object_minus_finger_midpoint": [ + 0.006024504402799835, + 0.012175695820666826, + 0.0 + ], + "finger_gap": 0.027169263664424785, + "fingertip_max_gap": 0.0916481271810976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013584631832212393, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477833660295985, + "object_top_z": 1.0984075651539622, + "finger_top_clearance": 0.05062419912436367, + "fingertip_min_top_clearance": 0.015187259737309132, + "object_projection_between_fingers": 0.8033260199063893, + "object_to_finger_line_xy": 0.010799340605583808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048324063590548805, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6141668595766603, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25132407662646644, + 0.1554499263338585, + 1.2434144996720582 + ], + "held_position": [ + 0.25674390291890076, + 0.1598477042523809, + 1.2383782508418815 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008606902459088395, + "max_held_gripper_dist": 0.008621012560373826, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005036248830176726, + "max_held_gripper_z_dist": 0.005070649617532119, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613898189863653, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25674390291890076, + 0.13448353817238903, + 1.2383782508418815 + ], + "held_grasp_finger_b": [ + 0.24687277989476814, + 0.1598477042523809, + 1.2383782508418815 + ], + "held_grasp_midpoint": [ + 0.25180834140683445, + 0.14716562121238497, + 1.2383782508418815 + ], + "held_grasp_object_position": [ + 0.25674390291890076, + 0.1598477042523809, + 1.2383782508418815 + ], + "held_grasp_finger_gap": 0.02721727375566795, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024490192240782697, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07959959865738572, + -0.9965212178507167, + 0.024685345185103347 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003923311691440109, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036689416518685077, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21339570114492987, + 0.16718335683819396, + 0.76111032908885 + ], + "target_position": [ + 0.22660658875063552, + 0.1528418611057254, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019498873074488214, + "xy_threshold": 0.08, + "gripper_dist": 0.20615340458670317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76111032908885, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07828543195975064, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08870315041341247, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.180109100701807, + "release_required_pad_clearance": 0.054351575206706235, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.719451484566284, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc972d456dee8117cb69eb4e7cce616e65753ee784adfdfccec3191700e41f43", + "visual_seed": 237913091882368847, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfc74182b1823af08449f8480b4f1d115976a37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25053574129898126, + 0.15474861421048494, + 1.0512817083232853 + ], + "current_z": 1.0512817083232853, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1901752003085192, + "gripper_z": 1.0559359711163474, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24535938119179757, + 0.1498135708205391, + 1.0559359711163474 + ], + "object_minus_gripper": [ + 0.005176360107183697, + 0.0049350433899458535, + -0.004654262793062136 + ], + "object_to_gripper_xy": 0.00715187788066121, + "object_to_gripper_z": -0.004654262793062136, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25053574129898126, + 0.13028948542735896, + 1.0512817083232853 + ], + "finger_b": [ + 0.23850811290250956, + 0.15474861421048494, + 1.0512817083232853 + ], + "finger_midpoint": [ + 0.2445219271007454, + 0.14251904981892194, + 1.0512817083232853 + ], + "object_minus_finger_midpoint": [ + 0.006013814198235851, + 0.012229564391563003, + 0.0 + ], + "finger_gap": 0.027256427236032863, + "fingertip_max_gap": 0.09048485096016268, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013628213618016444, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0512817083232853, + "object_top_z": 1.1012479787849658, + "finger_top_clearance": 0.04996627046168056, + "fingertip_min_top_clearance": 0.014989881138504201, + "object_projection_between_fingers": 0.8052748050048371, + "object_to_finger_line_xy": 0.010793245547456509, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04774242548008134, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.13003350523380292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25019531047233734, + 0.1538796597112917, + 1.244920978560911 + ], + "held_position": [ + 0.2556571019038654, + 0.15834531935783852, + 1.2400964621062172 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008546884856011688, + "max_held_gripper_dist": 0.008560323312267902, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004824516454693839, + "max_held_gripper_z_dist": 0.004857629152283494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08579134612151307, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2556571019038654, + 0.13295819334883963, + 1.2400964621062172 + ], + "held_grasp_finger_b": [ + 0.24569015723879156, + 0.15834531935783852, + 1.2400964621062172 + ], + "held_grasp_midpoint": [ + 0.2506736295713285, + 0.14565175635333907, + 1.2400964621062172 + ], + "held_grasp_object_position": [ + 0.2556571019038654, + 0.15834531935783852, + 1.2400964621062172 + ], + "held_grasp_finger_gap": 0.027273543094974522, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453627442166125, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07742751582438273, + -0.9968828365395185, + 0.015152227763227666 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039904601973767264, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036680397093488686, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22076725712874012, + 0.15418190548727756, + 0.7611139707409403 + ], + "target_position": [ + 0.22554287874733983, + 0.15289072975482823, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004947089711750025, + "xy_threshold": 0.08, + "gripper_dist": 0.20934388042850294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611139707409403, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550093148474474, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09040644885729461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18023125927342673, + "release_required_pad_clearance": 0.05520322442864731, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.486895465162678, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5709eba25cb2722a5bb7a0f927437d4e7d68e293353e12264dfd84c00c13d538", + "visual_seed": 4283848084984058078, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9fdd9d4e3b0b7725375014f335507f6f20485ea0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2517254403589199, + 0.15775276252711298, + 1.047905848105863 + ], + "current_z": 1.047905848105863, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1867992804864521, + "gripper_z": 1.0527890789546235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24622044348453334, + 0.1527781909891957, + 1.0527890789546235 + ], + "object_minus_gripper": [ + 0.005504996874386575, + 0.004974571537917277, + -0.0048832308487605225 + ], + "object_to_gripper_xy": 0.007419659869081778, + "object_to_gripper_z": -0.0048832308487605225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2517254403589199, + 0.13286321673468054, + 1.047905848105863 + ], + "finger_b": [ + 0.2398907361901921, + 0.15775276252711298, + 1.047905848105863 + ], + "finger_midpoint": [ + 0.24580808827455602, + 0.14530798963089675, + 1.047905848105863 + ], + "object_minus_finger_midpoint": [ + 0.005917352084363892, + 0.012444772896216233, + 0.0 + ], + "finger_gap": 0.027559929472240938, + "fingertip_max_gap": 0.09259581112544166, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013779964736120476, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047905848105863, + "object_top_z": 1.0987915292606933, + "finger_top_clearance": 0.05088568115483039, + "fingertip_min_top_clearance": 0.015265704346449131, + "object_projection_between_fingers": 0.8156009798258506, + "object_to_finger_line_xy": 0.010687995832650113, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879790556272083, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9199913282636145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25112529056871224, + 0.15656521300904053, + 1.2435250288513724 + ], + "held_position": [ + 0.25687315299618185, + 0.16111264245868503, + 1.2384877229614983 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008893339514084168, + "max_held_gripper_dist": 0.008905680503935772, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005037305889874055, + "max_held_gripper_z_dist": 0.005074112547810872, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636859449190648, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25687315299618185, + 0.13557619779811383, + 1.2384877229614983 + ], + "held_grasp_finger_b": [ + 0.2467093099089038, + 0.16111264245868503, + 1.2384877229614983 + ], + "held_grasp_midpoint": [ + 0.25179123145254284, + 0.14834442012839943, + 1.2384877229614983 + ], + "held_grasp_object_position": [ + 0.25687315299618185, + 0.16111264245868503, + 1.2384877229614983 + ], + "held_grasp_finger_gap": 0.02748479056142188, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024976549942397116, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05095157126530342, + -0.9983540800866391, + 0.026326187721685494 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044377677897534315, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036714111323505695, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2137553315842528, + 0.15824225995142296, + 0.7611074630603746 + ], + "target_position": [ + 0.22639910955822382, + 0.15378551093260573, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013406257243235445, + "xy_threshold": 0.08, + "gripper_dist": 0.20605721522034437, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074630603746, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580822316585238, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08604317329659784, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17788162436231617, + "release_required_pad_clearance": 0.053021586648298924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0719052770505548, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6dba1b2a2febce03ccb68ae4777372c605dbb31e4699ad4e8b072d1daa4849b", + "visual_seed": 6511106661676453184, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40bc4cf9dbdb696d5a46b9217915972f42631496 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25073161545477873, + 0.15480900110043389, + 1.0474600516530903 + ], + "current_z": 1.0474600516530903, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.18635360324296935, + "gripper_z": 1.052468625430405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2456901303763589, + 0.15004516715033953, + 1.052468625430405 + ], + "object_minus_gripper": [ + 0.005041485078419838, + 0.004763833950094359, + -0.005008573777314673 + ], + "object_to_gripper_xy": 0.006936186682897276, + "object_to_gripper_z": -0.005008573777314673, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25073161545477873, + 0.13028748676443067, + 1.0474600516530903 + ], + "finger_b": [ + 0.239153493773865, + 0.15480900110043389, + 1.0474600516530903 + ], + "finger_midpoint": [ + 0.24494255461432185, + 0.14254824393243226, + 1.0474600516530903 + ], + "object_minus_finger_midpoint": [ + 0.005789060840456883, + 0.012260757168001624, + 0.0 + ], + "finger_gap": 0.027117477150149057, + "fingertip_max_gap": 0.09278126574162862, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013558738575074546, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474600516530903, + "object_top_z": 1.0987437235283983, + "finger_top_clearance": 0.05128367187530802, + "fingertip_min_top_clearance": 0.015385101562592407, + "object_projection_between_fingers": 0.8177037842869218, + "object_to_finger_line_xy": 0.010469745220416103, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889063287081431, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9057624177482458, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2504259166862255, + 0.1540969892234374, + 1.23989273049464 + ], + "held_position": [ + 0.25568494680108533, + 0.15845859780971375, + 1.2347119435357827 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0085744726206309, + "max_held_gripper_dist": 0.008587467731801308, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005180786958857375, + "max_held_gripper_z_dist": 0.005213270845454643, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08572561155689952, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25568494680108533, + 0.13316111187707072, + 1.2347119435357827 + ], + "held_grasp_finger_b": [ + 0.24595347636506187, + 0.15845859780971375, + 1.2347119435357827 + ], + "held_grasp_midpoint": [ + 0.25081921158307363, + 0.14580985484339223, + 1.2347119435357827 + ], + "held_grasp_object_position": [ + 0.25568494680108533, + 0.15845859780971375, + 1.2347119435357827 + ], + "held_grasp_finger_gap": 0.027104691685379313, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024632424703571597, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06225337282833112, + -0.9976580925073929, + 0.02833457298085018 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040850017088645075, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03679822086108761, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21709130743875868, + 0.15342137836891023, + 0.7611064851826936 + ], + "target_position": [ + 0.22585889102631718, + 0.1509140959502352, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009119045294975899, + "xy_threshold": 0.08, + "gripper_dist": 0.20841508664188338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064851826936, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544941276470137, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08712986350672237, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18030367498733735, + "release_required_pad_clearance": 0.05356493175336119, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1409155191130256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 337, + "max_placed_release_frames": 337 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89ab0d7a5fa78a5cce87f1c273ae9d3b9ff283f20a66b4765c00e92445d13234", + "visual_seed": 2807961998032649975, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..760576309dc4226ec51070236a75fbf4861ff378 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24442546448106786, + 0.1533521056811425, + 1.0477101423007782 + ], + "current_z": 1.0477101423007782, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18660351507672246, + "gripper_z": 1.052832934388393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23931840448112696, + 0.14844732358788448, + 1.052832934388393 + ], + "object_minus_gripper": [ + 0.005107059999940905, + 0.004904782093258009, + -0.0051227920876149025 + ], + "object_to_gripper_xy": 0.007080886189266201, + "object_to_gripper_z": -0.0051227920876149025, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24442546448106786, + 0.1289499695765366, + 1.0477101423007782 + ], + "finger_b": [ + 0.23243367051135522, + 0.1533521056811425, + 1.0477101423007782 + ], + "finger_midpoint": [ + 0.23842956749621153, + 0.14115103762883954, + 1.0477101423007782 + ], + "object_minus_finger_midpoint": [ + 0.005995896984856336, + 0.012201068052302949, + 0.0 + ], + "finger_gap": 0.027189471658709136, + "fingertip_max_gap": 0.09218995211555542, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013594735829354573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477101423007782, + "object_top_z": 1.0986943662845468, + "finger_top_clearance": 0.05098422398376856, + "fingertip_min_top_clearance": 0.015295267195130567, + "object_projection_between_fingers": 0.8054788718849512, + "object_to_finger_line_xy": 0.01076245218224345, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859497605777771, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7795266702316103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24406287872227822, + 0.15255945058546136, + 1.243112511068131 + ], + "held_position": [ + 0.24947605180358937, + 0.15697557851753008, + 1.2378413466289766 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008751560047513485, + "max_held_gripper_dist": 0.008765170435420123, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005271164439154319, + "max_held_gripper_z_dist": 0.005300350910891316, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691502465853104, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24947605180358937, + 0.13163975697271654, + 1.2378413466289766 + ], + "held_grasp_finger_b": [ + 0.2395383108477896, + 0.15697557851753008, + 1.2378413466289766 + ], + "held_grasp_midpoint": [ + 0.2445071813256895, + 0.14430766774512332, + 1.2378413466289766 + ], + "held_grasp_object_position": [ + 0.24947605180358937, + 0.15697557851753008, + 1.2378413466289766 + ], + "held_grasp_finger_gap": 0.027215116179344485, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02450616662641482, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07526826830443878, + -0.9967769600187176, + 0.02775571584907654 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004017158135631682, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0367191702042865, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21039205850726597, + 0.1602665653116637, + 0.7611063442954635 + ], + "target_position": [ + 0.21935861676381854, + 0.15102626691529628, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012875646835093815, + "xy_threshold": 0.08, + "gripper_dist": 0.2083287169977143, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063442954635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753233826669246, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09331981234609192, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18230289134230968, + "release_required_pad_clearance": 0.05665990617304596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.731303879813062, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 354, + "max_placed_release_frames": 354 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "53e22b142ca4b5e2207cd181b5b08415b167545fffd0adef00e37d7447ffbf85", + "visual_seed": 4656392475510380628, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fedc999627f40f66ce7772e4e52a41c7ffb27da2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_52_success.json @@ -0,0 +1,684 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2461716015332951, + 0.14616787336389495, + 1.049424991886292 + ], + "current_z": 1.049424991886292, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18831848387152583, + "gripper_z": 1.054513376796632, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24100699994074026, + 0.1413900942160483, + 1.054513376796632 + ], + "object_minus_gripper": [ + 0.005164601592554829, + 0.004777779147846634, + -0.005088384910340027 + ], + "object_to_gripper_xy": 0.007035643765528354, + "object_to_gripper_z": -0.005088384910340027, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2461716015332951, + 0.12150123877834093, + 1.049424991886292 + ], + "finger_b": [ + 0.23464241289397395, + 0.14616787336389495, + 1.049424991886292 + ], + "finger_midpoint": [ + 0.2404070072136345, + 0.13383455607111794, + 1.049424991886292 + ], + "object_minus_finger_midpoint": [ + 0.0057645943196605876, + 0.012333317292777007, + 0.0 + ], + "finger_gap": 0.027228019620572873, + "fingertip_max_gap": 0.091979461704748, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013614009810286442, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049424991886292, + "object_top_z": 1.1003715005859838, + "finger_top_clearance": 0.05094650869969186, + "fingertip_min_top_clearance": 0.015283952609907524, + "object_projection_between_fingers": 0.8207061551656724, + "object_to_finger_line_xy": 0.010444618712525814, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048489730852374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7413309435702571, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2457760051656657, + 0.1451679591714616, + 1.244654121011138 + ], + "held_position": [ + 0.25115991492790646, + 0.14954519359816576, + 1.2394106605476338 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008697157189944658, + "max_held_gripper_dist": 0.008708659893867914, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0052434604635041016, + "max_held_gripper_z_dist": 0.005268892782307466, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08607812734679647, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25115991492790646, + 0.12419359723307914, + 1.2394106605476338 + ], + "held_grasp_finger_b": [ + 0.24133432949736014, + 0.14954519359816576, + 1.2394106605476338 + ], + "held_grasp_midpoint": [ + 0.24624712221263328, + 0.13686939541562246, + 1.2394106605476338 + ], + "held_grasp_object_position": [ + 0.25115991492790646, + 0.14954519359816576, + 1.2394106605476338 + ], + "held_grasp_finger_gap": 0.027189070732763873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024689174327328603, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06157876890696568, + -0.9977368453517282, + 0.027004493098078175 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004137433392959412, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0367706154518275, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21286352943102635, + 0.14584708241653552, + 0.7611092979207403 + ], + "target_position": [ + 0.22109711408479918, + 0.14476190813027986, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008304788948696644, + "xy_threshold": 0.08, + "gripper_dist": 0.20818846657876935, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611092979207403, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752954247459443, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09009835567833406, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18045015038259712, + "release_required_pad_clearance": 0.05504917783916703, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.166464774478009, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 344, + "max_placed_release_frames": 344 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8dccad12c008909d01ddf3dea0444889c5e2973eae02d77b6235f9be0eb28f26", + "visual_seed": 2329793920318787751, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..17ca083645def092c99bb7ee7062b5d36bb86c9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25226851939119155, + 0.15083957874212117, + 1.0485545662965698 + ], + "current_z": 1.0485545662965698, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.18744781986322478, + "gripper_z": 1.0533450103043442, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24707746920313017, + 0.14583802567781248, + 1.0533450103043442 + ], + "object_minus_gripper": [ + 0.005191050188061375, + 0.005001553064308689, + -0.004790444007774397 + ], + "object_to_gripper_xy": 0.007208504360133776, + "object_to_gripper_z": -0.004790444007774397, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25226851939119155, + 0.1264542523154791, + 1.0485545662965698 + ], + "finger_b": [ + 0.24004174228774708, + 0.15083957874212117, + 1.0485545662965698 + ], + "finger_midpoint": [ + 0.24615513083946933, + 0.13864691552880015, + 1.0485545662965698 + ], + "object_minus_finger_midpoint": [ + 0.006113388551722221, + 0.01219266321332102, + 0.0 + ], + "finger_gap": 0.02727889703179368, + "fingertip_max_gap": 0.09048811846790908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363944851589682, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485545662965698, + "object_top_z": 1.0984286443752709, + "finger_top_clearance": 0.049874078078701034, + "fingertip_min_top_clearance": 0.014962223423610326, + "object_projection_between_fingers": 0.7991044221863192, + "object_to_finger_line_xy": 0.010929838932482745, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04774405923395454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25845224764441116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25192320522952905, + 0.14974089258490159, + 1.2437504698306456 + ], + "held_position": [ + 0.257460484617684, + 0.15422694768635012, + 1.2388096994528695 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008671641443327138, + "max_held_gripper_dist": 0.008685391208529182, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0049407703777761824, + "max_held_gripper_z_dist": 0.004975483713007378, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604892974998599, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.257460484617684, + 0.12880219336738494, + 1.2388096994528695 + ], + "held_grasp_finger_b": [ + 0.2474311291360911, + 0.15422694768635012, + 1.2388096994528695 + ], + "held_grasp_midpoint": [ + 0.25244580687688756, + 0.14151457052686753, + 1.2388096994528695 + ], + "held_grasp_object_position": [ + 0.257460484617684, + 0.15422694768635012, + 1.2388096994528695 + ], + "held_grasp_finger_gap": 0.027331412395920855, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024537454566514648, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0800626954317242, + -0.996683448024968, + 0.01456259706467955 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039852311000503, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664854555353847, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2117676565704374, + 0.16188590930064517, + 0.7611081227969467 + ], + "target_position": [ + 0.22724301155965623, + 0.14679088287301495, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021618196846480867, + "xy_threshold": 0.08, + "gripper_dist": 0.20411511975900548, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081227969467, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07809912634156659, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805510726119133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17913415386127843, + "release_required_pad_clearance": 0.054027553630595665, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0647580712513856, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "557fc4199528f6d09d63424cdd9cacc4e118a841e45e7c6ec0f8e2a5bd37ab33", + "visual_seed": 4685899171739698013, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78dc7ee16281a0d7328a0e21f0bfcc00715db8eb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2502138470371049, + 0.15407745582131435, + 1.0503076479239053 + ], + "current_z": 1.0503076479239053, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18920113990913934, + "gripper_z": 1.0552613277414384, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2449883724890375, + 0.1491382913040395, + 1.0552613277414384 + ], + "object_minus_gripper": [ + 0.0052254745480674325, + 0.004939164517274858, + -0.004953679817533141 + ], + "object_to_gripper_xy": 0.007190335901834316, + "object_to_gripper_z": -0.004953679817533141, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2502138470371049, + 0.12955602314006334, + 1.0503076479239053 + ], + "finger_b": [ + 0.2382192968732194, + 0.15407745582131435, + 1.0503076479239053 + ], + "finger_midpoint": [ + 0.24421657195516216, + 0.14181673948068885, + 1.0503076479239053 + ], + "object_minus_finger_midpoint": [ + 0.0059972750819427545, + 0.012260716340625505, + 0.0 + ], + "finger_gap": 0.02729780017464944, + "fingertip_max_gap": 0.09013353190244103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01364890008732472, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503076479239053, + "object_top_z": 1.10010328832672, + "finger_top_clearance": 0.04979564040281481, + "fingertip_min_top_clearance": 0.014938692120844409, + "object_projection_between_fingers": 0.8069309633682712, + "object_to_finger_line_xy": 0.010774624786752951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047566765951220516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.026834105172752955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2497527916607875, + 0.15302366876060497, + 1.2461445415278583 + ], + "held_position": [ + 0.2552879406129376, + 0.15749037079605135, + 1.2410450635366503 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008751798488240162, + "max_held_gripper_dist": 0.008765079749516728, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0050994779912079125, + "max_held_gripper_z_dist": 0.005133301599808515, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08699167858255707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2552879406129376, + 0.1320918669527045, + 1.2410450635366503 + ], + "held_grasp_finger_b": [ + 0.24524365304321244, + 0.15749037079605135, + 1.2410450635366503 + ], + "held_grasp_midpoint": [ + 0.25026579682807504, + 0.14479111887437793, + 1.2410450635366503 + ], + "held_grasp_object_position": [ + 0.2552879406129376, + 0.15749037079605135, + 1.2410450635366503 + ], + "held_grasp_finger_gap": 0.027312482682170066, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457567106628463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07462822808588343, + -0.9971161532269643, + 0.01378421367443805 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004064299601776281, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036682827153239096, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2097383926214194, + 0.16038169080749007, + 0.7611063860459408 + ], + "target_position": [ + 0.2251542126857853, + 0.14967142456992674, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018771182997786663, + "xy_threshold": 0.08, + "gripper_dist": 0.2026988172501569, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063860459408, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526303605711465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08714631668586885, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17742873449024246, + "release_required_pad_clearance": 0.05357315834293443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1573049798967254, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 336, + "max_placed_release_frames": 336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "394f4a83707c5a2a38ce3b2e04077fa1d69a00db4e27dd1c9ad1ff0a68e45db7", + "visual_seed": 4676179420241933867, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..54b34c37fda85bfa3cd4d8374457c0b490717401 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_55_success.json @@ -0,0 +1,684 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25092923892451374, + 0.15113827203488006, + 1.0495372880425085 + ], + "current_z": 1.0495372880425085, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1884307204230975, + "gripper_z": 1.0545099523966082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24559145137991897, + 0.14625265265575904, + 1.0545099523966082 + ], + "object_minus_gripper": [ + 0.005337787544594769, + 0.00488561937912102, + -0.0049726643540997095 + ], + "object_to_gripper_xy": 0.007236107557856911, + "object_to_gripper_z": -0.0049726643540997095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25092923892451374, + 0.12639069145120535, + 1.0495372880425085 + ], + "finger_b": [ + 0.23919295241565777, + 0.15113827203488006, + 1.0495372880425085 + ], + "finger_midpoint": [ + 0.24506109567008577, + 0.1387644817430427, + 1.0495372880425085 + ], + "object_minus_finger_midpoint": [ + 0.005868143254427971, + 0.012373790291837355, + 0.0 + ], + "finger_gap": 0.02738947180511936, + "fingertip_max_gap": 0.09116818150556358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013694735902559672, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495372880425085, + "object_top_z": 1.099961324522882, + "finger_top_clearance": 0.050424036480373635, + "fingertip_min_top_clearance": 0.015127210944112107, + "object_projection_between_fingers": 0.8163909464993362, + "object_to_finger_line_xy": 0.01060424597442293, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808409075278179, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3949286027899757, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25041896360168425, + 0.15024199621641096, + 1.242666671019929 + ], + "held_position": [ + 0.2559579597981678, + 0.15472829927334644, + 1.2375068079717009 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008799521615394679, + "max_held_gripper_dist": 0.008812608694273508, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0051598630482281305, + "max_held_gripper_z_dist": 0.005192229897076128, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593974142175562, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2559579597981678, + 0.1292765740892697, + 1.2375068079717009 + ], + "held_grasp_finger_b": [ + 0.24599830940475306, + 0.15472829927334644, + 1.2375068079717009 + ], + "held_grasp_midpoint": [ + 0.25097813460146046, + 0.14200243668130808, + 1.2375068079717009 + ], + "held_grasp_object_position": [ + 0.2559579597981678, + 0.15472829927334644, + 1.2375068079717009 + ], + "held_grasp_finger_gap": 0.027331025425417405, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02477781489145538, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06222113368665054, + -0.997870102964403, + 0.01959051128887923 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004185970712728507, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671164188576641, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21266970351668446, + 0.1560382106351384, + 0.7611102003642586 + ], + "target_position": [ + 0.2257622893111774, + 0.14876249351528556, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014978379832087243, + "xy_threshold": 0.08, + "gripper_dist": 0.20353097446762125, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611102003642586, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574841654258142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09436984259701349, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1765210708075867, + "release_required_pad_clearance": 0.05718492129850675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.940305664883653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b2a04260378cd17eba09ecbe1470a737136b4e744a31eda0c7e08cb4b8cba723", + "visual_seed": 3689342891405437105, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..563017a31f47f70da978767f19bd1af1340e7442 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24722538266011077, + 0.15571174154696943, + 1.0496304674989647 + ], + "current_z": 1.0496304674989647, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18852401908884342, + "gripper_z": 1.0552458094200767, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2423773693632925, + 0.15093569765900824, + 1.0552458094200767 + ], + "object_minus_gripper": [ + 0.0048480132968182765, + 0.004776043887961184, + -0.005615341921112016 + ], + "object_to_gripper_xy": 0.006805426375022964, + "object_to_gripper_z": -0.005615341921112016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24722538266011077, + 0.1314655898387798, + 1.0496304674989647 + ], + "finger_b": [ + 0.23546192675304353, + 0.15571174154696943, + 1.0496304674989647 + ], + "finger_midpoint": [ + 0.24134365470657715, + 0.1435886656928746, + 1.0496304674989647 + ], + "object_minus_finger_midpoint": [ + 0.0058817279535336164, + 0.012123075854094834, + 0.0 + ], + "finger_gap": 0.02694911441094238, + "fingertip_max_gap": 0.10573770201137414, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013474557205471204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496304674989647, + "object_top_z": 1.1083101130622437, + "finger_top_clearance": 0.05867964556327898, + "fingertip_min_top_clearance": 0.017603893668983694, + "object_projection_between_fingers": 0.809462324980848, + "object_to_finger_line_xy": 0.01058359589061456, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05536885100568707, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.138731521422808, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2468538460965624, + 0.1554536837122294, + 1.2426983047101146 + ], + "held_position": [ + 0.25224265137388624, + 0.1599552639855276, + 1.236849373889369 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009138568762105288, + "max_held_gripper_dist": 0.009152526915937379, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005848930820745446, + "max_held_gripper_z_dist": 0.005883472895390041, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869309912189704, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25224265137388624, + 0.1346324504190427, + 1.236849373889369 + ], + "held_grasp_finger_b": [ + 0.24219283622445884, + 0.1599552639855276, + 1.236849373889369 + ], + "held_grasp_midpoint": [ + 0.24721774379917255, + 0.14729385720228516, + 1.236849373889369 + ], + "held_grasp_object_position": [ + 0.25224265137388624, + 0.1599552639855276, + 1.236849373889369 + ], + "held_grasp_finger_gap": 0.027244149306972526, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024535595735878588, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055014879128833814, + -0.9907463495603204, + 0.12407672588902131 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004603357114326598, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0368995628364429, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20715065496927096, + 0.15253411449134346, + 0.7611062575428706 + ], + "target_position": [ + 0.22259225090548007, + 0.15084708488969212, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01553347848789825, + "xy_threshold": 0.08, + "gripper_dist": 0.2038155943635743, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062575428706, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588211821303464, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548237318504921, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17559724490679893, + "release_required_pad_clearance": 0.05274118659252461, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5337572212826281, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 351, + "max_placed_release_frames": 351 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b20269d55c162e75a24e52bd9abf961254c4852d7ae854daa8c621905099f4b", + "visual_seed": 853384504312663713, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..546d496e37686611f002773136849d1badceaad9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2506023898096223, + 0.15508296388421464, + 1.0485483054649674 + ], + "current_z": 1.0485483054649674, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1874417974502015, + "gripper_z": 1.0532011443194116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24539287428706405, + 0.1501578223434694, + 1.0532011443194116 + ], + "object_minus_gripper": [ + 0.005209515522558245, + 0.004925141540745248, + -0.00465283885444423 + ], + "object_to_gripper_xy": 0.007169105326060552, + "object_to_gripper_z": -0.00465283885444423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2506023898096223, + 0.13058422009366982, + 1.0485483054649674 + ], + "finger_b": [ + 0.2386040412201882, + 0.15508296388421464, + 1.0485483054649674 + ], + "finger_midpoint": [ + 0.24460321551490524, + 0.14283359198894224, + 1.0485483054649674 + ], + "object_minus_finger_midpoint": [ + 0.005999174294717052, + 0.012249371895272393, + 0.0 + ], + "finger_gap": 0.027279091190659806, + "fingertip_max_gap": 0.09033448490979465, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363954559532989, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485483054649674, + "object_top_z": 1.098507636314972, + "finger_top_clearance": 0.04995933085000459, + "fingertip_min_top_clearance": 0.014987799255001377, + "object_projection_between_fingers": 0.8065435760403856, + "object_to_finger_line_xy": 0.010775449443962252, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766724245489733, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.15488798613144136, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2502260592197373, + 0.15383917534465114, + 1.241909877138059 + ], + "held_position": [ + 0.25571762184734936, + 0.15828440361301926, + 1.2370769457364177 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008560054928787284, + "max_held_gripper_dist": 0.008573993773906203, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004832931401641316, + "max_held_gripper_z_dist": 0.004864907232079663, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595889791418249, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25571762184734936, + 0.13285837726865893, + 1.2370769457364177 + ], + "held_grasp_finger_b": [ + 0.24582202948203644, + 0.15828440361301926, + 1.2370769457364177 + ], + "held_grasp_midpoint": [ + 0.2507698256646929, + 0.1455713904408391, + 1.2370769457364177 + ], + "held_grasp_object_position": [ + 0.25571762184734936, + 0.15828440361301926, + 1.2370769457364177 + ], + "held_grasp_finger_gap": 0.02728379672854468, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024580965170459056, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07734452923743715, + -0.9968657610984404, + 0.016627632022222172 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003955515895914889, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666439755184483, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2189246690527905, + 0.15585590281899742, + 0.7611068709216254 + ], + "target_position": [ + 0.22555617282177873, + 0.15268804401670072, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007349297356169063, + "xy_threshold": 0.08, + "gripper_dist": 0.20762126117785265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068709216254, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522649519646107, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08541591646506864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1796966311694555, + "release_required_pad_clearance": 0.052707958232534324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4698048634684581, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 335, + "max_placed_release_frames": 335 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9687679d014497b8366edc999aa5a0fa2f760809f41377cb0d2b78523ed33615", + "visual_seed": 4075869403562973191, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b2101fed196bb8b91a250c68f649621f99e0198 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2520313472477146, + 0.15618840344408944, + 1.0478906947967936 + ], + "current_z": 1.0478906947967936, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18678424638667235, + "gripper_z": 1.0527227842201783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.246900277947127, + 0.15126052392814132, + 1.0527227842201783 + ], + "object_minus_gripper": [ + 0.0051310693005875985, + 0.004927879515948114, + -0.0048320894233846445 + ], + "object_to_gripper_xy": 0.007114201901206735, + "object_to_gripper_z": -0.0048320894233846445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2520313472477146, + 0.1317746136490905, + 1.0478906947967936 + ], + "finger_b": [ + 0.23999801377153246, + 0.15618840344408944, + 1.0478906947967936 + ], + "finger_midpoint": [ + 0.24601468050962352, + 0.14398150854658998, + 1.0478906947967936 + ], + "object_minus_finger_midpoint": [ + 0.006016666738091064, + 0.01220689489749946, + 0.0 + ], + "finger_gap": 0.027218270457606233, + "fingertip_max_gap": 0.09095766831664548, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013609135228803103, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478906947967936, + "object_top_z": 1.0982343673648198, + "finger_top_clearance": 0.05034367256802619, + "fingertip_min_top_clearance": 0.015103101770407856, + "object_projection_between_fingers": 0.8045431684707497, + "object_to_finger_line_xy": 0.010793458551240798, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797883415832274, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.38785845089829724, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2517931606870428, + 0.15514707481844991, + 1.2411425859594518 + ], + "held_position": [ + 0.2572281842149434, + 0.15957886241026806, + 1.2361353638279655 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008616988771135337, + "max_held_gripper_dist": 0.008631009989358694, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0050072221314863, + "max_held_gripper_z_dist": 0.005041002344508438, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599966770744691, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2572281842149434, + 0.13417355137073173, + 1.2361353638279655 + ], + "held_grasp_finger_b": [ + 0.2473848212384537, + 0.15957886241026806, + 1.2361353638279655 + ], + "held_grasp_midpoint": [ + 0.2523065027266986, + 0.1468762068904999, + 1.2361353638279655 + ], + "held_grasp_object_position": [ + 0.2572281842149434, + 0.15957886241026806, + 1.2361353638279655 + ], + "held_grasp_finger_gap": 0.027245579892938878, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024526246154936558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08040999011163348, + -0.9965534700654224, + 0.020381726884938996 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038932119137695008, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036665622273022024, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20931746420850345, + 0.15741704510243357, + 0.7611187203412604 + ], + "target_position": [ + 0.22706604223449794, + 0.15205011812979297, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018542274053483083, + "xy_threshold": 0.08, + "gripper_dist": 0.20235496172302345, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611187203412604, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757023353368543, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09405037506386461, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1751625662087613, + "release_required_pad_clearance": 0.05702518753193231, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.515644628845095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64c1afdae19212f90925235bf6171db493279e477d22cec4e88edb28400d7ab0", + "visual_seed": 1549126533083719877, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a3c1afbe02a6fb3333b0cab1d836a0cee75fb964 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24780248575243516, + 0.14953703524562806, + 1.0498047274256463 + ], + "current_z": 1.0498047274256463, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18869827901552527, + "gripper_z": 1.0547705624503247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24285923139398033, + 0.14467392809862856, + 1.0547705624503247 + ], + "object_minus_gripper": [ + 0.004943254358454829, + 0.004863107146999501, + -0.0049658350246784 + ], + "object_to_gripper_xy": 0.0069343763076126965, + "object_to_gripper_z": -0.0049658350246784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24780248575243516, + 0.12531464727060806, + 1.0498047274256463 + ], + "finger_b": [ + 0.23578781403534033, + 0.14953703524562806, + 1.0498047274256463 + ], + "finger_midpoint": [ + 0.24179514989388773, + 0.13742584125811808, + 1.0498047274256463 + ], + "object_minus_finger_midpoint": [ + 0.00600733585854743, + 0.012111193987509983, + 0.0 + ], + "finger_gap": 0.027038424800308755, + "fingertip_max_gap": 0.09259160073148667, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013519212400154372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498047274256463, + "object_top_z": 1.100911787856479, + "finger_top_clearance": 0.051107060430832574, + "fingertip_min_top_clearance": 0.015332118129249771, + "object_projection_between_fingers": 0.8025482242715957, + "object_to_finger_line_xy": 0.010763350375375694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879580036574334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9576996053543284, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24781991174390577, + 0.14845877322104883, + 1.2460378488516937 + ], + "held_position": [ + 0.2531279265843881, + 0.1527869041672556, + 1.2409386057567953 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008538736392181353, + "max_held_gripper_dist": 0.008552293453507151, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005099243094898398, + "max_held_gripper_z_dist": 0.005127562750793624, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08631793284088819, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2531279265843881, + 0.1274809890892435, + 1.2409386057567953 + ], + "held_grasp_finger_b": [ + 0.24337508752129308, + 0.1527869041672556, + 1.2409386057567953 + ], + "held_grasp_midpoint": [ + 0.2482515070528406, + 0.14013394662824954, + 1.2409386057567953 + ], + "held_grasp_object_position": [ + 0.2531279265843881, + 0.1527869041672556, + 1.2409386057567953 + ], + "held_grasp_finger_gap": 0.027120236129617174, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024414006607868893, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08158624901010655, + -0.9961980859617423, + 0.03054598989428669 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038479309075553775, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671754920980345, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21035295156991543, + 0.15072781947027364, + 0.761131948648673 + ], + "target_position": [ + 0.22296060618115546, + 0.14576589870705814, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013548933997062316, + "xy_threshold": 0.08, + "gripper_dist": 0.20444831442641367, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761131948648673, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563261747950957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08690396232000754, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1774522563754471, + "release_required_pad_clearance": 0.05345198116000377, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.808716868056134, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "183e01bdb9bc739e9f574eaba69e4b05076923cd66cd9d038aeda22344eac23b", + "visual_seed": 7738615763332005822, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f640ea37f624ee9081e27d10abdbc0e7b99a8d8c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24458887598617574, + 0.15167744170834435, + 1.047776056342562 + ], + "current_z": 1.047776056342562, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1866693695138617, + "gripper_z": 1.0525689657656603, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23948883462878282, + 0.14676763830076234, + 1.0525689657656603 + ], + "object_minus_gripper": [ + 0.00510004135739292, + 0.004909803407582014, + -0.0047929094230982905 + ], + "object_to_gripper_xy": 0.007079307264713277, + "object_to_gripper_z": -0.0047929094230982905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24458887598617574, + 0.1272918184833446, + 1.047776056342562 + ], + "finger_b": [ + 0.23257546447435354, + 0.15167744170834435, + 1.047776056342562 + ], + "finger_midpoint": [ + 0.23858217023026462, + 0.13948463009584447, + 1.047776056342562 + ], + "object_minus_finger_midpoint": [ + 0.0060067057559111126, + 0.012192811612499882, + 0.0 + ], + "finger_gap": 0.027184199017518063, + "fingertip_max_gap": 0.09050070049894893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013592099508759036, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047776056342562, + "object_top_z": 1.0977043922170142, + "finger_top_clearance": 0.04992833587445222, + "fingertip_min_top_clearance": 0.014978500762335633, + "object_projection_between_fingers": 0.8047011771812158, + "object_to_finger_line_xy": 0.010776647367295441, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047750350249474466, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1445364070844457, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24420589098858975, + 0.15094842850296447, + 1.2441304620750975 + ], + "held_position": [ + 0.2496293869435095, + 0.15537586817298407, + 1.239207734476603 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008558608380669899, + "max_held_gripper_dist": 0.008570621369480199, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004922727598494436, + "max_held_gripper_z_dist": 0.004953005592893689, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08612099546609103, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2496293869435095, + 0.1300601883758746, + 1.239207734476603 + ], + "held_grasp_finger_b": [ + 0.23961298049093938, + 0.15537586817298407, + 1.239207734476603 + ], + "held_grasp_midpoint": [ + 0.24462118371722444, + 0.14271802827442934, + 1.239207734476603 + ], + "held_grasp_object_position": [ + 0.2496293869435095, + 0.15537586817298407, + 1.239207734476603 + ], + "held_grasp_finger_gap": 0.027225209674359995, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024480530510288877, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07579641282293065, + -0.9970002145331294, + 0.01566767449463857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004039395239531385, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036720777136469346, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20814574431032357, + 0.15568609744764142, + 0.76110962286806 + ], + "target_position": [ + 0.2195481340182157, + 0.1497986509868689, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012832634837752831, + "xy_threshold": 0.08, + "gripper_dist": 0.20367807515549974, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110962286806, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754952913710299, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872233919278202, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1768171783023294, + "release_required_pad_clearance": 0.053611695963910105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.221286941732432, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 352, + "max_placed_release_frames": 352 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6080b0b0318e1a1ca1dba8f87674e31411753914b74b83094e2c1dd9bb7fc6ea", + "visual_seed": 1212563719134670657, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9f6833e8eab79da6ef8a87967f754f5dee8256a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2524717180652827, + 0.15716219749059007, + 1.0480453542506734 + ], + "current_z": 1.0480453542506734, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.18693896544519684, + "gripper_z": 1.0528782886760522, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24710341343300646, + 0.15217173780238813, + 1.0528782886760522 + ], + "object_minus_gripper": [ + 0.005368304632276222, + 0.0049904596882019425, + -0.004832934425378799 + ], + "object_to_gripper_xy": 0.007329623627751084, + "object_to_gripper_z": -0.004832934425378799, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2524717180652827, + 0.13251172335342357, + 1.0480453542506734 + ], + "finger_b": [ + 0.24043735237043332, + 0.15716219749059007, + 1.0480453542506734 + ], + "finger_midpoint": [ + 0.24645453521785798, + 0.14483696042200683, + 1.0480453542506734 + ], + "object_minus_finger_midpoint": [ + 0.006017182847424696, + 0.012325237068583239, + 0.0 + ], + "finger_gap": 0.02743122003966433, + "fingertip_max_gap": 0.09031419364561216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371561001983216, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480453542506734, + "object_top_z": 1.0979170006815189, + "finger_top_clearance": 0.04987164643084552, + "fingertip_min_top_clearance": 0.014961493929253672, + "object_projection_between_fingers": 0.8075330512691098, + "object_to_finger_line_xy": 0.010814423124058697, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765709682280608, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18804683845882753, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2518731045177881, + 0.1561870620679669, + 1.244123583147946 + ], + "held_position": [ + 0.25752689805012724, + 0.16071867207365353, + 1.2391528199741968 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008786885516464896, + "max_held_gripper_dist": 0.00880204009724831, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004970763173749226, + "max_held_gripper_z_dist": 0.005008876047337685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08603645146198502, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25752689805012724, + 0.13528172434640115, + 1.2391528199741968 + ], + "held_grasp_finger_b": [ + 0.24731210018150362, + 0.16071867207365353, + 1.2391528199741968 + ], + "held_grasp_midpoint": [ + 0.2524194991158154, + 0.14800019821002736, + 1.2391528199741968 + ], + "held_grasp_object_position": [ + 0.25752689805012724, + 0.16071867207365353, + 1.2391528199741968 + ], + "held_grasp_finger_gap": 0.02741131892441164, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02462535712437831, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0726699525443203, + -0.9972763349103735, + 0.012609116739043302 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004172817306473549, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036665262631543204, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22306313757348123, + 0.1604292450431644, + 0.7611105855869847 + ], + "target_position": [ + 0.22728525157062474, + 0.1535688783253022, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008055487453185338, + "xy_threshold": 0.08, + "gripper_dist": 0.2123189910072931, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611105855869847, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534685515083256, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08696945799998991, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18467399945041152, + "release_required_pad_clearance": 0.05348472899999496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9675243915605705, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 339, + "max_placed_release_frames": 339 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fb2edb1c312a59b4e860067e05885a03fe061f2afaea7c18027bbc18a6c044b", + "visual_seed": 4878777642648594568, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e87631b9eb7cf3516166eaa36b1264137dcdce0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2518389051687878, + 0.15350039035796803, + 1.048017751781662 + ], + "current_z": 1.048017751781662, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.1869113629761855, + "gripper_z": 1.053191448356684, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24653669042319992, + 0.14863528671216747, + 1.053191448356684 + ], + "object_minus_gripper": [ + 0.0053022147455878965, + 0.004865103645800561, + -0.00517369657502198 + ], + "object_to_gripper_xy": 0.007196020754049535, + "object_to_gripper_z": -0.00517369657502198, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2518389051687878, + 0.12873460178521806, + 1.048017751781662 + ], + "finger_b": [ + 0.24019430456580834, + 0.15350039035796803, + 1.048017751781662 + ], + "finger_midpoint": [ + 0.2460166048672981, + 0.14111749607159305, + 1.048017751781662 + ], + "object_minus_finger_midpoint": [ + 0.0058223003014897245, + 0.012382894286374985, + 0.0 + ], + "finger_gap": 0.02736678656388183, + "fingertip_max_gap": 0.09624124155167674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013683393281940908, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048017751781662, + "object_top_z": 1.1006202988744673, + "finger_top_clearance": 0.05260254709280532, + "fingertip_min_top_clearance": 0.015780764127841594, + "object_projection_between_fingers": 0.8189487263138547, + "object_to_finger_line_xy": 0.010537872828961053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05062062077583837, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0621574632232615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25124186901787254, + 0.15245683850606362, + 1.2420753458182117 + ], + "held_position": [ + 0.25675396317288374, + 0.15692807810524687, + 1.2367427984302237 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008877568764709735, + "max_held_gripper_dist": 0.008891569438730897, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00533254738798794, + "max_held_gripper_z_dist": 0.005363516103199739, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701691983471435, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25675396317288374, + 0.13151467917843895, + 1.2367427984302237 + ], + "held_grasp_finger_b": [ + 0.24675731412907836, + 0.15692807810524687, + 1.2367427984302237 + ], + "held_grasp_midpoint": [ + 0.25175563865098105, + 0.14422137864184292, + 1.2367427984302237 + ], + "held_grasp_object_position": [ + 0.25675396317288374, + 0.15692807810524687, + 1.2367427984302237 + ], + "held_grasp_finger_gap": 0.027308860047942248, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025004999727911967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03692106914507717, + -0.9984530904959326, + 0.0415723553855899 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004556941039875292, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03684866323557367, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21119895277878836, + 0.1585306233313611, + 0.7611064754905023 + ], + "target_position": [ + 0.22673328345884966, + 0.15141531420008497, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017086341144642844, + "xy_threshold": 0.08, + "gripper_dist": 0.2043145309564992, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064754905023, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549169464193858, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017428818622393, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1776286336822303, + "release_required_pad_clearance": 0.05508714409311197, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.258844356486309, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 342, + "max_placed_release_frames": 342 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2021e522320eecc9b9b4a90c7ae0cf8c18d9f83656fe936735c6df25d8e9990a", + "visual_seed": 5996530490597104484, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5545ef36b69c86447d00cccdbd7afecea2949de4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2484648731885628, + 0.1502557557827198, + 1.0505199822698645 + ], + "current_z": 1.0505199822698645, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.18941329544116436, + "gripper_z": 1.0555979339830919, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24339136047028906, + 0.14549127890044905, + 1.0555979339830919 + ], + "object_minus_gripper": [ + 0.005073512718273748, + 0.004764476882270746, + -0.0050779517132273355 + ], + "object_to_gripper_xy": 0.006959940464125958, + "object_to_gripper_z": -0.0050779517132273355, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2484648731885628, + 0.12568314820147752, + 1.0505199822698645 + ], + "finger_b": [ + 0.2369241491578993, + 0.1502557557827198, + 1.0505199822698645 + ], + "finger_midpoint": [ + 0.24269451117323104, + 0.13796945199209865, + 1.0505199822698645 + ], + "object_minus_finger_midpoint": [ + 0.005770362015331765, + 0.01228630379062115, + 0.0 + ], + "finger_gap": 0.027147768867692594, + "fingertip_max_gap": 0.09312980741956145, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573884433846316, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505199822698645, + "object_top_z": 1.102023282472872, + "finger_top_clearance": 0.05150330020300742, + "fingertip_min_top_clearance": 0.015450990060902208, + "object_projection_between_fingers": 0.8192834920317913, + "object_to_finger_line_xy": 0.010446003286347042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906490370978073, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0402939522177574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2480747322497398, + 0.14962540952910852, + 1.2451093621962535 + ], + "held_position": [ + 0.2533636731484835, + 0.1540033139672883, + 1.2398804016179985 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008630235908084004, + "max_held_gripper_dist": 0.00864374094886096, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005228960578254949, + "max_held_gripper_z_dist": 0.005259041173177659, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678820357886102, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2533636731484835, + 0.12873292277993706, + 1.2398804016179985 + ], + "held_grasp_finger_b": [ + 0.24350436549421656, + 0.1540033139672883, + 1.2398804016179985 + ], + "held_grasp_midpoint": [ + 0.24843401932135004, + 0.14136811837361268, + 1.2398804016179985 + ], + "held_grasp_object_position": [ + 0.2533636731484835, + 0.1540033139672883, + 1.2398804016179985 + ], + "held_grasp_finger_gap": 0.027125608162458712, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024639839278008134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05834069095711615, + -0.9978095674093838, + 0.031183825373820584 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00420304347474877, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03682513161018228, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21609440105529737, + 0.15103275420292253, + 0.7611141784036124 + ], + "target_position": [ + 0.22356603406559517, + 0.14793209770119248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008089460462990876, + "xy_threshold": 0.08, + "gripper_dist": 0.20724324410189582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611141784036124, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577147868679324, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0926951632255369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17883469724424816, + "release_required_pad_clearance": 0.056347581612768455, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.977271158922854, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4f1a3afa1d841cff706edceb02f7ec62ca4728a976c4f5ac78136530b5b40303", + "visual_seed": 412191166991721683, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c8815c9108942a2fa224149a6c4fd55c42267c9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2430075529494268, + 0.1509149246404777, + 1.0481234823721373 + ], + "current_z": 1.0481234823721373, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.18701709356666096, + "gripper_z": 1.0534329129675517, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2376868203099333, + 0.14591404665951113, + 1.0534329129675517 + ], + "object_minus_gripper": [ + 0.005320732639493508, + 0.005000877980966573, + -0.005309430595414444 + ], + "object_to_gripper_xy": 0.0073019844153139534, + "object_to_gripper_z": -0.005309430595414444, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2430075529494268, + 0.12634433573366827, + 1.0481234823721373 + ], + "finger_b": [ + 0.23089908066977533, + 0.1509149246404777, + 1.0481234823721373 + ], + "finger_midpoint": [ + 0.23695331680960108, + 0.13862963018707297, + 1.0481234823721373 + ], + "object_minus_finger_midpoint": [ + 0.006054236139825725, + 0.012285294453404733, + 0.0 + ], + "finger_gap": 0.027392132815363526, + "fingertip_max_gap": 0.0902484973157637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013696066407681768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481234823721373, + "object_top_z": 1.0980030016910631, + "finger_top_clearance": 0.04987951931892587, + "fingertip_min_top_clearance": 0.014963855795677727, + "object_projection_between_fingers": 0.8045988991001896, + "object_to_finger_line_xy": 0.01086123145934615, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047624248657881854, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.0699865363995773, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24237750199804878, + 0.1501801240794625, + 1.2451610620309859 + ], + "held_position": [ + 0.24800423776288402, + 0.15470456071753766, + 1.2397220570104035 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009039549649908074, + "max_held_gripper_dist": 0.009053596924008095, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005439005020582366, + "max_held_gripper_z_dist": 0.005470509692517611, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08627745603000897, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24800423776288402, + 0.12930266073501476, + 1.2397220570104035 + ], + "held_grasp_finger_b": [ + 0.23776819112463934, + 0.15470456071753766, + 1.2397220570104035 + ], + "held_grasp_midpoint": [ + 0.24288621444376168, + 0.1420036107262762, + 1.2397220570104035 + ], + "held_grasp_object_position": [ + 0.24800423776288402, + 0.15470456071753766, + 1.2397220570104035 + ], + "held_grasp_finger_gap": 0.027386733531080648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024578585483954897, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07343474125290514, + -0.9971800116414472, + 0.015471365805317046 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004176276554092904, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667927589178544, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20917498152148226, + 0.14989943741249426, + 0.761118977961402 + ], + "target_position": [ + 0.21777300130633243, + 0.14617223615815667, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00937112444752553, + "xy_threshold": 0.08, + "gripper_dist": 0.20778153997276555, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761118977961402, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550442812356198, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08986650250821769, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18039459526037885, + "release_required_pad_clearance": 0.05493325125410885, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.870527508740952, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 361, + "max_placed_release_frames": 361 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "98c82715b000d6ce881a01cc0c6449fd5b8a1a9af024d76080d7d3fd9b67e8af", + "visual_seed": 1733490054980475591, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bee97dc338b24753eb26b5725106075b74e1b631 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_65_success.json @@ -0,0 +1,684 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24975221640237838, + 0.14808959297906482, + 1.0506384835755744 + ], + "current_z": 1.0506384835755744, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18953203516545303, + "gripper_z": 1.0555862969852512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2446873103409414, + 0.1431812482997323, + 1.0555862969852512 + ], + "object_minus_gripper": [ + 0.0050649060614369745, + 0.004908344679332516, + -0.00494781340967676 + ], + "object_to_gripper_xy": 0.0070530221112876735, + "object_to_gripper_z": -0.00494781340967676, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24975221640237838, + 0.1237430836062831, + 1.0506384835755744 + ], + "finger_b": [ + 0.23772144481990035, + 0.14808959297906482, + 1.0506384835755744 + ], + "finger_midpoint": [ + 0.24373683061113938, + 0.13591633829267397, + 1.0506384835755744 + ], + "object_minus_finger_midpoint": [ + 0.006015385791239003, + 0.012173254686390855, + 0.0 + ], + "finger_gap": 0.02715680363203132, + "fingertip_max_gap": 0.09152572371446832, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013578401816015646, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506384835755744, + "object_top_z": 1.1012779898763572, + "finger_top_clearance": 0.05063950630078273, + "fingertip_min_top_clearance": 0.015191851890234802, + "object_projection_between_fingers": 0.8037409651815535, + "object_to_finger_line_xy": 0.010785779396700244, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826286185723416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5738436956259705, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24964700679603943, + 0.14697149840075513, + 1.2463088000735327 + ], + "held_position": [ + 0.2550531845785118, + 0.15135735119187835, + 1.2412178596811692 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008624391978551296, + "max_held_gripper_dist": 0.00863742762643472, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005090940392363574, + "max_held_gripper_z_dist": 0.005119311391015957, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08637837312786842, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2550531845785118, + 0.1259936159381429, + 1.2412178596811692 + ], + "held_grasp_finger_b": [ + 0.245206152364224, + 0.15135735119187835, + 1.2412178596811692 + ], + "held_grasp_midpoint": [ + 0.25012966847136786, + 0.13867548356501064, + 1.2412178596811692 + ], + "held_grasp_object_position": [ + 0.2550531845785118, + 0.15135735119187835, + 1.2412178596811692 + ], + "held_grasp_finger_gap": 0.027208144175059124, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024454087682562655, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08273820981563663, + -0.9962575798550122, + 0.025004463960214156 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038707908148614173, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667848041140666, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20941803160724082, + 0.1548375685311883, + 0.7611079456900778 + ], + "target_position": [ + 0.22478994076580336, + 0.1453401010198456, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01806924127649274, + "xy_threshold": 0.08, + "gripper_dist": 0.20552988672012393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079456900778, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549247138838917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576219206567544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17984095820671872, + "release_required_pad_clearance": 0.05288109603283772, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7962121150450285, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 346, + "max_placed_release_frames": 346 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9990fbfff193f6a8dc997be952dd75e9d5fe99887fd90aba820fa9ac53c050f9", + "visual_seed": 2660056128945070422, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e0f7628e97da405427dc75601bee22b8290ed07 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24687783928757046, + 0.15234961441591022, + 1.0470700169360039 + ], + "current_z": 1.0470700169360039, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18596344931659303, + "gripper_z": 1.0522695074302801, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2419682732983845, + 0.14760475963420183, + 1.0522695074302801 + ], + "object_minus_gripper": [ + 0.00490956598918596, + 0.004744854781708385, + -0.00519949049427626 + ], + "object_to_gripper_xy": 0.006827699839746358, + "object_to_gripper_z": -0.00519949049427626, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24687783928757046, + 0.12798628785896324, + 1.0470700169360039 + ], + "finger_b": [ + 0.23524059416811527, + 0.15234961441591022, + 1.0470700169360039 + ], + "finger_midpoint": [ + 0.24105921672784286, + 0.14016795113743674, + 1.0470700169360039 + ], + "object_minus_finger_midpoint": [ + 0.005818622559727593, + 0.012181663278473476, + 0.0 + ], + "finger_gap": 0.026999947312739733, + "fingertip_max_gap": 0.09376892873200343, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013499973656369854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470700169360039, + "object_top_z": 1.0988925718325269, + "finger_top_clearance": 0.05182255489652299, + "fingertip_min_top_clearance": 0.015546766468956929, + "object_projection_between_fingers": 0.8142304492387433, + "object_to_finger_line_xy": 0.010500835419584176, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938446436600172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.318922505459332, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24677672244033722, + 0.15130789912791182, + 1.2415545546882336 + ], + "held_position": [ + 0.25195965933518927, + 0.1555944668002812, + 1.2361976077826413 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00859851018579124, + "max_held_gripper_dist": 0.008611497431831538, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005356946905592297, + "max_held_gripper_z_dist": 0.005385954088278133, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602113839340607, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25195965933518927, + 0.13032268874562206, + 1.2361976077826413 + ], + "held_grasp_finger_b": [ + 0.24236734674256621, + 0.1555944668002812, + 1.2361976077826413 + ], + "held_grasp_midpoint": [ + 0.24716350303887774, + 0.14295857777295162, + 1.2361976077826413 + ], + "held_grasp_object_position": [ + 0.25195965933518927, + 0.1555944668002812, + 1.2361976077826413 + ], + "held_grasp_finger_gap": 0.02703100491876959, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024524671136927204, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06971619058159331, + -0.9968990141992817, + 0.036496688333207065 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00393142524905953, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036789175008805935, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2216369994755328, + 0.15451706502631013, + 0.7611062318258803 + ], + "target_position": [ + 0.2220749675897286, + 0.14729444292106905, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007235888759797879, + "xy_threshold": 0.08, + "gripper_dist": 0.21224381334798084, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062318258803, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539256664677672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09409400633070765, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18459581672757355, + "release_required_pad_clearance": 0.05704700316535383, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.63413552687235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 353, + "max_placed_release_frames": 353 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "27e413370f0b771e29152119c1c1e4bbc03019542908cc106fb9186895084581", + "visual_seed": 7344273049850542842, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae32ab3e84ce6bc9d5e55dfd5c8db5b2032b9b77 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25126063170070057, + 0.1468611653463356, + 1.0510543122422003 + ], + "current_z": 1.0510543122422003, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.18994762541349997, + "gripper_z": 1.0560211194107993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2464262418383066, + 0.14215401161313612, + 1.0560211194107993 + ], + "object_minus_gripper": [ + 0.004834389862393956, + 0.004707153733199465, + -0.004966807168599097 + ], + "object_to_gripper_xy": 0.0067474900229337964, + "object_to_gripper_z": -0.004966807168599097, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25126063170070057, + 0.1225461025564169, + 1.0510543122422003 + ], + "finger_b": [ + 0.2396904800530588, + 0.1468611653463356, + 1.0510543122422003 + ], + "finger_midpoint": [ + 0.2454755558768797, + 0.13470363395137624, + 1.0510543122422003 + ], + "object_minus_finger_midpoint": [ + 0.005785075823820873, + 0.012157531394959342, + 0.0 + ], + "finger_gap": 0.02692750800997218, + "fingertip_max_gap": 0.09435755241748214, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013463754004986084, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0510543122422003, + "object_top_z": 1.1031465569162484, + "finger_top_clearance": 0.05209224467404816, + "fingertip_min_top_clearance": 0.015627673402214413, + "object_projection_between_fingers": 0.8153770122361981, + "object_to_finger_line_xy": 0.01044764200597786, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049678776208741074, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4548533356151367, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2512036870281046, + 0.1461317078529918, + 1.246996412127717 + ], + "held_position": [ + 0.2563152886110954, + 0.15040563242832464, + 1.2418995952387872 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008388828548620412, + "max_held_gripper_dist": 0.008402648762350192, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005096816888929823, + "max_held_gripper_z_dist": 0.0051257086934985985, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08589798278070768, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2563152886110954, + 0.12522586895698387, + 1.2418995952387872 + ], + "held_grasp_finger_b": [ + 0.2466353093445188, + 0.15040563242832464, + 1.2418995952387872 + ], + "held_grasp_midpoint": [ + 0.2514752989778071, + 0.13781575069265425, + 1.2418995952387872 + ], + "held_grasp_object_position": [ + 0.2563152886110954, + 0.15040563242832464, + 1.2418995952387872 + ], + "held_grasp_finger_gap": 0.026976331979607977, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024475963433075634, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06521701269593075, + -0.9971206755924067, + 0.03869237083924048 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004038839820428074, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036850969022832566, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21795520540510602, + 0.15895936701615485, + 0.7611110223030376 + ], + "target_position": [ + 0.22664044080048262, + 0.14422022668020826, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017107763492515037, + "xy_threshold": 0.08, + "gripper_dist": 0.20838645680617013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110223030376, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07839941585364266, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08985106305167927, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18285350875958728, + "release_required_pad_clearance": 0.054925531525839635, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.895674152299895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31cf8a02f99c33f9219b08c1c33c00429354b14047e37de58375a7db87508b3f", + "visual_seed": 8175185664306851039, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..656d87e89cff30cc14f99327a4dc0d05579eb4d3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24341992039268293, + 0.15598300798219764, + 1.0496533675461683 + ], + "current_z": 1.0496533675461683, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1885468595314025, + "gripper_z": 1.0546823420574916, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23821685892752484, + 0.15120402902163455, + 1.0546823420574916 + ], + "object_minus_gripper": [ + 0.0052030614651580875, + 0.004778978960563091, + -0.005028974511323225 + ], + "object_to_gripper_xy": 0.007064735558796075, + "object_to_gripper_z": -0.005028974511323225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24341992039268293, + 0.1312833188981172, + 1.0496533675461683 + ], + "finger_b": [ + 0.2319025752467098, + 0.15598300798219764, + 1.0496533675461683 + ], + "finger_midpoint": [ + 0.23766124781969636, + 0.14363316344015742, + 1.0496533675461683 + ], + "object_minus_finger_midpoint": [ + 0.005758672572986567, + 0.012349844542040217, + 0.0 + ], + "finger_gap": 0.027252960941184227, + "fingertip_max_gap": 0.09155670567698862, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013626480470592114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496533675461683, + "object_top_z": 1.1001448433259713, + "finger_top_clearance": 0.05049147577980295, + "fingertip_min_top_clearance": 0.015147442733940884, + "object_projection_between_fingers": 0.821401677295674, + "object_to_finger_line_xy": 0.010438309613165216, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827835283849431, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5287633260924582, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2427537256475952, + 0.15567766015753653, + 1.245303969039032 + ], + "held_position": [ + 0.2481466557176705, + 0.16010796468852964, + 1.2401400401729448 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008682019022788933, + "max_held_gripper_dist": 0.008695708244951042, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005163928866087186, + "max_held_gripper_z_dist": 0.00519714769272861, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656754116776541, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2481466557176705, + 0.13485456358579806, + 1.2401400401729448 + ], + "held_grasp_finger_b": [ + 0.2380590767211652, + 0.16010796468852964, + 1.2401400401729448 + ], + "held_grasp_midpoint": [ + 0.24310286621941785, + 0.14748126413716384, + 1.2401400401729448 + ], + "held_grasp_object_position": [ + 0.2481466557176705, + 0.16010796468852964, + 1.2401400401729448 + ], + "held_grasp_finger_gap": 0.027193630086220187, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02462325307164436, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05772882016375272, + -0.9981070273617462, + 0.021207198155331005 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004314962603181818, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036826279500495974, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2092032261619951, + 0.15117516177192997, + 0.7611096276710111 + ], + "target_position": [ + 0.2183725329645028, + 0.1508860948487273, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009173862159668828, + "xy_threshold": 0.08, + "gripper_dist": 0.20764322569827845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611096276710111, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545833023988727, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08774768879323315, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17909406740042164, + "release_required_pad_clearance": 0.05387384439661658, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7505906804767646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 371, + "max_placed_release_frames": 371 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "493a105c433619c35a91a8200eaec7103b97c4a015be42acb239b0d10d3fa13b", + "visual_seed": 7198008547127410530, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ed68757e91a5a1b0a53d12dade33b04450c6fb84 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24707870445825547, + 0.15157107290655913, + 1.0475460409461683 + ], + "current_z": 1.0475460409461683, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18643953293140236, + "gripper_z": 1.0525356583368604, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2419860742148866, + 0.1466073216802526, + 1.0525356583368604 + ], + "object_minus_gripper": [ + 0.0050926302433688675, + 0.004963751226306545, + -0.004989617390692036 + ], + "object_to_gripper_xy": 0.007111519460167074, + "object_to_gripper_z": -0.004989617390692036, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24707870445825547, + 0.12726988387054908, + 1.0475460409461683 + ], + "finger_b": [ + 0.23488403313501138, + 0.15157107290655913, + 1.0475460409461683 + ], + "finger_midpoint": [ + 0.24098136879663343, + 0.1394204783885541, + 1.0475460409461683 + ], + "object_minus_finger_midpoint": [ + 0.006097335661622044, + 0.012150594518005042, + 0.0 + ], + "finger_gap": 0.027189295637177643, + "fingertip_max_gap": 0.09177476265824003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013594647818588834, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475460409461683, + "object_top_z": 1.098274640588094, + "finger_top_clearance": 0.050728599641925776, + "fingertip_min_top_clearance": 0.015218579892577716, + "object_projection_between_fingers": 0.7988387687813635, + "object_to_finger_line_xy": 0.010899326595756102, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048387381329120016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6835375066300721, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24690427513819332, + 0.15029785835908466, + 1.2412709576262915 + ], + "held_position": [ + 0.2523520048398598, + 0.1547091017992841, + 1.236109408826087 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00870507975885419, + "max_held_gripper_dist": 0.00871783656483166, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005161548800204363, + "max_held_gripper_z_dist": 0.0051895434249709105, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08715483063810948, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2523520048398598, + 0.1292782661987063, + 1.236109408826087 + ], + "held_grasp_finger_b": [ + 0.24256124539438909, + 0.1547091017992841, + 1.236109408826087 + ], + "held_grasp_midpoint": [ + 0.24745662511712446, + 0.1419936839989952, + 1.236109408826087 + ], + "held_grasp_object_position": [ + 0.2523520048398598, + 0.1547091017992841, + 1.236109408826087 + ], + "held_grasp_finger_gap": 0.027250437975612232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024477788414502884, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08670584903619663, + -0.9959053222913429, + 0.025586808606954947 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003788906643623926, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663243975241492, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21471136762450466, + 0.15256232973707856, + 0.7611071131730349 + ], + "target_position": [ + 0.2220588858099176, + 0.14887684832415515, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008220024131958353, + "xy_threshold": 0.08, + "gripper_dist": 0.20947696892187087, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071131730349, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538343912954963, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08850835153688204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1819173840703679, + "release_required_pad_clearance": 0.05425417576844102, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.526948347954819, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 350, + "max_placed_release_frames": 350 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "962c8f539dac36fcf640989894a4755990358168063209be9f9d682c59e998dd", + "visual_seed": 7268530324515477674, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..999dca9aede15fe610a4b50aab69d48d597063b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2454794128356701, + 0.1547805253590552, + 1.0503570347814755 + ], + "current_z": 1.0503570347814755, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.18925052676670973, + "gripper_z": 1.0556288503338451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24010986046793464, + 0.14980483033383502, + 1.0556288503338451 + ], + "object_minus_gripper": [ + 0.005369552367735453, + 0.004975695025220189, + -0.005271815552369663 + ], + "object_to_gripper_xy": 0.0073204940826322885, + "object_to_gripper_z": -0.005271815552369663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2454794128356701, + 0.1301182614661548, + 1.0503570347814755 + ], + "finger_b": [ + 0.23347648382869376, + 0.1547805253590552, + 1.0503570347814755 + ], + "finger_midpoint": [ + 0.23947794833218194, + 0.14244939341260499, + 1.0503570347814755 + ], + "object_minus_finger_midpoint": [ + 0.006001464503488152, + 0.012331131946450219, + 0.0 + ], + "finger_gap": 0.027428043405784037, + "fingertip_max_gap": 0.09100397350381323, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013714021702892024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503570347814755, + "object_top_z": 1.100690852075704, + "finger_top_clearance": 0.05033381729422848, + "fingertip_min_top_clearance": 0.015100145188268577, + "object_projection_between_fingers": 0.8084929269534588, + "object_to_finger_line_xy": 0.010792581821398698, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04800198675190662, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.35024045815019217, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2447917379450051, + 0.15398585352395222, + 1.2445941236769371 + ], + "held_position": [ + 0.2504072761513215, + 0.15852222466571256, + 1.2391586172994904 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00903646291762763, + "max_held_gripper_dist": 0.009049696693373514, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005435506377446719, + "max_held_gripper_z_dist": 0.005467101887223658, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678609991842434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2504072761513215, + 0.1330932764083055, + 1.2391586172994904 + ], + "held_grasp_finger_b": [ + 0.24023189433010078, + 0.15852222466571256, + 1.2391586172994904 + ], + "held_grasp_midpoint": [ + 0.24531958524071115, + 0.14580775053700903, + 1.2391586172994904 + ], + "held_grasp_object_position": [ + 0.2504072761513215, + 0.15852222466571256, + 1.2391586172994904 + ], + "held_grasp_finger_gap": 0.02738922789502315, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02469311497649364, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06634029582414855, + -0.9976092034890885, + 0.019360843572292837 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004240342707261211, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03669865474170479, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2024588324909313, + 0.16485847228537678, + 0.761106468808135 + ], + "target_position": [ + 0.22022868628242728, + 0.15266348403716726, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021551924325802385, + "xy_threshold": 0.08, + "gripper_dist": 0.203081768221758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106468808135, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756212020489405, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0872110538705848, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1778415708692169, + "release_required_pad_clearance": 0.0536055269352924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.22094943271747, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 358, + "max_placed_release_frames": 358 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bbdafeadea78c9b1b7d6d96e7ec4f464a350e9ebae059bb0e7afbf0724a3a9e9", + "visual_seed": 4385691361177892615, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0abce25927049ab85b1110880628aec1e76238 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24891837811350098, + 0.15531563817319533, + 1.0499685285448757 + ], + "current_z": 1.0499685285448757, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.18886178211153082, + "gripper_z": 1.0549526733219783, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24380362026111313, + 0.1504245633593581, + 1.0549526733219783 + ], + "object_minus_gripper": [ + 0.005114757852387852, + 0.004891074813837215, + -0.004984144777102628 + ], + "object_to_gripper_xy": 0.007076959850325275, + "object_to_gripper_z": -0.004984144777102628, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24891837811350098, + 0.13089028563154775, + 1.0499685285448757 + ], + "finger_b": [ + 0.2369651057007145, + 0.15531563817319533, + 1.0499685285448757 + ], + "finger_midpoint": [ + 0.24294174190710774, + 0.14310296190237154, + 1.0499685285448757 + ], + "object_minus_finger_midpoint": [ + 0.005976636206393243, + 0.012212676270823786, + 0.0 + ], + "finger_gap": 0.027193355220679408, + "fingertip_max_gap": 0.0913711388663333, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013596677610339704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499685285448757, + "object_top_z": 1.1004803713806768, + "finger_top_clearance": 0.050511842835801124, + "fingertip_min_top_clearance": 0.015153552850740337, + "object_projection_between_fingers": 0.8067817952720653, + "object_to_finger_line_xy": 0.010736552747512172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818556943316665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5013265997135106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24866583766763575, + 0.15430330160683994, + 1.2452577793477195 + ], + "held_position": [ + 0.25408284470563547, + 0.15871419840505926, + 1.2401188642035597 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008672279093361537, + "max_held_gripper_dist": 0.008686216321728248, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005138915144159872, + "max_held_gripper_z_dist": 0.0051713593468194485, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600027470682639, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25408284470563547, + 0.13335640034831872, + 1.2401188642035597 + ], + "held_grasp_finger_b": [ + 0.24419160360195796, + 0.15871419840505926, + 1.2401188642035597 + ], + "held_grasp_midpoint": [ + 0.24913722415379672, + 0.146035299376689, + 1.2401188642035597 + ], + "held_grasp_object_position": [ + 0.25408284470563547, + 0.15871419840505926, + 1.2401188642035597 + ], + "held_grasp_finger_gap": 0.02721864384677374, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024533118329541435, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07541518395322895, + -0.9968952367369057, + 0.022637071377932694 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003986007338880325, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670774113796477, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21408365957570083, + 0.1648668936083494, + 0.7611063730457454 + ], + "target_position": [ + 0.2239317960229125, + 0.15148739462818556, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01661315094866427, + "xy_threshold": 0.08, + "gripper_dist": 0.20880527857525868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063730457454, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07756232896112181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09079281841316843, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18257514488222257, + "release_required_pad_clearance": 0.055396409206584216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.9192488357898645, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "10d77dab4548622cbeff4d759eba45b09c8f2e409ae1978da90c909abd35bd17", + "visual_seed": 1094996912357241136, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..375f930a5286492d05850c2f06b4cb079d95d683 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24614132604939276, + 0.14717363451433882, + 1.0203897051856117 + ], + "current_z": 1.0203897051856117, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.15928319717084571, + "gripper_z": 1.0552275860907694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23997624328696102, + 0.14250361593672337, + 1.0552275860907694 + ], + "object_minus_gripper": [ + 0.006165082762431745, + 0.0046700185776154535, + -0.034837880905157714 + ], + "object_to_gripper_xy": 0.007734165694042667, + "object_to_gripper_z": -0.034837880905157714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24614132604939276, + 0.1225298962468034, + 1.0416699651528853 + ], + "finger_b": [ + 0.23359752696030894, + 0.14717363451433882, + 1.0417511968776891 + ], + "finger_midpoint": [ + 0.23986942650485085, + 0.13485176538057111, + 1.0417105810152871 + ], + "object_minus_finger_midpoint": [ + 0.006271899544541909, + 0.012321869133767704, + -0.021320875829675456 + ], + "finger_gap": 0.02765261886294324, + "fingertip_max_gap": 0.09962562241350048, + "finger_z_skew": 8.123172480378749e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013826249775211002, + "object_to_finger_midpoint_z": 0.021320875829675456, + "finger_midpoint_minus_object_z": 0.021320875829675456, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0203897051856117, + "object_top_z": 1.073849233904115, + "finger_top_clearance": 0.03213865288882789, + "fingertip_min_top_clearance": 0.016037858615550987, + "object_projection_between_fingers": 0.7942265254002524, + "object_to_finger_line_xy": 0.011178956935457679, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05231281120675024, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.6837582571981065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 192, + "max_stable_success_frames": 192, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24795044169080238, + 0.13876504388805236, + 1.2130158199775625 + ], + "held_position": [ + 0.25377583346503096, + 0.14125291156959538, + 1.1778177714419638 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.035763491099702206, + "max_held_gripper_dist": 0.035787689838216716, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035198048535598714, + "max_held_gripper_z_dist": 0.03523930120820862, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695401400134606, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25377583346503096, + 0.11593947162995626, + 1.1996659895103179 + ], + "held_grasp_finger_b": [ + 0.24699080964486428, + 0.14837507272592296, + 1.1981531572404285 + ], + "held_grasp_midpoint": [ + 0.25038332155494764, + 0.1321572721779396, + 1.1989095733753732 + ], + "held_grasp_object_position": [ + 0.25377583346503096, + 0.14125291156959538, + 1.1778177714419638 + ], + "held_grasp_finger_gap": 0.03317217852619457, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.031573715933861664, + "held_grasp_world_z_skew": 0.0015128322698894081, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10391614156222359, + -0.99153423278799, + 0.07785435589838352 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020440448499732596, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03870698684201181, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20877623488153585, + 0.14422959351473388, + 0.7611170393320261 + ], + "target_position": [ + 0.2191970771135404, + 0.14620100617075354, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010605678699859046, + "xy_threshold": 0.08, + "gripper_dist": 0.20625731242582496, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611170393320261, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567135329797346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09100996987694533, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17747971370164947, + "release_required_pad_clearance": 0.05550498493847267, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.099500655892863, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 352, + "max_placed_release_frames": 352 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "12a99c8e3fc6bc4707681e98737fd880022e1435479ce8b81788ee97160bf406", + "visual_seed": 6968949167688680802, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..96ea5fe11d7ae737284e08361b5d6bcef55af980 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24373108709282515, + 0.15012115642992435, + 1.049334779951745 + ], + "current_z": 1.049334779951745, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.18822815272768934, + "gripper_z": 1.0546841868909442, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23852628094028616, + 0.14521486116098647, + 1.0546841868909442 + ], + "object_minus_gripper": [ + 0.005204806152538988, + 0.004906295268937877, + -0.005349406939199275 + ], + "object_to_gripper_xy": 0.007152743554155279, + "object_to_gripper_z": -0.005349406939199275, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24373108709282515, + 0.12559106424616767, + 1.049334779951745 + ], + "finger_b": [ + 0.23180331031760726, + 0.15012115642992435, + 1.049334779951745 + ], + "finger_midpoint": [ + 0.2377671987052162, + 0.137856110338046, + 1.049334779951745 + ], + "object_minus_finger_midpoint": [ + 0.0059638883876089455, + 0.01226504609187834, + 0.0 + ], + "finger_gap": 0.027276313558525975, + "fingertip_max_gap": 0.09188552689258506, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013638156779262988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049334779951745, + "object_top_z": 1.1001925070452314, + "finger_top_clearance": 0.05085772709348646, + "fingertip_min_top_clearance": 0.015257318128045937, + "object_projection_between_fingers": 0.8087736845723347, + "object_to_finger_line_xy": 0.010726869788161317, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844276344629253, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7092409807956216, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2433733369898173, + 0.14911689418106677, + 1.242692341957499 + ], + "held_position": [ + 0.24883613328318765, + 0.15354744141633375, + 1.237156250270771 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008950988957129332, + "max_held_gripper_dist": 0.00896494901371777, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005536091686727973, + "max_held_gripper_z_dist": 0.005564292087894218, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707030233659799, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24883613328318765, + 0.12811668093343603, + 1.237156250270771 + ], + "held_grasp_finger_b": [ + 0.23900797048172862, + 0.15354744141633375, + 1.237156250270771 + ], + "held_grasp_midpoint": [ + 0.24392205188245814, + 0.1408320611748849, + 1.237156250270771 + ], + "held_grasp_object_position": [ + 0.24883613328318765, + 0.15354744141633375, + 1.237156250270771 + ], + "held_grasp_finger_gap": 0.02726382883584944, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02463098068511097, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07350370770526976, + -0.9969574880782457, + 0.02594170230137427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003980243595038866, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036682353321701326, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20387573587583155, + 0.14347570772470278, + 0.7611154907120603 + ], + "target_position": [ + 0.21857204423614876, + 0.14521216588057714, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01479853933159054, + "xy_threshold": 0.08, + "gripper_dist": 0.20538206315252644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611154907120603, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592503323596006, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512938270559516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17656953999112984, + "release_required_pad_clearance": 0.05256469135279758, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16668372139077925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 361, + "max_placed_release_frames": 361 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d4d067fd21c47d5a8e3368bf54e0f425c00f466514fbd702b9db0de78b8c3b7b", + "visual_seed": 7750763798625106162, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0db35cc24e4567e1f45d04be199858000e38fb91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24868885735097737, + 0.1524430920534699, + 1.0488866922881457 + ], + "current_z": 1.0488866922881457, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1877802438780245, + "gripper_z": 1.0538173909363704, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24350184687744833, + 0.1475145713630614, + 1.0538173909363704 + ], + "object_minus_gripper": [ + 0.005187010473529041, + 0.0049285206904085, + -0.004930698648224707 + ], + "object_to_gripper_xy": 0.007155095656124008, + "object_to_gripper_z": -0.004930698648224707, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24868885735097737, + 0.12796859646298975, + 1.0488866922881457 + ], + "finger_b": [ + 0.2366754867759142, + 0.1524430920534699, + 1.0488866922881457 + ], + "finger_midpoint": [ + 0.24268217206344578, + 0.14020584425822982, + 1.0488866922881457 + ], + "object_minus_finger_midpoint": [ + 0.0060066852875315935, + 0.012237247795240075, + 0.0 + ], + "finger_gap": 0.027263932346274364, + "fingertip_max_gap": 0.09157237416760311, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363196617313719, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488866922881457, + "object_top_z": 1.0995285920409799, + "finger_top_clearance": 0.050641899752834174, + "fingertip_min_top_clearance": 0.015192569925850267, + "object_projection_between_fingers": 0.8058431322924032, + "object_to_finger_line_xy": 0.010784254502684205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828618708380156, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5824870082171181, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2483610982991309, + 0.15143974084855696, + 1.2411571746593542 + ], + "held_position": [ + 0.2538240481424937, + 0.15588647064138828, + 1.236039901739731 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008706532546051844, + "max_held_gripper_dist": 0.008720935091941339, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0051172729196231614, + "max_held_gripper_z_dist": 0.005147121788363407, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591744178723432, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2538240481424937, + 0.13046447692800245, + 1.236039901739731 + ], + "held_grasp_finger_b": [ + 0.2439552212175571, + 0.15588647064138828, + 1.236039901739731 + ], + "held_grasp_midpoint": [ + 0.2488896346800254, + 0.14317547378469536, + 1.236039901739731 + ], + "held_grasp_object_position": [ + 0.2538240481424937, + 0.15588647064138828, + 1.236039901739731 + ], + "held_grasp_finger_gap": 0.027270341201345135, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024547743205300204, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07968805401831665, + -0.9965453970296746, + 0.023389863311746417 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003917456024608046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036659950854353196, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20995780762665975, + 0.15689281789147944, + 0.761110980268197 + ], + "target_position": [ + 0.2236229564704735, + 0.1506249600552342, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015034039203719178, + "xy_threshold": 0.08, + "gripper_dist": 0.2050447987620352, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110980268197, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538622801526562, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017033580633439, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17861919423579498, + "release_required_pad_clearance": 0.0550851679031672, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.231509148550185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4fb08fb11a51f9240348071ef26e6309973be60295d6907a895eb5c4c4e94f13", + "visual_seed": 8242988284958742175, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ac816cf0f049b5834d87b6d4c84689fa84963cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24809741573880764, + 0.14847759687186435, + 1.050355328993854 + ], + "current_z": 1.050355328993854, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18924888058373301, + "gripper_z": 1.0553991186547789, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24299994254722093, + 0.14371431540242557, + 1.0553991186547789 + ], + "object_minus_gripper": [ + 0.00509747319158671, + 0.004763281469438774, + -0.00504378966092478 + ], + "object_to_gripper_xy": 0.0069766097279440826, + "object_to_gripper_z": -0.00504378966092478, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24809741573880764, + 0.12386222921068903, + 1.050355328993854 + ], + "finger_b": [ + 0.23659333031756896, + 0.14847759687186435, + 1.050355328993854 + ], + "finger_midpoint": [ + 0.24234537302818832, + 0.13616991304127668, + 1.050355328993854 + ], + "object_minus_finger_midpoint": [ + 0.005752042710619326, + 0.012307683830587668, + 0.0 + ], + "finger_gap": 0.027170945998878877, + "fingertip_max_gap": 0.09236530599674556, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358547299943944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050355328993854, + "object_top_z": 1.101477310752506, + "finger_top_clearance": 0.0511219817586519, + "fingertip_min_top_clearance": 0.015336594527595537, + "object_projection_between_fingers": 0.8207353419673274, + "object_to_finger_line_xy": 0.010422062311008286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868265299837278, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8032493569566723, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2477165820696998, + 0.14794932200544547, + 1.244049263304456 + ], + "held_position": [ + 0.2530102440811026, + 0.1523403391946169, + 1.2388455907365188 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008624505646173024, + "max_held_gripper_dist": 0.00863829563769187, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00520367256793719, + "max_held_gripper_z_dist": 0.005231986591347493, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688769578332042, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2530102440811026, + 0.12705576987621198, + 1.2388455907365188 + ], + "held_grasp_finger_b": [ + 0.24315693058988755, + 0.1523403391946169, + 1.2388455907365188 + ], + "held_grasp_midpoint": [ + 0.24808358733549507, + 0.13969805453541445, + 1.2388455907365188 + ], + "held_grasp_object_position": [ + 0.2530102440811026, + 0.1523403391946169, + 1.2388455907365188 + ], + "held_grasp_finger_gap": 0.027136640034709242, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024646387874898194, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05932361373101146, + -0.9978782600839371, + 0.026826980928689403 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041820883975247185, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03681252196912256, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20939691459397478, + 0.1609418410345274, + 0.7611065880764708 + ], + "target_position": [ + 0.22317829667022607, + 0.14517527887893766, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020940653622504125, + "xy_threshold": 0.08, + "gripper_dist": 0.20322728211667093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065880764708, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07677978818065218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08668212129067775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17915292672029798, + "release_required_pad_clearance": 0.053341060645338875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.69853425637993, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 350, + "max_placed_release_frames": 350 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9bb1f3470845dedf5e4fa8b08458e989739bf87cdac90939c596c2af9bce390b", + "visual_seed": 3305163779004021179, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..837ba86a4a8a9dd47b06357bb5b5988eee875e80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24624121725283366, + 0.15731335047330364, + 1.0476724733320981 + ], + "current_z": 1.0476724733320981, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.1865658461080424, + "gripper_z": 1.0527100946660521, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2408716109183599, + 0.15242965195452124, + 1.0527100946660521 + ], + "object_minus_gripper": [ + 0.005369606334473753, + 0.004883698518782398, + -0.005037621333954023 + ], + "object_to_gripper_xy": 0.00725831822184575, + "object_to_gripper_z": -0.005037621333954023, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24624121725283366, + 0.13248355874453088, + 1.0476724733320981 + ], + "finger_b": [ + 0.23458622152748082, + 0.15731335047330364, + 1.0476724733320981 + ], + "finger_midpoint": [ + 0.24041371939015724, + 0.14489845460891726, + 1.0476724733320981 + ], + "object_minus_finger_midpoint": [ + 0.005827497862676417, + 0.012414895864386377, + 0.0 + ], + "finger_gap": 0.02742913565266366, + "fingertip_max_gap": 0.0932317210790011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371456782633183, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476724733320981, + "object_top_z": 1.0987819908541545, + "finger_top_clearance": 0.05110951752205639, + "fingertip_min_top_clearance": 0.0153328552566169, + "object_projection_between_fingers": 0.8194489607797466, + "object_to_finger_line_xy": 0.010550500756743486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911586053950055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.153181698244075, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24564754114122384, + 0.156311315128553, + 1.2421893068945051 + ], + "held_position": [ + 0.2512287522433583, + 0.16079499879226716, + 1.2369921492822937 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008846682079119428, + "max_held_gripper_dist": 0.008859975033201758, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0051971576122114005, + "max_held_gripper_z_dist": 0.005229901811083959, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08603635608973564, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2512287522433583, + 0.13534837535361202, + 1.2369921492822937 + ], + "held_grasp_finger_b": [ + 0.24119871341463492, + 0.16079499879226716, + 1.2369921492822937 + ], + "held_grasp_midpoint": [ + 0.2462137328289966, + 0.1480716870729396, + 1.2369921492822937 + ], + "held_grasp_object_position": [ + 0.2512287522433583, + 0.16079499879226716, + 1.2369921492822937 + ], + "held_grasp_finger_gap": 0.027352007665515366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024973754566562888, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04373982182388842, + -0.9986577095024197, + 0.027741795871845443 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004467909985378932, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036794660675558574, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20963321744869728, + 0.16337832485062626, + 0.7611164271272726 + ], + "target_position": [ + 0.22099220350633678, + 0.15229224195013955, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015872233564754274, + "xy_threshold": 0.08, + "gripper_dist": 0.20554411456677607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611164271272726, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545197907680987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561717782755808, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17953107218453743, + "release_required_pad_clearance": 0.05280858891377904, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6172710799562342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 357, + "max_placed_release_frames": 357 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7a7d35f45e49e8cfc80ef47d9a41d159bb891a3b234b5647537984fa3467b48", + "visual_seed": 3435973365390383855, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..30787be2c02ceb9746c5962e74884cc0db49bd8c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2461060414616021, + 0.15477809296945796, + 1.0494350503984857 + ], + "current_z": 1.0494350503984857, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.18832830396514078, + "gripper_z": 1.05436378624552, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24116510590765267, + 0.14994528772296523, + 1.05436378624552 + ], + "object_minus_gripper": [ + 0.0049409355539494215, + 0.0048328052464927385, + -0.004928735847034238 + ], + "object_to_gripper_xy": 0.006911501334645694, + "object_to_gripper_z": -0.004928735847034238, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2461060414616021, + 0.1305308345858519, + 1.0494350503984857 + ], + "finger_b": [ + 0.2341637759056279, + 0.15477809296945796, + 1.0494350503984857 + ], + "finger_midpoint": [ + 0.24013490868361498, + 0.14265446377765495, + 1.0494350503984857 + ], + "object_minus_finger_midpoint": [ + 0.005971132777987109, + 0.012123629191803015, + 0.0 + ], + "finger_gap": 0.02702863751154989, + "fingertip_max_gap": 0.09171763245672182, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013514318755774938, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494350503984857, + "object_top_z": 1.0999814594710577, + "finger_top_clearance": 0.05054640907257202, + "fingertip_min_top_clearance": 0.015163922721771604, + "object_projection_between_fingers": 0.8047796258998309, + "object_to_finger_line_xy": 0.01071334796278972, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835881622836091, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7003461911620251, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24607717261109263, + 0.1535141012399427, + 1.2441742792338346 + ], + "held_position": [ + 0.2513473053308566, + 0.15783315680127577, + 1.239080157745382 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008507562139938972, + "max_held_gripper_dist": 0.00852132008588914, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005094121488452563, + "max_held_gripper_z_dist": 0.0051235818482475715, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08663600177785281, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2513473053308566, + 0.13250552904392862, + 1.239080157745382 + ], + "held_grasp_finger_b": [ + 0.24171485822262664, + 0.15783315680127577, + 1.239080157745382 + ], + "held_grasp_midpoint": [ + 0.2465310817767416, + 0.1451693429226022, + 1.239080157745382 + ], + "held_grasp_object_position": [ + 0.2513473053308566, + 0.15783315680127577, + 1.239080157745382 + ], + "held_grasp_finger_gap": 0.027097467872618453, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024483298157655327, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07874870583368039, + -0.9966129139006139, + 0.023692639701983757 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003816176601283737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03672005824748291, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21384386154617863, + 0.15809896077395938, + 0.7611377894889275 + ], + "target_position": [ + 0.22124410787694224, + 0.15251964698175244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009267814637113264, + "xy_threshold": 0.08, + "gripper_dist": 0.20880885586797546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611377894889275, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570286687379135, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08948264120144618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18102386554340238, + "release_required_pad_clearance": 0.05474132060072309, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.385869725191086, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 345, + "max_placed_release_frames": 345 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9a6c67b9b1d74240b0832f63cdb721db7290c4b661c0a781c1a83ab8dd1c61d", + "visual_seed": 175513024759345372, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..afdd080ae83c40401a6247376f2a9cd2cc7314f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24636617056378016, + 0.15441060471423587, + 1.0500353352904404 + ], + "current_z": 1.0500353352904404, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1889287676710295, + "gripper_z": 1.0552527070856184, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2414289175398497, + 0.14973458703752207, + 1.0552527070856184 + ], + "object_minus_gripper": [ + 0.0049372530239304435, + 0.004676017676713801, + -0.005217371795178005 + ], + "object_to_gripper_xy": 0.006800118288327802, + "object_to_gripper_z": -0.005217371795178005, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24636617056378016, + 0.12990711649151382, + 1.0500353352904404 + ], + "finger_b": [ + 0.23498249850030548, + 0.15441060471423587, + 1.0500353352904404 + ], + "finger_midpoint": [ + 0.24067433453204282, + 0.14215886060287486, + 1.0500353352904404 + ], + "object_minus_finger_midpoint": [ + 0.005691836031737341, + 0.012251744111361013, + 0.0 + ], + "finger_gap": 0.027018677331242774, + "fingertip_max_gap": 0.09359221488644179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013509338665621375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0500353352904404, + "object_top_z": 1.1019140220338417, + "finger_top_clearance": 0.05187868674340135, + "fingertip_min_top_clearance": 0.015563606023020387, + "object_projection_between_fingers": 0.8224843762058164, + "object_to_finger_line_xy": 0.010323957420970165, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049296107443220896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.278889652541829, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24622791434890257, + 0.15365145562436855, + 1.2445028306895218 + ], + "held_position": [ + 0.25138212427720197, + 0.15792968471827518, + 1.2391313567545312 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008586143278516417, + "max_held_gripper_dist": 0.00860138270629769, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0053714739349906004, + "max_held_gripper_z_dist": 0.005398941612528629, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08586487046127013, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25138212427720197, + 0.13270035108733408, + 1.2391313567545312 + ], + "held_grasp_finger_b": [ + 0.24176019919215128, + 0.15792968471827518, + 1.2391313567545312 + ], + "held_grasp_midpoint": [ + 0.24657116173467664, + 0.14531501790280463, + 1.2391313567545312 + ], + "held_grasp_object_position": [ + 0.25138212427720197, + 0.15792968471827518, + 1.2391313567545312 + ], + "held_grasp_finger_gap": 0.027001865080095177, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024552822537858256, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06330751373759057, + -0.9973296584220399, + 0.03641031634224279 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00402960841335465, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03683469864666202, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21016091654265354, + 0.15608606510170225, + 0.7611161722184885 + ], + "target_position": [ + 0.2215433922886598, + 0.15232821186966217, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01198675164596209, + "xy_threshold": 0.08, + "gripper_dist": 0.20828349514091563, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611161722184885, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535817731252437, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0910480483255595, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809299447371258, + "release_required_pad_clearance": 0.05552402416277975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.161380149697497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 356, + "max_placed_release_frames": 356 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db62efa64e3f301d7909ab551b5e02ec42be79be77c5373210daf734eacf5b8d", + "visual_seed": 4960495759218079060, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6437a3d363349a4964792b95d3af4984b846c0a8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25179721922851517, + 0.15375865771470823, + 1.049611048429175 + ], + "current_z": 1.049611048429175, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18850454041440878, + "gripper_z": 1.054431236346024, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24679782951799614, + 0.14884934762466245, + 1.054431236346024 + ], + "object_minus_gripper": [ + 0.0049993897105190255, + 0.0049093100900457765, + -0.004820187916849017 + ], + "object_to_gripper_xy": 0.007006798344313099, + "object_to_gripper_z": -0.004820187916849017, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25179721922851517, + 0.12952304697686445, + 1.049611048429175 + ], + "finger_b": [ + 0.23967818059454374, + 0.15375865771470823, + 1.049611048429175 + ], + "finger_midpoint": [ + 0.24573769991152944, + 0.14164085234578633, + 1.049611048429175 + ], + "object_minus_finger_midpoint": [ + 0.006059519316985729, + 0.012117805368921902, + 0.0 + ], + "finger_gap": 0.027096788098370267, + "fingertip_max_gap": 0.09163980375390288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013548394049185153, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049611048429175, + "object_top_z": 1.1002427332281859, + "finger_top_clearance": 0.05063168479901092, + "fingertip_min_top_clearance": 0.01518950543970331, + "object_projection_between_fingers": 0.7999674323180416, + "object_to_finger_line_xy": 0.010839377042900765, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831990187695144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6077059657279231, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25177405911597495, + 0.15242564930858402, + 1.2424153730964143 + ], + "held_position": [ + 0.25710471428010295, + 0.1567931042832181, + 1.2374060074884494 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00851964149648103, + "max_held_gripper_dist": 0.008533553608241852, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005009365607964833, + "max_held_gripper_z_dist": 0.005040060428592064, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08654878853185216, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25710471428010295, + 0.13140125985130902, + 1.2374060074884494 + ], + "held_grasp_finger_b": [ + 0.247450914557362, + 0.1567931042832181, + 1.2374060074884494 + ], + "held_grasp_midpoint": [ + 0.2522778144187325, + 0.14409718206726357, + 1.2374060074884494 + ], + "held_grasp_object_position": [ + 0.25710471428010295, + 0.1567931042832181, + 1.2374060074884494 + ], + "held_grasp_finger_gap": 0.027165080760805142, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024452178675488923, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08666184140430902, + -0.9959416222726408, + 0.024290126993388176 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037217107441859607, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665754467182947, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20871562984914124, + 0.15102633088020795, + 0.7611078874126553 + ], + "target_position": [ + 0.22692912793106607, + 0.14847099487853893, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018391880123078908, + "xy_threshold": 0.08, + "gripper_dist": 0.20224720711493568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078874126553, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563046542597839, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08746958340547113, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17490831003553284, + "release_required_pad_clearance": 0.05373479170273557, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4746584559827673, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d29f61ca82933105bed8e265aaed2c2a09fc6c47c26a0442ad84ce79944a19dc", + "visual_seed": 9079115430590740951, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52b2a28166b1c3d24ec4b3bb2af7f24915528d57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2515785494298257, + 0.15111120110357845, + 1.0471834711771064 + ], + "current_z": 1.0471834711771064, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18607702276698523, + "gripper_z": 1.052208115006472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2464191854563858, + 0.14615375879805886, + 1.052208115006472 + ], + "object_minus_gripper": [ + 0.005159363973439912, + 0.004957442305519588, + -0.005024643829365516 + ], + "object_to_gripper_xy": 0.007155087059077971, + "object_to_gripper_z": -0.005024643829365516, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2515785494298257, + 0.12670819106425235, + 1.0471834711771064 + ], + "finger_b": [ + 0.23946234889418322, + 0.15111120110357845, + 1.0471834711771064 + ], + "finger_midpoint": [ + 0.24552044916200447, + 0.1389096960839154, + 1.0471834711771064 + ], + "object_minus_finger_midpoint": [ + 0.006058100267821248, + 0.01220150501966305, + 0.0 + ], + "finger_gap": 0.027245352161411936, + "fingertip_max_gap": 0.09171698143969059, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013622676080705968, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471834711771064, + "object_top_z": 1.097917337387313, + "finger_top_clearance": 0.05073386621020659, + "fingertip_min_top_clearance": 0.015220159863061977, + "object_projection_between_fingers": 0.8022356282634995, + "object_to_finger_line_xy": 0.010852190918953784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483584907198453, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6633774443081639, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25134121876975046, + 0.14994157275857606, + 1.2434921152715117 + ], + "held_position": [ + 0.25684419008022075, + 0.1543701303724436, + 1.2383211079875132 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00875409230670829, + "max_held_gripper_dist": 0.008768200852002932, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005171007283998552, + "max_held_gripper_z_dist": 0.0052021291387438495, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08633596760715662, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25684419008022075, + 0.12896012693746345, + 1.2383211079875132 + ], + "held_grasp_finger_b": [ + 0.24690951448306553, + 0.1543701303724436, + 1.2383211079875132 + ], + "held_grasp_midpoint": [ + 0.25187685228164314, + 0.1416651286549535, + 1.2383211079875132 + ], + "held_grasp_object_position": [ + 0.25684419008022075, + 0.1543701303724436, + 1.2383211079875132 + ], + "held_grasp_finger_gap": 0.027283072660285432, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024507350993704755, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08147616022316358, + -0.9963316329021781, + 0.026170834793123092 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003930209577385719, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665713535252371, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20761118344779247, + 0.14560025622663259, + 0.7611072785097526 + ], + "target_position": [ + 0.22654089362630778, + 0.14678935174952304, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018967020736139453, + "xy_threshold": 0.08, + "gripper_dist": 0.1997386122952156, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072785097526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593884472814909, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638662385103014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17131240160305272, + "release_required_pad_clearance": 0.053193311925515074, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4088670537507233, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 324, + "max_placed_release_frames": 324 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87fd4e988a6bc2333e05d8a0bdfe04818a85748e0c1ce9d07c6e5c3a420b9c35", + "visual_seed": 5811010196022987268, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b7b2c8e6fbf5bf17c65951ff9b524c31f7b71b96 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24639339561108534, + 0.1553056989740811, + 1.0511886949036064 + ], + "current_z": 1.0511886949036064, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.1900820676795506, + "gripper_z": 1.0560870724268354, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24116538024928683, + 0.15034653162816247, + 1.0560870724268354 + ], + "object_minus_gripper": [ + 0.00522801536179851, + 0.004959167345918641, + -0.0048983775232289695 + ], + "object_to_gripper_xy": 0.007205934039944229, + "object_to_gripper_z": -0.0048983775232289695, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24639339561108534, + 0.13081512647021534, + 1.0511886949036064 + ], + "finger_b": [ + 0.23432178944743076, + 0.1553056989740811, + 1.0511886949036064 + ], + "finger_midpoint": [ + 0.24035759252925804, + 0.14306041272214823, + 1.0511886949036064 + ], + "object_minus_finger_midpoint": [ + 0.006035803081827301, + 0.012245286251932885, + 0.0 + ], + "finger_gap": 0.027304062279036232, + "fingertip_max_gap": 0.09046891110569258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013652031139518121, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511886949036064, + "object_top_z": 1.101195370734708, + "finger_top_clearance": 0.05000667583110152, + "fingertip_min_top_clearance": 0.015002002749330423, + "object_projection_between_fingers": 0.80453203817881, + "object_to_finger_line_xy": 0.01082771284975002, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773445555284629, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17531896567409716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24602764280458908, + 0.15416252230246272, + 1.2453812539505191 + ], + "held_position": [ + 0.25154920720622254, + 0.15863130596576455, + 1.2403094414720353 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008728171783809248, + "max_held_gripper_dist": 0.008741052440925042, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0050718124784838725, + "max_held_gripper_z_dist": 0.005103241682745008, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08594519211023921, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25154920720622254, + 0.13319952727952167, + 1.2403094414720353 + ], + "held_grasp_finger_b": [ + 0.24159390571217704, + 0.15863130596576455, + 1.2403094414720353 + ], + "held_grasp_midpoint": [ + 0.2465715564591998, + 0.14591541662264312, + 1.2403094414720353 + ], + "held_grasp_object_position": [ + 0.25154920720622254, + 0.15863130596576455, + 1.2403094414720353 + ], + "held_grasp_finger_gap": 0.027310865877584006, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024559931020827663, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07919140583889277, + -0.9967177543662378, + 0.01680593265438957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003960977505628648, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665191023881774, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2204312657588567, + 0.14594846085323854, + 0.7611085911297725 + ], + "target_position": [ + 0.22131954437981527, + 0.1501868014715656, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004330423778963569, + "xy_threshold": 0.08, + "gripper_dist": 0.2115041573922854, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085911297725, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562959113399581, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740890540737702, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1810765943912064, + "release_required_pad_clearance": 0.05370445270368851, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.413812524621954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 351, + "max_placed_release_frames": 351 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2033cb0f5452efd40a484b005308470dce51be1d2c2c9122e3cca0f849b724ed", + "visual_seed": 2175766260135204274, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad4c324e652bff6bdc33158860b9d63629371fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24734570851067653, + 0.15439576390535112, + 1.0510717836381889 + ], + "current_z": 1.0510717836381889, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18996527562342302, + "gripper_z": 1.0558126797197525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2422337423526372, + 0.1494642543989783, + 1.0558126797197525 + ], + "object_minus_gripper": [ + 0.005111966158039327, + 0.004931509506372805, + -0.004740896081563584 + ], + "object_to_gripper_xy": 0.007102956005240685, + "object_to_gripper_z": -0.004740896081563584, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24734570851067653, + 0.13004276749190644, + 1.0510717836381889 + ], + "finger_b": [ + 0.2352423082877973, + 0.15439576390535112, + 1.0510717836381889 + ], + "finger_midpoint": [ + 0.24129400839923693, + 0.14221926569862878, + 1.0510717836381889 + ], + "object_minus_finger_midpoint": [ + 0.006051700111439601, + 0.012176498206722342, + 0.0 + ], + "finger_gap": 0.027194865899070778, + "fingertip_max_gap": 0.09058513907515289, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013597432949535382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0510717836381889, + "object_top_z": 1.1010520992158037, + "finger_top_clearance": 0.04998031557761484, + "fingertip_min_top_clearance": 0.014994094673284452, + "object_projection_between_fingers": 0.8019198549063852, + "object_to_finger_line_xy": 0.010838592229584589, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779256953757645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25285269040443303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2471367618737081, + 0.15319759685768386, + 1.2466704927836558 + ], + "held_position": [ + 0.2525868476630459, + 0.15761056748049448, + 1.2417769339670848 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008551295967288925, + "max_held_gripper_dist": 0.00856349361008772, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004893558816571053, + "max_held_gripper_z_dist": 0.004924195018146005, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0860794809520286, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2525868476630459, + 0.13223264071014867, + 1.2417769339670848 + ], + "held_grasp_finger_b": [ + 0.24268417566218004, + 0.15761056748049448, + 1.2417769339670848 + ], + "held_grasp_midpoint": [ + 0.24763551166261297, + 0.14492160409532157, + 1.2417769339670848 + ], + "held_grasp_object_position": [ + 0.2525868476630459, + 0.15761056748049448, + 1.2417769339670848 + ], + "held_grasp_finger_gap": 0.027241550615149778, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02449158564693238, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08074923490978826, + -0.9965833325722159, + 0.01735575699127068 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00391693504776267, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667482405899637, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20924491209460153, + 0.1515424473374049, + 0.7611063085205415 + ], + "target_position": [ + 0.22234756846230885, + 0.1494515928687516, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013268431568927389, + "xy_threshold": 0.08, + "gripper_dist": 0.20612247328498456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063085205415, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589607206165552, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09239952319620486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1781785200773921, + "release_required_pad_clearance": 0.05619976159810243, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.684632173774932, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "916a8a8fa87aa384650be30851cfb8b0d9a6ac31cb971a106595bce65cdca9ad", + "visual_seed": 2229333050750506187, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..20c9bcc7c5b8c1945f5c8d5785bafafc4bdedb09 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25183903957129705, + 0.1483614428521472, + 1.0506815288076499 + ], + "current_z": 1.0506815288076499, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.18957514000217346, + "gripper_z": 1.0556130814097369, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24697325612213103, + 0.14371822286760533, + 1.0556130814097369 + ], + "object_minus_gripper": [ + 0.004865783449166022, + 0.004643219984541869, + -0.004931552602086997 + ], + "object_to_gripper_xy": 0.0067257222957112185, + "object_to_gripper_z": -0.004931552602086997, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25183903957129705, + 0.1239110731822088, + 1.0506815288076499 + ], + "finger_b": [ + 0.2405005283230218, + 0.1483614428521472, + 1.0506815288076499 + ], + "finger_midpoint": [ + 0.24616978394715944, + 0.136136258017178, + 1.0506815288076499 + ], + "object_minus_finger_midpoint": [ + 0.005669255624137615, + 0.012225184834969205, + 0.0 + ], + "finger_gap": 0.026951482599736662, + "fingertip_max_gap": 0.09330486152899878, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013475741299868331, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506815288076499, + "object_top_z": 1.1023675443418883, + "finger_top_clearance": 0.05168601553423846, + "fingertip_min_top_clearance": 0.015505804660271521, + "object_projection_between_fingers": 0.8230108069907975, + "object_to_finger_line_xy": 0.010286290948973379, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915243076449939, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.151955758356694, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25185591483418734, + 0.1476560263133196, + 1.2455490888600196 + ], + "held_position": [ + 0.2569387176501758, + 0.1519037369355235, + 1.2404599455978267 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00835328133964895, + "max_held_gripper_dist": 0.008367985875964547, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005089143262192897, + "max_held_gripper_z_dist": 0.005116641128162902, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08608742177295085, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2569387176501758, + 0.12669278511542992, + 1.2404599455978267 + ], + "held_grasp_finger_b": [ + 0.24740663378925437, + 0.1519037369355235, + 1.2404599455978267 + ], + "held_grasp_midpoint": [ + 0.2521726757197151, + 0.1392982610254767, + 1.2404599455978267 + ], + "held_grasp_object_position": [ + 0.2569387176501758, + 0.1519037369355235, + 1.2404599455978267 + ], + "held_grasp_finger_gap": 0.026952786765132814, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024533354852620953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06411325391296711, + -0.9973636832495666, + 0.03398785088159729 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039717980146444344, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03684243973088964, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21944555667474014, + 0.14371853870352191, + 0.76110836514927 + ], + "target_position": [ + 0.22716785351848628, + 0.14688622750100405, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008346743128947093, + "xy_threshold": 0.08, + "gripper_dist": 0.2089677418296447, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110836514927, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563228233888741, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782770780934647, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17929453371709955, + "release_required_pad_clearance": 0.05391385390467324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8338525124163954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 337, + "max_placed_release_frames": 337 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "208fc45e8f62a9435ddad8447d9e04113ac114ca8a4282f628054ef87b904eb0", + "visual_seed": 7981589989305113055, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..234d624dae78b8635e6f9070dc860a7b3f019916 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24273351894543038, + 0.15133990524645236, + 1.0476850873357297 + ], + "current_z": 1.0476850873357297, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.186578519716319, + "gripper_z": 1.0527649909636958, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23767216185108248, + 0.14659433718008036, + 1.0527649909636958 + ], + "object_minus_gripper": [ + 0.005061357094347907, + 0.004745568066371997, + -0.005079903627966065 + ], + "object_to_gripper_xy": 0.006938137495688273, + "object_to_gripper_z": -0.005079903627966065, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24273351894543038, + 0.12675241338929577, + 1.0476850873357297 + ], + "finger_b": [ + 0.2312468179360422, + 0.15133990524645236, + 1.0476850873357297 + ], + "finger_midpoint": [ + 0.23699016844073628, + 0.13904615931787406, + 1.0476850873357297 + ], + "object_minus_finger_midpoint": [ + 0.0057433505046941, + 0.012293745928578292, + 0.0 + ], + "finger_gap": 0.027138331855602705, + "fingertip_max_gap": 0.09219661190241207, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01356916592780136, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476850873357297, + "object_top_z": 1.0986364079788171, + "finger_top_clearance": 0.05095132064308738, + "fingertip_min_top_clearance": 0.01528539619292623, + "object_projection_between_fingers": 0.820846896472918, + "object_to_finger_line_xy": 0.01040702018962217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859830595120604, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7606316587809666, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24239726798491498, + 0.15058036546897166, + 1.2420526358283221 + ], + "held_position": [ + 0.24767306609632322, + 0.15492843767855008, + 1.2368098853585674 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00861546343153754, + "max_held_gripper_dist": 0.008627750623139505, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005242750469754753, + "max_held_gripper_z_dist": 0.005269483367355665, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581170124509796, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24767306609632322, + 0.12962517826358844, + 1.2368098853585674 + ], + "held_grasp_finger_b": [ + 0.23794416022555914, + 0.15492843767855008, + 1.2368098853585674 + ], + "held_grasp_midpoint": [ + 0.24280861316094118, + 0.14227680797106926, + 1.2368098853585674 + ], + "held_grasp_object_position": [ + 0.24767306609632322, + 0.15492843767855008, + 1.2368098853585674 + ], + "held_grasp_finger_gap": 0.02710915982584176, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024592352073037057, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0664118071098629, + -0.9974393369335226, + 0.026537539712967455 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004027872829389456, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03677795981349733, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20161307931666106, + 0.1531064996312554, + 0.7611064349813152 + ], + "target_position": [ + 0.21772065362323598, + 0.14905272313891554, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016609848099596803, + "xy_threshold": 0.08, + "gripper_dist": 0.20542668979884351, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064349813152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585830627425477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08877975297951936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17811112311676547, + "release_required_pad_clearance": 0.05438987648975968, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8047669111959306, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 360, + "max_placed_release_frames": 360 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2a286dd6eeb70e9de7f62acb6842c06d2b39a477699acbc6a83a619948d8fc35", + "visual_seed": 2695820024278600388, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4b09ab50252864e7a1b68ad9a363a06f8270bfdc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24265427471111917, + 0.14867999061409298, + 1.0473491295959283 + ], + "current_z": 1.0473491295959283, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18624262158116234, + "gripper_z": 1.0521442807039305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2377668222162037, + 0.14388494071508695, + 1.0521442807039305 + ], + "object_minus_gripper": [ + 0.004887452494915456, + 0.004795049899006032, + -0.004795151108002216 + ], + "object_to_gripper_xy": 0.006846874865514418, + "object_to_gripper_z": -0.004795151108002216, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24265427471111917, + 0.1244475104918765, + 1.0473491295959283 + ], + "finger_b": [ + 0.2308013563437678, + 0.14867999061409298, + 1.0473491295959283 + ], + "finger_midpoint": [ + 0.23672781552744349, + 0.13656375055298475, + 1.0473491295959283 + ], + "object_minus_finger_midpoint": [ + 0.005926459183675681, + 0.01211624006110823, + 0.0 + ], + "finger_gap": 0.026976003534562202, + "fingertip_max_gap": 0.09346379951418349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013488001767281089, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473491295959283, + "object_top_z": 1.098832472896047, + "finger_top_clearance": 0.05148334330011872, + "fingertip_min_top_clearance": 0.015445002990035615, + "object_projection_between_fingers": 0.80693863740809, + "object_to_finger_line_xy": 0.010647448513235007, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049231899757091746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2033186963389049, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24243271989920023, + 0.14813160916325147, + 1.2417267305954067 + ], + "held_position": [ + 0.247615771883551, + 0.15246074815566849, + 1.2367751147522816 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008374005716861865, + "max_held_gripper_dist": 0.008386405510145769, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00495161584312509, + "max_held_gripper_z_dist": 0.004977643147531907, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676270732570396, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.247615771883551, + 0.1272280252338987, + 1.2367751147522816 + ], + "held_grasp_finger_b": [ + 0.23788829827640812, + 0.15246074815566849, + 1.2367751147522816 + ], + "held_grasp_midpoint": [ + 0.24275203507997956, + 0.1398443866947836, + 1.2367751147522816 + ], + "held_grasp_object_position": [ + 0.247615771883551, + 0.15246074815566849, + 1.2367751147522816 + ], + "held_grasp_finger_gap": 0.027042818803232543, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024487454300822654, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0690994196093673, + -0.9971027367654782, + 0.03180255562752943 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004001037302776519, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03680436013916472, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21024458436606322, + 0.14962782644034173, + 0.7611186923509954 + ], + "target_position": [ + 0.21781428416427365, + 0.14660819645926912, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008149755840368443, + "xy_threshold": 0.08, + "gripper_dist": 0.20942851392302392, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611186923509954, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548522717297577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08816240588957057, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1813681923465322, + "release_required_pad_clearance": 0.05408120294478529, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.117217739984266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 386, + "max_placed_release_frames": 386 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79db4d347f854007c12859eee1df7ffc7cc0aea6a864bfe8f02842c68ee3ba58", + "visual_seed": 5084712104137750554, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..630ff97f812f295476e8565383e20b8402663e49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_88_success.json @@ -0,0 +1,684 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24266444515919033, + 0.15050741503223358, + 1.0476212559503972 + ], + "current_z": 1.0476212559503972, + "required_z": 0.8611068060379901, + "initial_z": 0.7611068060379901, + "lift_margin": 0.18651444991240718, + "gripper_z": 1.052307707028233, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23771981206191506, + 0.14562335584527772, + 1.052307707028233 + ], + "object_minus_gripper": [ + 0.004944633097275275, + 0.004884059186955864, + -0.004686451077835718 + ], + "object_to_gripper_xy": 0.0069500669499191195, + "object_to_gripper_z": -0.004686451077835718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24266444515919033, + 0.12630248247551412, + 1.0476212559503972 + ], + "finger_b": [ + 0.23059714197926204, + 0.15050741503223358, + 1.0476212559503972 + ], + "finger_midpoint": [ + 0.23663079356922617, + 0.13840494875387385, + 1.0476212559503972 + ], + "object_minus_finger_midpoint": [ + 0.006033651589964162, + 0.01210246627835973, + 0.0 + ], + "finger_gap": 0.0270462301645099, + "fingertip_max_gap": 0.09218264071853827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013523115082254957, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476212559503972, + "object_top_z": 1.0985084142228283, + "finger_top_clearance": 0.050887158272431066, + "fingertip_min_top_clearance": 0.015266147481729336, + "object_projection_between_fingers": 0.800929471659303, + "object_to_finger_line_xy": 0.010799592321555003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048591320359269136, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7993870153725134, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24258547645298179, + 0.1492827764325455, + 1.244225289865182 + ], + "held_position": [ + 0.24790846771865893, + 0.1536215484266206, + 1.2394047571113553 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008390274993214533, + "max_held_gripper_dist": 0.008402803373379219, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004820532753826656, + "max_held_gripper_z_dist": 0.004848883017338768, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861789788731394, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24790846771865893, + 0.12830337305496667, + 1.2394047571113553 + ], + "held_grasp_finger_b": [ + 0.23814320757879978, + 0.1536215484266206, + 1.2394047571113553 + ], + "held_grasp_midpoint": [ + 0.24302583764872937, + 0.14096246074079363, + 1.2394047571113553 + ], + "held_grasp_object_position": [ + 0.24790846771865893, + 0.1536215484266206, + 1.2394047571113553 + ], + "held_grasp_finger_gap": 0.027136143973470982, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024389628047111447, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08471436156761009, + -0.9959993346769339, + 0.028439449138431216 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038102786544839617, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03669817826824954, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20133113373147393, + 0.14674599618432463, + 0.761127378057079 + ], + "target_position": [ + 0.21771615383081, + 0.14811938101836944, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016442477597917875, + "xy_threshold": 0.08, + "gripper_dist": 0.2044739433650297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761127378057079, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530129573833107, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08916771722178603, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17650257043396153, + "release_required_pad_clearance": 0.054583858610893016, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.113996235882275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 405, + "max_placed_release_frames": 405 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19307e4352527b21f05d63e4f581bb6d4e9bba6dab672f4b75c8816353d735ae", + "visual_seed": 7367475881579728804, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dac60b8684dc5e83957a9bc13c210757b16c6037 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_89_success.json @@ -0,0 +1,684 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25603832812760385, + 0.14397999874978407, + 1.005021096476462 + ], + "current_z": 1.005021096476462, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1439145884616959, + "gripper_z": 1.053851665008842, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24912385050008587, + 0.14025739381630392, + 1.053851665008842 + ], + "object_minus_gripper": [ + 0.006914477627517984, + 0.0037226049334801448, + -0.04883056853237999 + ], + "object_to_gripper_xy": 0.007852884078618342, + "object_to_gripper_z": -0.04883056853237999, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25603832812760385, + 0.11997717457003912, + 1.0402855536706426 + ], + "finger_b": [ + 0.24289091637071394, + 0.14397999874978407, + 1.040364629777508 + ], + "finger_midpoint": [ + 0.24946462224915888, + 0.13197858665991158, + 1.0403250917240752 + ], + "object_minus_finger_midpoint": [ + 0.006573705878444969, + 0.012001412089872487, + -0.035303995247613074 + ], + "finger_gap": 0.02736779599345977, + "fingertip_max_gap": 0.10908720504945804, + "finger_z_skew": 7.907610686541666e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01368384087627591, + "object_to_finger_midpoint_z": 0.035303995247613074, + "finger_midpoint_minus_object_z": 0.035303995247613074, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.005021096476462, + "object_top_z": 1.0599206912398558, + "finger_top_clearance": 0.019595599515780604, + "fingertip_min_top_clearance": 0.01646987842901812, + "object_projection_between_fingers": 0.7692166319114875, + "object_to_finger_line_xy": 0.011530936952301974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05704360252472902, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 13.144116180721129, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 191, + "max_stable_success_frames": 191, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2603834006603294, + 0.12634851123425175, + 1.199884966560693 + ], + "held_position": [ + 0.2643604398625682, + 0.12389944309377854, + 1.1504812210320554 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04962403498135961, + "max_held_gripper_dist": 0.04965649835733332, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04940374552863758, + "max_held_gripper_z_dist": 0.04947721316759801, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0909687886876048, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2643604398625682, + 0.1005629494926566, + 1.187293638985938 + ], + "held_grasp_finger_b": [ + 0.2643604398625682, + 0.14885068910599258, + 1.182477493416746 + ], + "held_grasp_midpoint": [ + 0.2643604398625682, + 0.12470681929932459, + 1.184885566201342 + ], + "held_grasp_object_position": [ + 0.2643604398625682, + 0.12389944309377854, + 1.1504812210320554 + ], + "held_grasp_finger_gap": 0.04852732276881744, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.047735851204411484, + "held_grasp_world_z_skew": 0.004816145569192187, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.17608510034318128, + -0.9751902694121473, + 0.1341565349917604 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03420022714478703, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04589202775292647, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22159114876166797, + 0.1435198075100193, + 0.7611063332713998 + ], + "target_position": [ + 0.2261387200825742, + 0.1492164818848005, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007289204610313642, + "xy_threshold": 0.08, + "gripper_dist": 0.21236874137006684, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063332713998, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530734824582601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09594088684414805, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18238026751716818, + "release_required_pad_clearance": 0.057970443422074025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.881582127140728, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 302, + "max_placed_release_frames": 302 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d995149412859eb3250bfe4686b2a2d142d2ed616d02a9221f83edb3ffb99b0b", + "visual_seed": 2142415502203085958, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb072da3d64b9773e7b1f22b91f00e4e20c1a21 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24589480621440474, + 0.15230606023596072, + 1.0484510253097752 + ], + "current_z": 1.0484510253097752, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18734445769036456, + "gripper_z": 1.0534956608214787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24071977314247595, + 0.14738663469345745, + 1.0534956608214787 + ], + "object_minus_gripper": [ + 0.005175033071928792, + 0.00491942554250327, + -0.005044635511703532 + ], + "object_to_gripper_xy": 0.007140148105171933, + "object_to_gripper_z": -0.005044635511703532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24589480621440474, + 0.12783595734592929, + 1.0484510253097752 + ], + "finger_b": [ + 0.2339027421091452, + 0.15230606023596072, + 1.0484510253097752 + ], + "finger_midpoint": [ + 0.23989877416177496, + 0.140071008790945, + 1.0484510253097752 + ], + "object_minus_finger_midpoint": [ + 0.005996032052629774, + 0.012235051445015716, + 0.0 + ], + "finger_gap": 0.027250606175888623, + "fingertip_max_gap": 0.09162463978307395, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013625303087944312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484510253097752, + "object_top_z": 1.099159725823206, + "finger_top_clearance": 0.05070870051343079, + "fingertip_min_top_clearance": 0.015212610154029221, + "object_projection_between_fingers": 0.8063419528554437, + "object_to_finger_line_xy": 0.010768459263823502, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048312319891536976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6120502892751138, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24550426037929876, + 0.15126609183571826, + 1.2419778616633765 + ], + "held_position": [ + 0.25096493884467724, + 0.1557100815552258, + 1.2367606083829061 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008762864013661071, + "max_held_gripper_dist": 0.00877637513783729, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005217253280470402, + "max_held_gripper_z_dist": 0.0052463687415136295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08582281197386776, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25096493884467724, + 0.13030845454193232, + 1.2367606083829061 + ], + "held_grasp_finger_b": [ + 0.24106049131636453, + 0.1557100815552258, + 1.2367606083829061 + ], + "held_grasp_midpoint": [ + 0.2460127150805209, + 0.14300926804857905, + 1.2367606083829061 + ], + "held_grasp_object_position": [ + 0.25096493884467724, + 0.1557100815552258, + 1.2367606083829061 + ], + "held_grasp_finger_gap": 0.027264275815865366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024573909837468592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07550246796780716, + -0.9968542588418521, + 0.024103193971591556 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003991250605976066, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668548491911551, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21011414938394501, + 0.1566489810083493, + 0.761117379644196 + ], + "target_position": [ + 0.22079896235638322, + 0.150821625374119, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012170591684210719, + "xy_threshold": 0.08, + "gripper_dist": 0.20444192090864366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761117379644196, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589020165567824, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0949094643343694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17694495999485912, + "release_required_pad_clearance": 0.057454732167184705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.565490157201051, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "53b70b138eac9692addf8cf51d3a89baf2a6bbc1dc3250030f9c825f7ab73d79", + "visual_seed": 1641991401047731003, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..551e828be3271a9f1e79afb17c798fb852517665 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_91_success.json @@ -0,0 +1,684 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.25191993838389776, + 0.15297019660094882, + 1.0501700110038161 + ], + "current_z": 1.0501700110038161, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18906350298905017, + "gripper_z": 1.0550831749292935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2465713874703158, + 0.1479320170251715, + 1.0550831749292935 + ], + "object_minus_gripper": [ + 0.0053485509135819675, + 0.0050381795757773185, + -0.00491316392547736 + ], + "object_to_gripper_xy": 0.0073478058162255635, + "object_to_gripper_z": -0.00491316392547736, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.25191993838389776, + 0.1284324127358916, + 1.0501700110038161 + ], + "finger_b": [ + 0.23968449868679173, + 0.15297019660094882, + 1.0501700110038161 + ], + "finger_midpoint": [ + 0.24580221853534473, + 0.1407013046684202, + 1.0501700110038161 + ], + "object_minus_finger_midpoint": [ + 0.006117719848553027, + 0.012268891932528614, + 0.0 + ], + "finger_gap": 0.027419132400383878, + "fingertip_max_gap": 0.0904057614108674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013709566200191944, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0501700110038161, + "object_top_z": 1.1001586719464058, + "finger_top_clearance": 0.04998866094258969, + "fingertip_min_top_clearance": 0.014996598282776906, + "object_projection_between_fingers": 0.8008722692759196, + "object_to_finger_line_xy": 0.010949674497261844, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477028807054337, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17167962842907644, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25146497709396987, + 0.15169699382990948, + 1.2462297601549277 + ], + "held_position": [ + 0.2571415300688188, + 0.15621594846623735, + 1.2411670424997943 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008847333764307483, + "max_held_gripper_dist": 0.008860749807601199, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005062717655133442, + "max_held_gripper_z_dist": 0.005096134266598273, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08619629287747727, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2571415300688188, + 0.13074243840713898, + 1.2411670424997943 + ], + "held_grasp_finger_b": [ + 0.24698495740658674, + 0.15621594846623735, + 1.2411670424997943 + ], + "held_grasp_midpoint": [ + 0.2520632437377028, + 0.14347919343668816, + 1.2411670424997943 + ], + "held_grasp_object_position": [ + 0.2571415300688188, + 0.15621594846623735, + 1.2411670424997943 + ], + "held_grasp_finger_gap": 0.027423633657380004, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024583172358762652, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07935226169402862, + -0.9966871197439192, + 0.017832663867554888 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00405814551849045, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662271687890588, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.22185364687181414, + 0.15072128809103832, + 0.7611120245898426 + ], + "target_position": [ + 0.2267530108154854, + 0.148188359807212, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0055153869078744975, + "xy_threshold": 0.08, + "gripper_dist": 0.21207982948278026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611120245898426, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759493883449463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08780237260132527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182961935049138, + "release_required_pad_clearance": 0.05390118630066264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7850435056533196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "02ec9f76f42424b991279bde1b6ee8160f09b60f628f75aef1371f5755b689d6", + "visual_seed": 2883355409783028842, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9c520595859e3d009df4888de4d2b2743b34d4f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.250884463845109, + 0.149571331933899, + 1.0492741961706722 + ], + "current_z": 1.0492741961706722, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.18816756894661668, + "gripper_z": 1.054188579515374, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2458762536125116, + 0.14475931570636907, + 1.054188579515374 + ], + "object_minus_gripper": [ + 0.005008210232597371, + 0.004812016227529914, + -0.004914383344701845 + ], + "object_to_gripper_xy": 0.006945334398566007, + "object_to_gripper_z": -0.004914383344701845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.250884463845109, + 0.12518193426398086, + 1.0492741961706722 + ], + "finger_b": [ + 0.23909297369831392, + 0.149571331933899, + 1.0492741961706722 + ], + "finger_midpoint": [ + 0.24498871877171147, + 0.13737663309893994, + 1.0492741961706722 + ], + "object_minus_finger_midpoint": [ + 0.005895745073397518, + 0.01219469883495905, + 0.0 + ], + "finger_gap": 0.027090255786599227, + "fingertip_max_gap": 0.0914365273308558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013545127893299595, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492741961706722, + "object_top_z": 1.0999232874381815, + "finger_top_clearance": 0.05064909126750927, + "fingertip_min_top_clearance": 0.01519472738025278, + "object_projection_between_fingers": 0.8105427742761856, + "object_to_finger_line_xy": 0.01061589615751681, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048218263665427905, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5868542690608753, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.25080736424781286, + 0.1482392873375959, + 1.2462680762300988 + ], + "held_position": [ + 0.25613662467037857, + 0.15256249571738492, + 1.241216917704291 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008520877290481505, + "max_held_gripper_dist": 0.00853434766093974, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005051158525807731, + "max_held_gripper_z_dist": 0.0050801555381740915, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08662144105231828, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25613662467037857, + 0.12723160158982877, + 1.241216917704291 + ], + "held_grasp_finger_b": [ + 0.24640951582708348, + 0.15256249571738492, + 1.241216917704291 + ], + "held_grasp_midpoint": [ + 0.251273070248731, + 0.13989704865360686, + 1.241216917704291 + ], + "held_grasp_object_position": [ + 0.25613662467037857, + 0.15256249571738492, + 1.241216917704291 + ], + "held_grasp_finger_gap": 0.02713431118990803, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024461397590946, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08015096597431991, + -0.9964525781746904, + 0.025653110969164894 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038469298154631838, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670991410469461, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2119412587682693, + 0.1529425903787649, + 0.7611098621441872 + ], + "target_position": [ + 0.22597320491396794, + 0.14762117738446198, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01500709661765802, + "xy_threshold": 0.08, + "gripper_dist": 0.20523806239013082, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098621441872, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577132306161323, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08539387106526926, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17802569502548293, + "release_required_pad_clearance": 0.05269693553263463, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4440995345798092, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bbdc22eece62d30d1b638a468e0016568334984ffd9b61b80507697b8dd6248b", + "visual_seed": 178920061446085057, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..86c9312a80a85d05512666c0059d132d33caa57b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2437168774106919, + 0.1554805699061584, + 1.0470374110044607 + ], + "current_z": 1.0470374110044607, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18593078378040495, + "gripper_z": 1.0522587215111945, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23848244777241637, + 0.15059589346566882, + 1.0522587215111945 + ], + "object_minus_gripper": [ + 0.005234429638275528, + 0.004884676440489594, + -0.005221310506733801 + ], + "object_to_gripper_xy": 0.007159561269123365, + "object_to_gripper_z": -0.005221310506733801, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2437168774106919, + 0.13086112289573523, + 1.0470374110044607 + ], + "finger_b": [ + 0.23191788934708113, + 0.1554805699061584, + 1.0470374110044607 + ], + "finger_midpoint": [ + 0.23781738337888653, + 0.14317084640094682, + 1.0470374110044607 + ], + "object_minus_finger_midpoint": [ + 0.005899494031805369, + 0.01230972350521159, + 0.0 + ], + "finger_gap": 0.02730079285340014, + "fingertip_max_gap": 0.09137503559045712, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013650396426700063, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470374110044607, + "object_top_z": 1.0974939298854454, + "finger_top_clearance": 0.05045651888098468, + "fingertip_min_top_clearance": 0.015136955664295404, + "object_projection_between_fingers": 0.8132162871109867, + "object_to_finger_line_xy": 0.010640151110941189, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818751779522856, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4236508783359761, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2430108057202157, + 0.15497518897771623, + 1.2430510792495226 + ], + "held_position": [ + 0.2484857596896338, + 0.15945059770858955, + 1.2376938370034059 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008871552781740216, + "max_held_gripper_dist": 0.008885137275420698, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005357242246116778, + "max_held_gripper_z_dist": 0.005388857648546352, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08663709504035405, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2484857596896338, + 0.13413674193200034, + 1.2376938370034059 + ], + "held_grasp_finger_b": [ + 0.23834331310908932, + 0.15945059770858955, + 1.2376938370034059 + ], + "held_grasp_midpoint": [ + 0.24341453639936156, + 0.14679366982029496, + 1.2376938370034059 + ], + "held_grasp_object_position": [ + 0.2484857596896338, + 0.15945059770858955, + 1.2376938370034059 + ], + "held_grasp_finger_gap": 0.027270139657089347, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02459407993192897, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06513004667551743, + -0.9976614457320176, + 0.020729609739342014 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004244439348131364, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03676263208493577, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20555539263571865, + 0.1525372479687825, + 0.7611120712524824 + ], + "target_position": [ + 0.21857013566210426, + 0.1510727850291242, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013096877022576245, + "xy_threshold": 0.08, + "gripper_dist": 0.2051007785976322, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611120712524824, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539316354435581, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08903658138945529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17755260330577893, + "release_required_pad_clearance": 0.05451829069472765, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.054761912262023, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 336, + "max_placed_release_frames": 336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "784c3722b41a2b1b07b9edc52e9dc4d94aeef1453db06d80041f9c391712fe98", + "visual_seed": 240665914384096538, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..99e6bd6eabfb90e6b5d740283abbe42d16493617 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_96_success.json @@ -0,0 +1,684 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2523151858213636, + 0.15274652027521424, + 1.0505483724019855 + ], + "current_z": 1.0505483724019855, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1894419835965091, + "gripper_z": 1.055624657304247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24695453983311763, + 0.1477234047845991, + 1.055624657304247 + ], + "object_minus_gripper": [ + 0.0053606459882459545, + 0.0050231154906151265, + -0.005076284902261419 + ], + "object_to_gripper_xy": 0.007346306190416724, + "object_to_gripper_z": -0.005076284902261419, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2523151858213636, + 0.12817490772810938, + 1.0505483724019855 + ], + "finger_b": [ + 0.24013605691975246, + 0.15274652027521424, + 1.0505483724019855 + ], + "finger_midpoint": [ + 0.24622562137055803, + 0.14046071400166182, + 1.0505483724019855 + ], + "object_minus_finger_midpoint": [ + 0.006089564450805551, + 0.012285806273552413, + 0.0 + ], + "finger_gap": 0.027424356400234814, + "fingertip_max_gap": 0.09019146058474836, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013712178200117388, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505483724019855, + "object_top_z": 1.1003450580621423, + "finger_top_clearance": 0.049796685660156825, + "fingertip_min_top_clearance": 0.014939005698047047, + "object_projection_between_fingers": 0.8027760895791074, + "object_to_finger_line_xy": 0.010912228245730975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04759573029237418, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.09087314732067842, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2518179388591594, + 0.15175981062763524, + 1.2472263936928367 + ], + "held_position": [ + 0.2575046106178295, + 0.15628485143260712, + 1.2420146865835822 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008942936932024689, + "max_held_gripper_dist": 0.008955413149948143, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00521170710925456, + "max_held_gripper_z_dist": 0.005251921295693851, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0872392724827644, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2575046106178295, + 0.13082825583680757, + 1.2420146865835822 + ], + "held_grasp_finger_b": [ + 0.24729818715744664, + 0.15628485143260712, + 1.2420146865835822 + ], + "held_grasp_midpoint": [ + 0.2524013988876381, + 0.14355655363470735, + 1.2420146865835822 + ], + "held_grasp_object_position": [ + 0.2575046106178295, + 0.15628485143260712, + 1.2420146865835822 + ], + "held_grasp_finger_gap": 0.027426435043234002, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024611948142522294, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07539869084000368, + -0.9970500184943002, + 0.014363079061576519 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004133156150826848, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036644725031762346, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21758874918000837, + 0.1647838364146016, + 0.7611206963330565 + ], + "target_position": [ + 0.22712812570715718, + 0.1504351588838814, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017230329405072683, + "xy_threshold": 0.08, + "gripper_dist": 0.20773543748040596, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611206963330565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756452695506911, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08904648204527256, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18259980591765612, + "release_required_pad_clearance": 0.05452324102263628, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.011857236987808, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 337, + "max_placed_release_frames": 337 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa440db193c79b5f3f723244f3f0ace72fd9fb80d111928767e5cf63793d1c15", + "visual_seed": 1176345208679766057, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dbbe34697d56754f2b9611ba5f094233ca092e3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2516896022049948, + 0.14967182241478158, + 1.0457721262223638 + ], + "current_z": 1.0457721262223638, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1846654989983083, + "gripper_z": 1.051962487940756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2458904142235434, + 0.1445112321046596, + 1.051962487940756 + ], + "object_minus_gripper": [ + 0.005799187981451404, + 0.005160590310121976, + -0.006190361718392268 + ], + "object_to_gripper_xy": 0.007762877919504804, + "object_to_gripper_z": -0.006190361718392268, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2516896022049948, + 0.12459172275915127, + 1.0457721262223638 + ], + "finger_b": [ + 0.23957401401284914, + 0.14967182241478158, + 1.0457721262223638 + ], + "finger_midpoint": [ + 0.245631808108922, + 0.13713177258696643, + 1.0457721262223638 + ], + "object_minus_finger_midpoint": [ + 0.006057794096072822, + 0.012540049827815147, + 0.0 + ], + "finger_gap": 0.027853166354617695, + "fingertip_max_gap": 0.09206766773459765, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013926583177308835, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0457721262223638, + "object_top_z": 1.09600764766864, + "finger_top_clearance": 0.05023552144627619, + "fingertip_min_top_clearance": 0.01507065643388284, + "object_projection_between_fingers": 0.8107918407891315, + "object_to_finger_line_xy": 0.010909357858167351, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853383386729883, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0056797208617116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.250537601523167, + 0.14876493681494307, + 1.2404868627381171 + ], + "held_position": [ + 0.2565389461071512, + 0.15351124911930655, + 1.234136677185295 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009943262737227607, + "max_held_gripper_dist": 0.009956394066475253, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006350185552822074, + "max_held_gripper_z_dist": 0.006384007561759386, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08702911014100498, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2565389461071512, + 0.12786208850266814, + 1.234136677185295 + ], + "held_grasp_finger_b": [ + 0.24598155786531764, + 0.15351124911930655, + 1.234136677185295 + ], + "held_grasp_midpoint": [ + 0.2512602519862344, + 0.14068666881098735, + 1.234136677185295 + ], + "held_grasp_object_position": [ + 0.2565389461071512, + 0.15351124911930655, + 1.234136677185295 + ], + "held_grasp_finger_gap": 0.027736940833965825, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025214077637396942, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03906376890817267, + -0.9991160878506911, + 0.015526266667134744 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004777906274947056, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670079987684374, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21698766137397546, + 0.1502895730256497, + 0.7611065106223815 + ], + "target_position": [ + 0.2260652795804764, + 0.14608869145042738, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010002527596164858, + "xy_threshold": 0.08, + "gripper_dist": 0.20614316607729863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065106223815, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562521997070916, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873489414686366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17822663055732402, + "release_required_pad_clearance": 0.0536744707343183, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.358375449149665, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 317, + "max_placed_release_frames": 317 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69e2fc96711f77268a65b5ffc49ee24f202ef10ede36bf75ea8daa243ec48e25", + "visual_seed": 1468938992222096231, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eabb49698de6bb94530ee6de009cc8dfe66d44c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_98_success.json @@ -0,0 +1,684 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24359326508132767, + 0.14702815135170197, + 1.0505831564422337 + ], + "current_z": 1.0505831564422337, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18947670803211247, + "gripper_z": 1.0558098154434161, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23832437215214025, + 0.1420521277534538, + 1.0558098154434161 + ], + "object_minus_gripper": [ + 0.005268892929187419, + 0.004976023598248169, + -0.005226659001182465 + ], + "object_to_gripper_xy": 0.007247209362890231, + "object_to_gripper_z": -0.005226659001182465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24359326508132767, + 0.122500013877934, + 1.0505831564422337 + ], + "finger_b": [ + 0.23151283912282825, + 0.14702815135170197, + 1.0505831564422337 + ], + "finger_midpoint": [ + 0.23755305210207794, + 0.13476408261481798, + 1.0505831564422337 + ], + "object_minus_finger_midpoint": [ + 0.006040212979249726, + 0.012264068736883987, + 0.0 + ], + "finger_gap": 0.027341657215151527, + "fingertip_max_gap": 0.09023015380480026, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013670828607575769, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505831564422337, + "object_top_z": 1.100440511618747, + "finger_top_clearance": 0.04985735517651335, + "fingertip_min_top_clearance": 0.014957206552954004, + "object_projection_between_fingers": 0.8047842618127813, + "object_to_finger_line_xy": 0.010837322197410433, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761507690240013, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.07052172625784911, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.243071145678346, + 0.14611744627131049, + 1.2477453738518913 + ], + "held_position": [ + 0.24865525845375536, + 0.1506109892240737, + 1.2423901437281677 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008947219312996352, + "max_held_gripper_dist": 0.008960443157232637, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005355230123723631, + "max_held_gripper_z_dist": 0.005385788298437166, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08598810704941551, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.24865525845375536, + 0.12521533926144005, + 1.2423901437281677 + ], + "held_grasp_finger_b": [ + 0.23849758077187777, + 0.1506109892240737, + 1.2423901437281677 + ], + "held_grasp_midpoint": [ + 0.24357641961281656, + 0.13791316424275687, + 1.2423901437281677 + ], + "held_grasp_object_position": [ + 0.24865525845375536, + 0.1506109892240737, + 1.2423901437281677 + ], + "held_grasp_finger_gap": 0.027351735829989458, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024565370178526672, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07449964702373343, + -0.9971043709322481, + 0.01525372286181681 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041234291375895574, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036680821578950994, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20555299008669298, + 0.14344087955323198, + 0.7611064209135815 + ], + "target_position": [ + 0.21838373006085143, + 0.14523579377536017, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012955678498220994, + "xy_threshold": 0.08, + "gripper_dist": 0.20682647685747502, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064209135815, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755131796288585, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08842322152185884, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17821753876716337, + "release_required_pad_clearance": 0.054211610760929424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.440209454697531, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 369, + "max_placed_release_frames": 369 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e4e0730f269390b278f2852ae69f976a0bb97b58ef550b5e39858183ea0fe7bc", + "visual_seed": 9040903185417475902, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37ee3dda79386929c86267a7d5bccc91a0a9fbec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24572209552645732, + 0.1501069662532403, + 1.0488581493042246 + ], + "current_z": 1.0488581493042246, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.18775140287087977, + "gripper_z": 1.0539385118527398, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24055656752286295, + 0.14532541107769054, + 1.0539385118527398 + ], + "object_minus_gripper": [ + 0.005165528003594377, + 0.004781555175549762, + -0.005080362548515183 + ], + "object_to_gripper_xy": 0.00703888836768594, + "object_to_gripper_z": -0.005080362548515183, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24572209552645732, + 0.12543715015483015, + 1.0488581493042246 + ], + "finger_b": [ + 0.23419361654502124, + 0.1501069662532403, + 1.0488581493042246 + ], + "finger_midpoint": [ + 0.23995785603573927, + 0.1377720582040352, + 1.0488581493042246 + ], + "object_minus_finger_midpoint": [ + 0.005764239490718054, + 0.01233490804920509, + 0.0 + ], + "finger_gap": 0.027230601424771916, + "fingertip_max_gap": 0.09161506801229843, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013615300712385975, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488581493042246, + "object_top_z": 1.0995285646879793, + "finger_top_clearance": 0.05067041538375472, + "fingertip_min_top_clearance": 0.015201124615126415, + "object_projection_between_fingers": 0.820762219523795, + "object_to_finger_line_xy": 0.010444332533459529, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830753400614922, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5244943943053406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.24536485111414721, + 0.14922372842076936, + 1.2437659688459288 + ], + "held_position": [ + 0.2507461298418763, + 0.1536110876619552, + 1.238534914501321 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00869315888575432, + "max_held_gripper_dist": 0.00870684578567239, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0052310543446079105, + "max_held_gripper_z_dist": 0.005257670962302452, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595568831875737, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2507461298418763, + 0.12827972573497648, + 1.238534914501321 + ], + "held_grasp_finger_b": [ + 0.24087622185373628, + 0.1536110876619552, + 1.238534914501321 + ], + "held_grasp_midpoint": [ + 0.24581117584780626, + 0.14094540669846584, + 1.238534914501321 + ], + "held_grasp_object_position": [ + 0.2507461298418763, + 0.1536110876619552, + 1.238534914501321 + ], + "held_grasp_finger_gap": 0.027186264560802323, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024689851403699833, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05972255570561686, + -0.99794506139078, + 0.023213590539638788 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004180312408174823, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03678586823861414, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2095154260267785, + 0.1507858695439842, + 0.7611077327710462 + ], + "target_position": [ + 0.220665366849897, + 0.1459525270551239, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012152463946610436, + "xy_threshold": 0.08, + "gripper_dist": 0.20690390367269856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077327710462, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530825763256815, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09203337602087265, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18033141969985872, + "release_required_pad_clearance": 0.05601668801043633, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.274561663578396, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 353, + "max_placed_release_frames": 353 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e12e2c093fef004f2b4dc2be8d7689b6cbfc918cb1e6186f54d6005a3ba72fb6", + "visual_seed": 750358111731719391, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..09c3728bae97de039dbbe89d2bbe6bd5a6d980b0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.24801215512893057, + 0.15771628118386108, + 1.047783692451044 + ], + "current_z": 1.047783692451044, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18667718443627812, + "gripper_z": 1.052735785781213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2428355189750357, + 0.1529144677345972, + 1.052735785781213 + ], + "object_minus_gripper": [ + 0.005176636153894881, + 0.004801813449263892, + -0.004952093330168994 + ], + "object_to_gripper_xy": 0.007060805497345412, + "object_to_gripper_z": -0.004952093330168994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.24801215512893057, + 0.1330542866061388, + 1.047783692451044 + ], + "finger_b": [ + 0.23643834175927347, + 0.15771628118386108, + 1.047783692451044 + ], + "finger_midpoint": [ + 0.24222524844410204, + 0.14538528389499994, + 1.047783692451044 + ], + "object_minus_finger_midpoint": [ + 0.0057869066848285355, + 0.01233099728886114, + 0.0 + ], + "finger_gap": 0.027242744583966874, + "fingertip_max_gap": 0.09178192477416378, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013621372291983432, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047783692451044, + "object_top_z": 1.0985309498978597, + "finger_top_clearance": 0.05074725744681574, + "fingertip_min_top_clearance": 0.015224177234044754, + "object_projection_between_fingers": 0.8195107947311809, + "object_to_finger_line_xy": 0.010477406991292609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839096238708189, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5789794930403255, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2475048564378398, + 0.15718303843039394, + 1.2426274442500362 + ], + "held_position": [ + 0.25289739283251667, + 0.1616080898793676, + 1.2375383826365902 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008634759822915072, + "max_held_gripper_dist": 0.008647581753137625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005089061613446022, + "max_held_gripper_z_dist": 0.005122404781314094, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866987675558645, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.25289739283251667, + 0.13631947700106722, + 1.2375383826365902 + ], + "held_grasp_finger_b": [ + 0.2428783311270001, + 0.1616080898793676, + 1.2375383826365902 + ], + "held_grasp_midpoint": [ + 0.24788786197975837, + 0.1489637834402174, + 1.2375383826365902 + ], + "held_grasp_object_position": [ + 0.25289739283251667, + 0.1616080898793676, + 1.2375383826365902 + ], + "held_grasp_finger_gap": 0.02720102091406658, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024643435770983296, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05923960603741338, + -0.9979575060416993, + 0.02390575687075868 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004262672749616958, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036805006916304076, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.21259076582964948, + 0.15521728664034717, + 0.7611064161152102 + ], + "target_position": [ + 0.22300607558634067, + 0.1533145435516657, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010587686649563815, + "xy_threshold": 0.08, + "gripper_dist": 0.20641553119780312, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064161152102, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530636101503123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08950460393169006, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1784974236057012, + "release_required_pad_clearance": 0.05475230196584503, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.554708563814298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 344, + "max_placed_release_frames": 344 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 3987082320295684552, + "physical_seed": 1590733738191871905, + "layout_id": "layout_00010", + "step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "workflow_spec_digest": "38d8b6bbff25aa2ebbd4fb0fd18892bc9ddc45533e7e16518a5d15592c0aec0a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e36f55e4d04e707bf92a32b184ea548369af982b3afcad9aa92066700839b228", + "visual_seed": 6640256767657182484, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3913869556532046801, + 6355663699133699465, + 4530951244343176879 + ], + "runtime_workflow_digest": "bc675518836c47473711d3eeea29d0b4098798c1ced19576a6ae86e06177286f" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4029c5d8b115f5fa9f9dbbda09bf793c170dd232 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00010/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_lbk_00010", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a63a5482abf5e493c27f1ab97f04408303babaa6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7bbbe3c0b3eb1555c31899b3303bda0fc27bb7497001a7bcefcd2cda241e4dd +size 4836991 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a55690b3ff9e66b181f2d071096b81aef7e3803a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a75a2c555d35edc935bf46cf3b793d4c61084e174badccec77e0cbb5f3472da7 +size 4948547 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b02b76c152f67c5438f0c25115cea76a9fa7bb95 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23506f65ba417893ec93eca953a4bbd4180232669273b6826b48b9ff77b72dd0 +size 5012610 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f8fa62fbbb8680b587ea5fea704f4dbc5c55238f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9921c535a2acb3d5902e38f9ec2a3fb7097bb0f54996037d9692be609a84a893 +size 4024246 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea14c4be8ad16341192ace6a1b07331ba697eabb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4da8eb504514190c90e8b31386a39e2799648b87bd726679f3b7b1da7a3f63ce +size 4423077 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e328bdb3440389ec1d50ba976384dc8ec84e3e06 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4661f5c412144a3f0ba49e23d5c04cfddffda9402ccaa3d2ef357bfb46e27da +size 5233716 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..867bc33cef4a7bc6de125631fd9386c68247ece8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba8e1dc62a8f6c1d7b8dce4d1ad357c744ac447873ebb5537c81fcb0dfaf2eea +size 3984218 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a82f79beacbbd21f7a0b3ee320a654feb1b73ade --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07eb0706f27cc1a1e5c4e5ea7f67d7a090e2d74292805127ac69f7c57d12d58a +size 3891015 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e926f1a63012af8a5051147305fd281ded369f3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:819a2dfbca5753563287e96af6f542315c40e40b8affa432d43a62bf5bb92fa0 +size 4670958 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..370fb13595424581ef3a0c47e86775e102a67ade --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b57a0fd0aa607c36cdc5b36a7feae94fcff6f09a9ba9d8e8504502584d909f79 +size 5046015 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aabdf55799c79d6cf3bd2617bcee10cb22cbc5fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5db76dfc8f7feae1c0964315916f563abcd0c904c55aaeff6a2a252775c386c +size 4994296 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3ecfeacc1de4f0129c8db0f40fb47eeced12cc0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f015f8b4538027a430e2b57be1fb98805368cc8237ea6c967aa2d830da136053 +size 4473986 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c90a6dc2dda61e144075d6a2e91f297b149ba22 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf2e889c3e1875d58fe91f7d502745c0f0a8b8affbb2ad78db6dd21f6f78ba5b +size 4350089 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8b6b13c639e86ea8b3a4fe65d7e2b9ee82049bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:783ab7f9cf6dedbb2503fa686068c86dc275a9efe57fb38d6a79e14f151fad0f +size 5294222 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8916f858ad8da860929f9002ca2731fd72dfbfa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bc348247842e4d24f70a7e6ab16686a01720e8a8da46e19e8bd3d35285adec4 +size 5512671 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8601d480bf488746d3fd9148aa4404c26d8b27f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e443d307917e1e0c183fe0bd00dc55d07b47a675ab3f6d31d920f8ace0c42ef +size 4372955 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..844a84e2817c4ca464d62b9c8a0ba0857fddb3cc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8063800984e0d9caf9480eff8d39de051bc517d9ca4859b220865d574b0d51c +size 3851299 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0110def42cdc4add95da1d828ebf7c74766e280f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b50dd4b16041d49aac74f80d3a9adbe9d52b81f7efbe2f505ff2c44302ff1706 +size 5355356 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bacdc0018787a7e97ff5c8a68ccd0ec089780f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:967bf8a9bf8303b7edef16120a1e8952ab1ec36022b4d87b38f1cdd61691ce36 +size 3894743 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..06dfed6e4cbe7b73414c3e8443e8c6b5a7ed610c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb3b29e703646424e5165b3c3afe71e55d0b7567fd2293c4d0c36b0cba3d480c +size 4420272 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f88583edeaac7918300006980c0a43f57a8b88e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f859f51b966c982916729dc65cf1ce79e04f8f865495b1f06e30c7efc5a66ad1 +size 3617203 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0de139d106ce7040b027bb8cc81d32f43b8627e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056d18ab080c79d5ffe0622c51895dcc414a2e5f2242f4695c1801fdaa659a81 +size 4780100 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a1740bd5c0e607a105d441d64f8e116fbe3ce9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38ec9ed7df7f4b0e7e6c2b23e391a5d55217e31085128d098cee921f33895a75 +size 4831940 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..997090ad051986a2bff23e8c10dd8884077f81e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6768e9ca4b54e1eaa74fde55616917bfbecef57274ac867d570b9d69b0ea3d +size 6229649 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0dc4d077434e26c6dc8de69fdbf07aa18c5103f8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b68061e1c335fb97d3f19a7e926ec0d6eb2c8134ff680c1e9737dd7580f9fdfc +size 4534823 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..30474ca5b5697ecbeebb163738cea6ab2d93cf85 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:362d59429f648f670f8bceb6dbb44dc7c7c165308c1bd9e2c0df67176923710e +size 5370576 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..658b50f66b9ee0ef371db49e74346b83ae7646cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:affd7517d9aac31352dc409aaaf1dc69a95da45efadf927dd6e786ff5fa35b73 +size 4156574 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8258497208da7e22dcbe4d61c07a6c749a0e02f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e00cf3ff2c76f70e90e8be8a217446866fd9d5a6b2a6374ecdc2899d6a5ce39e +size 5462165 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..626abf44278257c43a1c946858469f4e3381f1e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5761ebcc6a239e506c420f54ed2cb298c3f27a916ef5c1920ba77404b2b00c92 +size 4268538 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a1ffbfb23950cffc4ab7316dc0f5c87ec4c863c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48051f46f890540ffe1d893f18001a78159c8bac5894bfc077383210d97ee08c +size 4788914 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f78bac2b80687eb26f7566c1b3c774dd695ee907 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd1193284a2080594a3ccc7c9278054ce3fd9b84992ecc1db8685c4a63a7bb34 +size 4390200 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4bf82d44503775d06b7c312bacba342f005a293a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a12e61b23b88cb935eb9ddd8178b405e6d761f316c8b663e56c443a09b80d50a +size 3710470 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d108d8ebc44e38df27da2336122b3a2cecb4882d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6003e4d191f44d6aae95d1d38148a5dd412af4ac701f5e766836dea11c745645 +size 4523796 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39dbb769d9df4101b02c90b0dc1009aeb821c2e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfb539a483ab9a46c10e623429171af220438fbceab73c9f8a1f8ff43e8845af +size 4073920 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9aee1971925f5e3326b4a2eabca15203430306f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c7029823c44e07bc9567e82da338f02b20592bdbc265f4ce9c3ce7c0f3b9e6c +size 6937780 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..738a1cb52c808e601e1c2126169ee878ac18651b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e81b325f75977c0568ae3305480ae1dd5d45458b557112f8ea1831a0a0077700 +size 4137230 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd357524d713fe57fe9faeafb1a6f7fbe0559bf7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3a4c11c8b1639139349e08278830ac16bcd9e53deb2d544a94b3dec2835baa0 +size 5951621 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..959a5527caef640dcdda21c3ba91438715a8602f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f5a86f21d1557e0b8ea0b107ffa3b4402de99ecedf4df3babf06b25fa29e163 +size 3894721 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0bbdeb9e9db2a6e9751cf3ed92a70fb77aeacc6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955f90dfc2cb371e21815080a6427c6adabbcb12836b16c0be3222acdd481834 +size 5127964 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d97a4d4f32db4c2c896866d7a1d820ea8259b668 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3432da63a1b1c91bf139ca7535ec1c589a311dd93427ab7c0ecaed9913beb5bb +size 5951946 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6f1b70c28cf92767d9a00dac76e54bda09ba768 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86c1b70ed79f9e1d1a9833fc57785a8a4eb620edace3ad85aedfb2da2dd142cf +size 4655464 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3b807ac00493db60cf19a2ef2710a3094ccb0d42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a3db5a74e3697a2f11238812f3dc33849513786dd18fbb2127609bea9df9a67 +size 5425536 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0e6f570b96c56c05e94aef02b1d696e8340aeb0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62ca3b56a074a88c5db027df1921a623df8cf21431292c73241024f22653e959 +size 4538342 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8afe60518de1d0362014e00b172c660ae6e1d6ad --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9699176114774a869ad4f1289b16f057bc705a59d1fe77351e34ab33064158a +size 5057356 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4567322bc42b72ba005df44067f62776a62c48a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf1921784b0c8c9016f015e2a07f31df5cf9ffcb910e231e7849e03622bd74ed +size 4935011 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b24886b9cbb65b1013d0cf9b4cf0583b0d847fce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9252cf03ec0f39b8c626ce6f9fa5937d0a2929ae1c094677590bce6a3015c03 +size 4584858 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9959f4f038a0f3507031deb8b1937b8c6b1209ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f38fdf3f2f2189f81fdd98c0a0e58b1b14daea7e073715fe42f8ccd62842f287 +size 4492967 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a179815abef2755b56fda5ea3b75f4eed3214e39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc2be1584ee0e530ee1b5a2e163cdd4e4b36c6542024a38b8bc07b16c2ad7a83 +size 3768686 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..97300c02b85aa7402a59ffbb4aa46a2ab3c7054e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6a53aa15dd67fb7f4fa00512005652acc4c413ec64c5f9cb2643dfb42ef3388 +size 4965241 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41bdab529ffaf14305a01950985d7da8c29979a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fea30a8f859073a18bdf30a339de4bc0a0d14820aeda351aa433428f82dd8fe6 +size 5750982 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0a8d322c87f2df2dcd7f11080bea835e3f78fe17 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0df4a0d215f3d39d084d052004ef2212ea692c94f2cfac65f209ee48807ccb5 +size 4027948 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8501f80349493c121a70f17234e660b398dbefc2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4a430f483e214676f8c36a85c4e0c39624511039e0e5b0e1532eacc28403bc8 +size 3831728 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1569c7769f93fefe1e1d2d35798e1bb0b2b47e2b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d03f24cbc481975d118d0fa11eb2253e632278ea512d7540858d229ef93f1af4 +size 5094574 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..521cdcf03ef3c76ecf9f5718314ebd224d778174 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a0d241e8349762b1f5a8336e2fbfd9299be8a98e305888438f6d77b96faf8ad +size 4367297 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe2f6d25b311295ff29d4b01c780d763281b446b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2680a8890a9b4cfed350e0ae160da65a11fdd0faf0e1849a51fe8349463f90d +size 4972141 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..326f32da0484b58b4c35fd09d5e1d3b8ed0c3af0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fbf00e1c69e3a2d6b925a727fba89b5710f6d1c207fa38397db219439260ae4 +size 3925758 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0281c9cf82873eaeec45928745dd20e6823846a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c47eb9250d9e79976e9417e816b91c691c1d99e086fcc0e92102f74ac60122e +size 4501406 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc4d25f6ebd6171162e393a6cc2e1c3fb0846b26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:922ba614fcb7385967247628fb23b82445af2f3ddfa3f65f8ec31ff6c56cdff8 +size 5344869 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8311e1b853ba3d741ad266d9d149db67bc9ef366 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:681c0739abda2e3a468f275e85dd03b660a39f0850e2b4c048c5386692f2ec17 +size 5645864 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27ec2bb26837ca8e622208bd176cffa90d488e9a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b70186a77f60651ee4a00f922856c027a9412c92275e0a5b9761c618bffc2ceb +size 4178918 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae7eb8e33e9cabf7a15b7a96c3a0dbc4d143d99e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b45075722656d77789fd48aefb6571c307286e423fe3beb8f329ed6f5deec110 +size 4577980 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19034f40a495dcd88b914a5e0a5fc05ff9a25da9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc8ec51dee84ca9a232742bd112c8c61bf85f7ffe86e7ce26b6c232f32636668 +size 5022432 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38481a9bcfa01d9c6b151ad5a2216f643bee729b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6afd10f190b40b1befb632537014c5e08ebe65caac3db097ed114b9ee69251b9 +size 4226516 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ac6a2e205cd12dad738b5bcb077fef388bf3876 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9ca88b6b8f0b9c7c4d18e8bdcdaf1a579aad17a8dc181a4596207c5657c9d67 +size 4763778 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c743eec27553edaee1452e5922a1dc7c3c4f372f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4fa2e6c23d1531f000f5fd7927c5335f01d475670a0c0c06baf8d3bde99128 +size 4033003 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85852f367abae9042d7eeec6a2c56d449b5194ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96e0947432cb047b9292b3b8d87a41708af1201ca2502713747d11c723fab543 +size 4556188 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bc9f615c44301ec794498646f6431df95424db2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea96ac2d8256bd4191fc6658ef211c090ab310b41b4c132156aa7173c14876ec +size 4665335 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5033012b65f68b08d4a01d5dfa584088754c7d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f759a1618ffc9c8129d5c866ff75470c42632772ab51f3ea5558dbeb2cf8b95e +size 6049169 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07eda584554526b7899656ac1a3c0957c1674493 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be2b4c9f771aa4fb6e89720ad0c9c0881367e88bb0e1b8b212b0e600049aadf3 +size 4210705 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1280b2c459c55c079827f6d75394d483af1671c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b98c84d28f8f7f4ad1e7e7374500c271b92902bc9ab3c4036b70f7aff0ef3dd1 +size 3422540 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0115.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0115.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e3e52a238baad1b1b04bffd6c63412a369cad08e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0115.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc4e2183b911cd6fa918b13e727b0df0a0d431d3189b735605d81a5cbd69768a +size 5020582 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ccb7ff321de340a8dea7b12f8436ba8e984fb71a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b51ef8aa32bfe44e8c7cdabd46c3fcbe826d5c9172f11269180d9e5ef3ad3d35 +size 4323187 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cccc3de67ed0457f34336bc7393e01011020e159 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9e68217d16b4f3f7ada55acdf7e11bc838b29d9109d8578c4f3dc90b4d0e7e3 +size 4033152 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d541e0a96cf576c5cdc57f60ea5dc4d70c03b851 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b47e4263af8abc387097df830b78c36cd9bd38de87041fa157432db6ba5c2d5d +size 6082246 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0120.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f254a7646dfdf403164c0b681cab59d76cd2044d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6694ae89b1bc98abcc83143b0bcd4696e7fd5d87c33a2c57dc7f03b298a6ecd +size 4189645 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0122.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90d880458330c4acb9a384a28aba87e6a76978a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0122.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaebd6909584d064b148ce305038788e48b37b540646bb7b2471e7b3db6b078f +size 6163355 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0126.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0126.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f052a8da486dfbcae5758e5b8d15c966953a17ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0126.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:266d4d931cfc44248630628b6ad13ad46975962f0486f8ed067b516478b3cfe0 +size 4486522 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0127.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0127.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74b019dd64014c624d21c6279ffc3350b9caaf7f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0127.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1b623a6a5a8d1fdc207815a075ae29e1e4e273cad0069b24c4dd11d4850a5ef +size 5231709 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0130.h5 new file mode 100644 index 0000000000000000000000000000000000000000..261f4c2980b1f10e11a9d49a596948469bb3a35d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0130.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d8269acce279437770f71fc193b03124ba0194ce78ca3d028630ad4282d8915 +size 4507340 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0131.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0131.h5 new file mode 100644 index 0000000000000000000000000000000000000000..935c492264a932bf7761cada1ed54d8ee1dd32be --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0131.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49ac1e56615eb9fb557ac7b296c586f12d75952fd79ec3d56987ac1c7da65c69 +size 4718321 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0134.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0134.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b280102686b46bf54e4faf239eab8dd25c04b286 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0134.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf7748d88a3c68d9557b7cf8844269a8042625e574dd69db4054278c6a40f928 +size 5134347 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0135.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0135.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7736d33379648bd87f132c0395cfeffe18c5f96f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0135.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cca7d9674e3d34ca9e823c436b4fbb67917cb58c208749022e4d1892681b7ebb +size 6118863 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0137.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0137.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9ed3c8c1cb864eb8555e6d470da36875917b3bda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0137.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b3dd78f8487a93a50321b2828ea70fe5d2907b934201048e691f3f6ecf8bed6 +size 6266270 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0139.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0139.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2db3c177208dbf2bda8116702ae3040455dc1154 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0139.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:160e301e8d9a20e9f56f6e3d6fae70d12377ca91792e32ad6dc714083c852b33 +size 4396833 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0140.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0140.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f9135deef253a76f068973440bd9939cb37b1a4e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0140.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4054069181314bce858a4dc2ecd0563ca65b0cead30ad22e240baaeed08ecd43 +size 5505376 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0145.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0145.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a456006ba2984b2aabe753bce5b93575f6be6d2c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0145.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e8bdac07301bb60931d2b29b2bd608700101cfb40758f1a0b8b53525c646b7f +size 4619522 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0146.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0146.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4009774b21f81e71c66077cd252fdb7a4760bf98 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0146.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8d82a90fc4b4cfcee1c5464499957707a8549c3e481f7b0424bb4175dd1dd9 +size 6252687 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0147.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0147.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d85709ee8ff7cc89d2ec4cb9e562bff84a0e32a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0147.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af178ec0c0aeb996a79ed76cfe752fbd97f4d930d691e1ea380d4b85ec108742 +size 4045312 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0149.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0149.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d55a0add01bf6635fe22a42e7b316f4dc640cac0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0149.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89e3c8d9a3145174bd051655d2b5d01388907040982948c3eb76000b056a18c8 +size 4253808 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0151.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0151.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ea925a745a2aa25c019d4200b32ad2fe7f0d32c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0151.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0d0ef829230533ee35a37daa3e97660a3371e3b9a142bdf446933c4957ad396 +size 4043854 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0152.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0152.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e74c107810f6e296f37ac4804497ee6c9e927268 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0152.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b89a1232979e779b3f02bb70387e0fcff1e2a81c083cdc661f65d5399eccfb00 +size 4759869 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0153.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a87759c27319d5d6db03c96350d159737bb6f25 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0153.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37aefbb9051bec7d54434168dad783d06b4768b2da260fa43ef48af55c987526 +size 5499622 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0154.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0154.h5 new file mode 100644 index 0000000000000000000000000000000000000000..614d585df96bafd2f08d7e37d1c48b99bdf6308c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0154.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:381f95050235b3198f214cf713ff8e9ce5b6e720d079189d62c3d311972ff05c +size 5278688 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0155.h5 new file mode 100644 index 0000000000000000000000000000000000000000..772640067a1c4c39204a9b90b5ca7851197df7f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0155.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd78afa7972a2ff577248d06295ef1e72c0b82fcfc0bcbb88d5d6868815d95ea +size 6634440 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0157.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0157.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9df1fd8b3c1adc7b1163f5b7463d4c7befa4092e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0157.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff1b42ed130234e49dc08a01cc2da91e0f4f559534c95725a91e42159cb4cf26 +size 4925676 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0159.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0159.h5 new file mode 100644 index 0000000000000000000000000000000000000000..97031c75c73e8fc11fc1eaaead9b172089019155 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0159.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48d9d33f9b9d26824965f651e0d3e3451ed9be249b4830e6ca5c1ded2fae117b +size 4893390 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0160.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0160.h5 new file mode 100644 index 0000000000000000000000000000000000000000..48809b99da5aedf748c15c0ce8fde0f8496a4997 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0160.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54f09aed9dce1f973b098f52906f16617b39812c771c3315658df8a372cf1392 +size 4532993 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0161.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0161.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba313e1d81fa7df7e2b6e6b1e27fc8ac3c115183 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0161.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f6336662ea066df2321991868fe56fe93a36f884784add2b573f30c80e4806 +size 4965916 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0164.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0164.h5 new file mode 100644 index 0000000000000000000000000000000000000000..422ec9e0008b9140b22bc2267f8570c9920ee066 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0164.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff153f116d1b58ead598df1a318040f861d8db8c05d49abe97ceda5f3a900d89 +size 4194965 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0167.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0167.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60205507063101f13c8ad369a0806e1ab0d11b60 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0167.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:915eeb3a438564235e9042456248f4b48a4087859b0743bde15462f3ebe35f23 +size 4330378 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5029d13a5acd137c181cf96142bb6348f5e6c38 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":807,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":824,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":808,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":808,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":806,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":810,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":808,"success":true,"robot_type":"ur5e"} +{"episode_index":122,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":127,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":130,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":131,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":134,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":135,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":137,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":139,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":140,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":822,"success":true,"robot_type":"ur5e"} +{"episode_index":145,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":146,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":147,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":149,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":151,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":152,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":153,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":154,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":155,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":157,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":159,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":160,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":161,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} +{"episode_index":164,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":167,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":823,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aecf51c9939a04bc4761b1aa3712946f7751c021 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-02T21:57:26","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.5148678990038453,-0.7582052700608279,0.71338606911949],"aabb_xy":[[0.4647704350227717,-0.8222052705706397],[0.564965362984919,-0.6942052695510161]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.4003639109128315,-1.3160120131498276,0.71338606911949],"aabb_xy":[[-0.45536391053457737,-1.3709957059373001],[-0.3453639112910857,-1.2610283203623547]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.6328920200090313,-0.29869390007283414,0.71338606911949],"aabb_xy":[[0.5828920213631101,-0.3486134437322965],[0.6828920186549525,-0.24877435641337176]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.037609838871804246,0.8938102969169215,0.71338606911949],"aabb_xy":[[-0.03239016273047523,0.8803775037152639],[0.10760984047408373,0.9072430901185791]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.12569307618402425,-2.324758255608896,0.71338606911949],"aabb_xy":[[-0.13012370553886443,-2.3302066273435784],[-0.12126244682918408,-2.3193098838742134]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.5623978496885478,-1.925905436812688,0.71338606911949],"aabb_xy":[[0.5398978494450324,-1.93811007147246],[0.5848978499320632,-1.913700802152916]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.2097319210491298,-0.21741042489329487,0.71338606911949],"aabb_xy":[[-0.2547319225153587,-0.2624102817547756],[-0.16473191958290095,-0.17241056803181423]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.6766923047170242,-1.8960749228589746,0.71338606911949],"aabb_xy":[[-0.6918551776939614,-1.9112403801540938],[-0.6615294317400873,-1.8809094655638563]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.5779756192581722,0.47553837901556095,0.71338606911949],"aabb_xy":[[-0.615475619363765,0.4687162171625798],[-0.5404756191525791,0.482360540868542]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.40192341613333515,1.1958659155234082,0.71338606911949],"aabb_xy":[[0.3963417444992063,1.1833659157056324],[0.4075050877674638,1.2083659153411834]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.5640916855820193,1.7251596528244941,0.71338606911949],"aabb_xy":[[0.5255459927568182,1.6866138817683054],[0.6026373784072203,1.7637054238806829]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.06145608160262439,0.26167669593987863,0.71338606911949],"aabb_xy":[[-0.08596970569963025,0.23741210263784218],[-0.03694245750561854,0.2859412892419151]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.4272200261760674,-0.5356066040985143,0.71338606911949],"aabb_xy":[[-0.4596817270579948,-0.5657394362134168],[-0.3947583252941399,-0.5054737719836117]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.3861842030518004,1.072005377625822,0.71338606911949],"aabb_xy":[[-0.4229788361767067,1.0350995025292398],[-0.34938956992689413,1.1089112527224043]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.6054032602990349,-1.0884361944715588,0.71338606911949],"aabb_xy":[[0.5879725452200283,-1.1057083091354094],[0.6228339753780413,-1.0711640798077078]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.22254425181639803,-1.7785725587701937,0.71338606911949],"aabb_xy":[[0.2176449595098345,-1.806249478072762],[0.2274435441229615,-1.7508956394676245]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.07060850942721708,-1.952427369010294,0.71338606911949],"aabb_xy":[[-0.13460850968768787,-1.997436168363222],[-0.006608509166746267,-1.907418569657366]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.6500865055746703,0.306791478472773,0.71338606911949],"aabb_xy":[[0.6406690310048075,0.29737530133505397],[0.659503980144533,0.316207655610492]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.6743842933966557,1.5165299067614337,0.71338606911949],"aabb_xy":[[0.667342842445908,1.5095031550236393],[0.6814257443474032,1.5235566584992282]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.19191050287585676,1.3536013854502187,0.71338606911949],"aabb_xy":[[-0.19675409763708673,1.3487497329712348],[-0.18706690811462678,1.358453037929203]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.4409170931033819,0.2582968610529721,0.71338606911949],"aabb_xy":[[0.4034170932863482,0.2536586497418303],[0.47841709292041534,0.26293507236411395]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.47097578959246067,0.6525224675951229,0.71338606911949],"aabb_xy":[[-0.49347221102632477,0.6300224677883755],[-0.44847936815859657,0.6750224674018703]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[0.37577768877436735,0.826952563303986,0.71338606911949],"aabb_xy":[[0.32579473858688796,0.7769525636614255],[0.4257606389618466,0.8769525629465463]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.6343732568036743,-0.738170800733899,0.71338606911949],"aabb_xy":[[-0.6693732559964926,-0.7491378467315615],[-0.599373257610856,-0.7272037547362362]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.283290784327044,-2.264874173153184,0.71338606911949],"aabb_xy":[[0.22329078407564285,-2.3191554981896485],[0.3432907845784452,-2.2105928481167187]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.06467235661374326,1.3535997416148868,0.71338606911949],"aabb_xy":[[-0.07475406369231673,1.2735997437227722],[-0.054590649535169775,1.4335997395070015]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[-0.5573975829597911,1.0894546634481501,0.71338606911949],"aabb_xy":[[-0.5908767502208321,1.0559755500770434],[-0.5239184156987502,1.1229337768192573]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[-0.14254999160837556,-0.9645953852603766,0.71338606911949],"aabb_xy":[[-0.2125499949999375,-0.9999111589638074],[-0.07254998821681356,-0.9292796115569457]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[0.40005276441222914,-1.4379830592814646,0.71338606911949],"aabb_xy":[[0.35880395338231436,-1.4929830587936819],[0.4413015754421438,-1.382983059769247]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.4997861429678483,-1.1987439157133188,0.71338606911949],"aabb_xy":[[0.46478614307182947,-1.207118151225259],[0.5347861428638672,-1.1903696802013788]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[-0.12994156039798255,0.5368111564192062,0.71338606911949],"aabb_xy":[[-0.13720280796839,0.5240241461556967],[-0.12268031282757516,0.5495981666827157]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_31","position":[0.43660253503625457,1.5315965856650204,0.71338606911949],"aabb_xy":[[0.372602537750606,1.4900898667121765],[0.5006025323219032,1.5731033046178644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860945070895371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5427.png","name":"5427"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4081.png","name":"4081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3258.png","name":"3258"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":594.2523421188572,"rotation_z_degrees":228.40665919710636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0047258994655559414,-0.00468705950074122,0.005845700053580347]},{"name":"camera_2","offset_m":[-0.007791864469298235,0.009043912355865956,-0.017325736585370306]},{"name":"camera_3","offset_m":[-0.010627425652982555,-0.01808857823894703,0.004588137623702516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001356803995073987,6.428616066064255e-05,0.0017202910019354033],"end_effector_yaw_offset_degrees":0.41781568986253936},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00048161597403455865,0.00026700092367095167,0.0001269084903222314],"end_effector_yaw_offset_degrees":-0.626507922293351},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005192546622294803,-0.0011840564759917442,-0.0012537944595085637],"end_effector_yaw_offset_degrees":-0.4587646601334572}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003897067786272788,0.0015224949565099122],"position_m":[0.2886029322137272,0.09072249495650991,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004161525067662072,-0.002537411314534701],"position_m":[0.13373847493233793,0.25366258868546526,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019809676047310145,0.001973725248361218],"position_m":[0.345919032395269,0.3022737252483612,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007819429848746739,0.0028206005041128994],"position_m":[0.22551805701512534,-0.4023793994958871,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"944e0eac404e558f41c588911c6cf436da9fd299e2ec859bdcfc4999f3c2a03c","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6896/tex_ceiling_textures_3258/tex_floor_textures_4081/tex_table_textures_2317/tex_wall_textures_5427","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5415377452721373539,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5415377452721373539,"visual_seed":5415377452721373539,"scene_id":"lab_003","finished_at":"2026-09-02T22:00:05"} +{"episode_id":"ep_000001","started_at":"2026-09-02T22:01:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.06998468879195141,1.7523547286462695,0.71338606911949],"aabb_xy":[[0.032484687607158606,1.7479365059502088],[0.1074846899767442,1.7567729513423298]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.3572401238168543,0.5545545975565735,0.71338606911949],"aabb_xy":[[-0.3922401221275498,0.5468395826330278],[-0.3222401255061589,0.5622696124801191]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.17612544247945594,-1.690629199432634,0.71338606911949],"aabb_xy":[[-0.22610839266693525,-1.740629199075194],[-0.12614249229197658,-1.6406291997900733]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.29419680265497217,-1.3638596769915032,0.71338606911949],"aabb_xy":[[0.2790339296780352,-1.379025134286622],[0.30935967563190936,-1.3486942196963845]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.378818679484773,1.1531150381909345,0.71338606911949],"aabb_xy":[[0.35892763960443275,1.140459226906238],[0.3987097193651133,1.1657708494756316]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.19718172464109063,-2.374082183270635,0.71338606911949],"aabb_xy":[[-0.2571817244876574,-2.430900805463674],[-0.1371817247945238,-2.3172635610775965]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.3872578613474167,-1.0324973403122264,0.71338606911949],"aabb_xy":[[0.323257860969883,-1.0822426071630384],[0.45125786172495025,-0.9827520734614139]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[-0.5858379777697288,-0.9813920154982565,0.71338606911949],"aabb_xy":[[-0.5989892237410182,-1.006392015254943],[-0.5726867317984394,-0.9563920157415701]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[0.4554180368227525,1.6263062388926826,0.71338606911949],"aabb_xy":[[0.4441729812521347,1.615064441168587],[0.4666630923933704,1.6375480366167776]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.4216893580956843,-2.2280331832182343,0.71338606911949],"aabb_xy":[[-0.4276558970364201,-2.2339943278775984],[-0.4157228191549485,-2.22207203855887]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.35648023741889023,0.6161042104812111,0.71338606911949],"aabb_xy":[[0.34491125667195366,0.5911042103642794],[0.3680492181658268,0.6411042105981428]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.27438666456280786,0.48172760809918147,0.71338606911949],"aabb_xy":[[-0.3543866617223831,0.4701800071413644],[-0.19438666740323252,0.49327520905699845]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.5779126215898638,-0.21685282184642984,0.71338606911949],"aabb_xy":[[-0.5913591482239071,-0.2303226734995211],[-0.5644660949558205,-0.20338297019333865]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.25120460251710086,1.4839524139473022,0.71338606911949],"aabb_xy":[[-0.2731132846564519,1.4620517471272112],[-0.22929592037774982,1.5058530807673927]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.4075956385432376,1.338458882593101,0.71338606911949],"aabb_xy":[[-0.4112988998723764,1.334756864284383],[-0.4038923772140987,1.3421609009018185]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.06168404442850006,0.9132120854960668,0.71338606911949],"aabb_xy":[[0.024184043931141826,0.9092434019479484],[0.0991840449258583,0.9171807690441852]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.44363133644632874,-2.288768467210005,0.71338606911949],"aabb_xy":[[-0.471961046394869,-2.293229209403722],[-0.41530162649778857,-2.284307725016288]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.01249753101366935,-0.8011272593290728,0.71338606911949],"aabb_xy":[[-0.016458014783403724,-0.8087951239145935],[-0.008537047243934975,-0.7934593947435523]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.1450624290856115,-0.11504689019350511,0.71338606911949],"aabb_xy":[[-0.15768921637280786,-0.124592963895078],[-0.13243564179841516,-0.1055008164919322]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.6079553522574693,-0.5518661363378854,0.71338606911949],"aabb_xy":[[-0.6160830404507825,-0.560779744748593],[-0.5998276640641561,-0.5429525279271777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911381042887434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8163.png","name":"8163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4260.png","name":"4260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1405.png","name":"1405"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":779.0328479659879,"rotation_z_degrees":268.0248915789892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0048140159194372464,0.008210048152555594,0.0075770038877967134]},{"name":"camera_2","offset_m":[0.014638367813790982,0.0187526150081895,0.002509197001068428]},{"name":"camera_3","offset_m":[-0.008320219589932178,-0.00358880170516291,-0.014183633462795067]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000106280263703677,0.0004963724257141329,-0.001792341791802357],"end_effector_yaw_offset_degrees":0.09510338854586853},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001630478457123293,-0.0016885840018195358,0.000845747345438211],"end_effector_yaw_offset_degrees":-0.7757038634404074},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010237708156823526,-6.301942536357562e-05,-0.0018070119727026431],"end_effector_yaw_offset_degrees":0.15297541295935724}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001921729478983618,0.0007524832114463474],"position_m":[0.2944217294789836,0.08995248321144635,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004290437318187754,0.0009971398146391584],"position_m":[0.13360956268181223,0.25719713981463915,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002173578458365557,0.004955013377896334],"position_m":[0.35007357845836556,0.30525501337789634,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015726369720114796,-0.00245019847053615],"position_m":[0.2247273630279885,-0.40765019847053613,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd0e3ff06c1ecebe53f92f321bb33af374d2270d498aa62cb36c33f38f4894db","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5449/tex_ceiling_textures_1405/tex_floor_textures_4260/tex_table_textures_4230/tex_wall_textures_8163","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5959579694328259397,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5959579694328259397,"visual_seed":5959579694328259397,"scene_id":"lab_003","finished_at":"2026-09-02T22:04:15"} +{"episode_id":"ep_000002","started_at":"2026-09-02T22:07:36","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[0.4330827839036646,1.4629656394325692,0.71338606911949],"aabb_xy":[[0.4105836481774377,1.4404656386543064],[0.45558191962989164,1.4854656402108324]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.18573934218189037,-0.6477353390374048,0.71338606911949],"aabb_xy":[[-0.22020168958003214,-0.6822292214352274],[-0.15127699478374854,-0.613241456639582]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.49114715220446414,0.2843560361764279,0.71338606911949],"aabb_xy":[[-0.5063193214860975,0.2691871792482245],[-0.47597498292283075,0.2995248931046312]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.35319271450028134,-1.5765871563036151,0.71338606911949],"aabb_xy":[[0.34384570691798605,-1.5908907785212592],[0.3625397220825765,-1.562283534085971]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.24375065540548224,-0.17317455341703525,0.71338606911949],"aabb_xy":[[-0.2612505888394656,-0.1906745533372698],[-0.22625072197149887,-0.1556745534968007]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.1640683569904965,0.5755425547754496,0.71338606911949],"aabb_xy":[[-0.1759404400019976,0.4905425550817991],[-0.15219627397899538,0.6605425544690998]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.6147497187547657,-2.0568485768967983,0.71338606911949],"aabb_xy":[[0.5772497188109993,-2.0651416669316345],[0.6522497186985321,-2.0485554868619613]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[-0.5525681610880271,0.4488932934200025,0.71338606911949],"aabb_xy":[[-0.5579006757426401,0.44356896517476685],[-0.547235646433414,0.45421762166523805]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.648627106616656,-0.07177555543357084,0.71338606911949],"aabb_xy":[[-0.6525409798120785,-0.0805245708401276],[-0.6447132334212335,-0.06302654002701408]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.028896172878708604,-1.666197510078809,0.71338606911949],"aabb_xy":[[-0.03973665110522351,-1.6833837913694576],[-0.018055694652193695,-1.6490112287881602]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.23029786751048698,-2.1014559161837694,0.71338606911949],"aabb_xy":[[-0.24546074048742408,-2.1166213734788886],[-0.21513499453354992,-2.086290458888651]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.5726788387588664,-2.571954446074029,0.71338606911949],"aabb_xy":[[0.5476788392071278,-2.582096929939164],[0.5976788383106048,-2.5618119622088944]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.6414009999663062,-1.6678647076677522,0.71338606911949],"aabb_xy":[[0.598634293086886,-1.7318647110895546],[0.6841677068457264,-1.6038647042459497]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.046149704283842796,1.3819718242278793,0.71338606911949],"aabb_xy":[[-0.09612712114909637,1.3319718227386306],[0.003827712581410791,1.4319718257171277]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.48646236888382033,-0.34850907071784487,0.71338606911949],"aabb_xy":[[0.3964623665498012,-0.4259914253029575],[0.5764623712178394,-0.2710267161327322]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.03112371370107414,1.1317033456988934,0.71338606911949],"aabb_xy":[[-0.11612371211849737,1.0468290502366084],[0.05387628471634909,1.2165776411611784]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.5582084249270869,-0.14129092135329113,0.71338606911949],"aabb_xy":[[0.5501650650011317,-0.22629092244865756],[0.5662517848530421,-0.056290920257924704]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.3670376177484621,-0.4925328877836166,0.71338606911949],"aabb_xy":[[-0.431037618008933,-0.5375416871365446],[-0.30303761748799135,-0.4475240884306886]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.3452323228481494,-2.197598876085207,0.71338606911949],"aabb_xy":[[-0.3532585934787754,-2.2063503710625603],[-0.3372060522175234,-2.188847381107855]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.07528762001479794,-2.010629305115186,0.71338606911949],"aabb_xy":[[-0.1552876174183913,-2.090621876313368],[0.004712377388795499,-1.9306367339170027]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.13255795874862375,1.5032537795855005,0.71338606911949],"aabb_xy":[[0.10755795947666145,1.4869084159893382],[0.157557958020586,1.519599143181663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.4483754872057031,-2.009728661366991,0.71338606911949],"aabb_xy":[[0.42315465034586336,-2.034952412219877],[0.4735963240655427,-1.984504910514104]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.4568152446840538,-2.5016882105374765,0.71338606911949],"aabb_xy":[[-0.5067883102165694,-2.5516882103500094],[-0.4068421791515385,-2.4516882107249436]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[-0.3631481585150411,0.16295373076842923,0.71338606911949],"aabb_xy":[[-0.4131429914429827,0.11295373187318569],[-0.3131533255870995,0.21295372966367276]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.609316832712482,-0.425620095923938,0.71338606911949],"aabb_xy":[[-0.6468168312881027,-0.43835639158749595],[-0.5718168341368611,-0.4128838002603801]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[-0.34159129763225066,1.0446461990386728,0.71338606911949],"aabb_xy":[[-0.3719894087313942,1.014239297037003],[-0.311193186533107,1.0750531010403421]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.06982148189409954,-1.4701688735716494,0.71338606911949],"aabb_xy":[[-0.09232148190424783,-1.4842650932112527],[-0.047321481883951244,-1.456072653932046]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[0.6505942907537763,-0.7920057538147129,0.71338606911949],"aabb_xy":[[0.6330942905087268,-0.8095055416542798],[0.6680942909988256,-0.7745059659751461]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[0.33116102562541716,-1.1899542218877348,0.71338606911949],"aabb_xy":[[0.3202552495378544,-1.269954218286564],[0.3420668017129798,-1.1099542254889057]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[-0.5707546205214478,1.191312171331257,0.71338606911949],"aabb_xy":[[-0.6257478318585845,1.1363121709924635],[-0.515761409184311,1.2463121716700507]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[0.4594355194454669,0.3435390124571218,0.71338606911949],"aabb_xy":[[0.418417576059096,0.2935390118261645],[0.5004534628318378,0.39353901308807915]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[-0.3016191848604659,-0.8100594357768522,0.71338606911949],"aabb_xy":[[-0.3050598611005231,-0.8139208687512167],[-0.29817850862040873,-0.8061980028024878]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_32","position":[-0.013225961926084384,-1.7956310383404497,0.71338606911949],"aabb_xy":[[-0.02637720789737375,-1.8206310380971364],[-7.471595479502208e-05,-1.7706310385837634]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_33","position":[0.29271063290058463,-1.6977878962429198,0.71338606911949],"aabb_xy":[[0.2127106296365715,-1.7113479285518332],[0.37271063616459776,-1.6842278639340065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6871482900470338,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6501.png","name":"6501"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6501.png","name":"6501"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7412.png","name":"7412"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7910.png","name":"7910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4764.png","name":"4764"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":609.2583405398617,"rotation_z_degrees":35.67732763689181,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0053457026684244,0.019220336639523616,0.013632667824752528]},{"name":"camera_2","offset_m":[-0.014511411313189955,0.002698611554881176,0.015750072953224992]},{"name":"camera_3","offset_m":[-0.003054704681740388,0.00235235240340231,-0.0013065193668454142]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008574627817344313,-0.0015594541760023768,0.0012212170208647502],"end_effector_yaw_offset_degrees":0.1655676854803556},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011627196334911263,-0.0005998033581357772,0.0018841818408376872],"end_effector_yaw_offset_degrees":-0.3013567481585586},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001665755441231855,-0.0019348344819016528,-0.0016161482293574846],"end_effector_yaw_offset_degrees":-0.9819714811646378}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00462390934471208,0.0038998593669761225],"position_m":[0.29712390934471206,0.09309985936697612,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003024323852798395,0.0024591651765107636],"position_m":[0.1348756761472016,0.2586591651765108,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015906240123373782,-0.0029716865440823272],"position_m":[0.3494906240123374,0.2973283134559177,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004005873432317141,0.003594504699490576],"position_m":[0.23030587343231715,-0.40160549530050943,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a4ae90eef99f1952f9e1f6393866121028ad9ab6b553a9ac7851d5386f645efc","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6501/tex_ceiling_textures_6233/tex_floor_textures_4764/tex_table_textures_7412/tex_wall_textures_7910","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2180098282566272414,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2180098282566272414,"visual_seed":2180098282566272414,"scene_id":"lab_003","finished_at":"2026-09-02T22:10:42"} +{"episode_id":"ep_000003","started_at":"2026-09-02T22:10:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.09210588048978241,0.14655979826727927,0.71338606911949],"aabb_xy":[[-0.09622183060185506,0.14244424323443375],[-0.08798993037770973,0.15067535330012474]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.5789090004048159,1.4526760094180236,0.71338606911949],"aabb_xy":[[0.5139089994043153,1.4018896442633484],[0.6439090014053164,1.5034623745726983]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.1257619268301271,1.3774593282203131,0.71338606911949],"aabb_xy":[[0.08843065030488448,1.3428062734254609],[0.16309320335536973,1.4121123830151654]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.2338454043321182,-0.7010710433084193,0.71338606911949],"aabb_xy":[[0.16984540516234822,-0.7478377304273817],[0.2978454035018881,-0.6543043561894567]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.40558869795263974,-1.4864635042036538,0.71338606911949],"aabb_xy":[[0.38309227651877564,-1.5089635040104012],[0.42808511938650384,-1.4639635043969064]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.5813248038332091,1.2222082081322694,0.71338606911949],"aabb_xy":[[-0.6313077540206883,1.1722082084897087],[-0.5313418536457296,1.2722082077748296]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.4269220480366335,-1.3010021486813181,0.71338606911949],"aabb_xy":[[-0.45806896688021653,-1.3710021473681253],[-0.3957751291930503,-1.231002149994511]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.5652643765991316,-0.4754642094431123,0.71338606911949],"aabb_xy":[[0.50126437425633,-0.5204050606872448],[0.6292643789419331,-0.4305233581989798]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.5735394590136158,0.522068774015267,0.71338606911949],"aabb_xy":[[0.5095394586360822,0.4723235071644547],[0.6375394593911494,0.5718140408660792]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.6118013430443989,-0.6897262420612809,0.71338606911949],"aabb_xy":[[0.5941685074508712,-0.7073491880769037],[0.6294341786379264,-0.6721032960456578]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.5177070497139173,-1.9931090732640824,0.71338606911949],"aabb_xy":[[0.5075540341597679,-2.0291786148368223],[0.5278600652680666,-1.9570395316913418]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.5437159091808751,0.6595694519952935,0.71338606911949],"aabb_xy":[[-0.5937090212900671,0.609569451321098],[-0.4937227970716833,0.7095694526694892]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.6680196772204492,1.1426668005375906,0.71338606911949],"aabb_xy":[[0.6219345859657177,1.0786668032850353],[0.7141047684751807,1.2066667977901455]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.46632527155190395,-2.4756764148956805,0.71338606911949],"aabb_xy":[[0.43584102142487374,-2.5256764146771764],[0.49680952167893405,-2.4256764151141845]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.07507498242718669,-1.8473832986295888,0.71338606911949],"aabb_xy":[[0.05806488513713602,-1.863517787127863],[0.09208507971723733,-1.8312488101313151]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.3417200286083113,-1.4768204804560514,0.71338606911949],"aabb_xy":[[-0.43172002534392145,-1.5300039437733455],[-0.25172003187270103,-1.4236370171387565]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.2944648465267684,-0.8670969091606398,0.71338606911949],"aabb_xy":[[0.2444648451658812,-0.9170748137360554],[0.34446484788765563,-0.8171190045852241]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.49710542434283944,0.39618027472275275,0.71338606911949],"aabb_xy":[[-0.5346054258584712,0.3849535017066077],[-0.45960542282720773,0.4074070477388978]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.5850902793397033,-1.1524928764510596,0.71338606911949],"aabb_xy":[[0.5350902780558632,-1.2024717308416815],[0.6350902806235431,-1.1025140220604372]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.2519686055148117,1.0022463596971147,0.71338606911949],"aabb_xy":[[0.2020859086371155,0.95224636045084],[0.3018513023925079,1.0522463589433895]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.5671312214257368,-0.8520323868528337,0.71338606911949],"aabb_xy":[[-0.5921312213582547,-0.858915055073757],[-0.5421312214932189,-0.8451497186319104]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.3433002853967391,0.022203608753398996,0.71338606911949],"aabb_xy":[[-0.35142797359005234,0.013290000342691344],[-0.3351725972034259,0.031117217164106648]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.21853290983670431,0.939558565414699,0.71338606911949],"aabb_xy":[[-0.27853291147962617,0.8875584161227548],[-0.15853290819378246,0.9915587147066431]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.11337639237926311,1.5654736768499293,0.71338606911949],"aabb_xy":[[-0.12854856166089645,1.5503048199217258],[-0.09820422309762977,1.5806425337781325]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.6094869893694024,-0.9452654596134284,0.71338606911949],"aabb_xy":[[0.5751707121947844,-0.9952654595866062],[0.6438032665440203,-0.8952654596402507]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[-0.5830496296898717,-2.3720273281703665,0.71338606911949],"aabb_xy":[[-0.5939554057774344,-2.4520273245691953],[-0.572143853602309,-2.292027331771537]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[-0.08589841366771178,-2.420123129423336,0.71338606911949],"aabb_xy":[[-0.14089389148837117,-2.475123130857243],[-0.03090293584705238,-2.365123127989429]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.25686317466816666,-1.2648528262397287,0.71338606911949],"aabb_xy":[[-0.3465502509762821,-1.3548528264941793],[-0.1671760983600512,-1.1748528259852782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885752034427709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3910.png","name":"3910"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7890.png","name":"7890"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7139.png","name":"7139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9248.png","name":"9248"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":736.3422414612719,"rotation_z_degrees":56.939629332466616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01242144546160379,-0.007642683264896127,0.018490908478673306]},{"name":"camera_2","offset_m":[0.014353838851667109,-0.015088462359838527,-0.0015050721848034465]},{"name":"camera_3","offset_m":[0.002943726880082393,-0.013401049715746152,-0.00511407892640353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008901273375761787,0.0013508193359136602,-0.0009401650037945445],"end_effector_yaw_offset_degrees":0.9852548469749054},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00016695036520656672,0.00032414486728879173,-0.0006981629174478172],"end_effector_yaw_offset_degrees":-0.030428373351773397},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013006085670446534,0.0005702944015834538,-0.00043905109352815243],"end_effector_yaw_offset_degrees":-0.5849818303448189}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038140756891916617,-0.004024017497402269],"position_m":[0.2886859243108083,0.08517598250259774,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00489944498005779,-0.0008997274463636252],"position_m":[0.14279944498005778,0.25530027255363635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002929450854257879,-0.002463483725217226],"position_m":[0.3508294508542579,0.2978365162747828,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007890790268055429,-0.0042489707158089186],"position_m":[0.22551092097319445,-0.40944897071580894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7fabf5003633c34ef589d9970271b782f5807ad875c1fb8f8476dbd6f332d8b5","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_441/tex_ceiling_textures_9248/tex_floor_textures_7139/tex_table_textures_3910/tex_wall_textures_7890","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3348206517045275655,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3348206517045275655,"visual_seed":3348206517045275655,"scene_id":"lab_003","finished_at":"2026-09-02T22:13:26"} +{"episode_id":"ep_000004","started_at":"2026-09-02T22:14:53","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.22578010882430188,1.1434468222867165,0.71338606911949],"aabb_xy":[[-0.24345573941290022,1.1257666060073135],[-0.20810447823570355,1.161127038566119]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.2554230382374013,0.7569975649334602,0.71338606911949],"aabb_xy":[[-0.2732165451723178,0.7391978193376625],[-0.23762953130248493,0.7747973105292578]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.6262827564901379,-2.0671830475238373,0.71338606911949],"aabb_xy":[[-0.6612827578416195,-2.087542783480658],[-0.591282755138656,-2.0468233115670165]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.35712915466119327,0.4581352638089218,0.71338606911949],"aabb_xy":[[-0.40694593412602803,0.4081352653246184],[-0.3073123751963585,0.5081352622932251]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.32140487559403863,1.2921940026264034,0.71338606911949],"aabb_xy":[[0.31056439736752367,1.2750077213357545],[0.3322453538205535,1.3093802839170519]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.34298052243347493,0.9813985317207217,0.71338606911949],"aabb_xy":[[-0.3558524259344151,0.9013985313068854],[-0.3301086189325348,1.0613985321345576]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.46859841307450767,1.4914875863550434,0.71338606911949],"aabb_xy":[[-0.5035984122044632,1.4857423652793793],[-0.43359841394455195,1.4972328074307075]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.07068525292985761,-0.7766119653183188,0.71338606911949],"aabb_xy":[[-0.16068524966546782,-0.8297954286356133],[0.019314743805752613,-0.7234285020010243]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.5519140346844443,-1.9568346103116645,0.71338606911949],"aabb_xy":[[-0.5677985279497695,-1.9711875506104883],[-0.5360295414191192,-1.9424816700128402]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.6180522810554583,-0.40993522420858364,0.71338606911949],"aabb_xy":[[0.5380522777914452,-0.4234952565174969],[0.6980522843194714,-0.39637519189967024]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.6189249763407783,-0.6416010991472882,0.71338606911949],"aabb_xy":[[0.5649093800588781,-0.7056011020395453],[0.6729405726226781,-0.577601096255031]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.3479162681427004,-0.05490515509274818,0.71338606911949],"aabb_xy":[[-0.3583278268231841,-0.06025088842864665],[-0.33750470946221667,-0.049559421756849714]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.4434093447094756,1.6114450504125748,0.71338606911949],"aabb_xy":[[0.41344178779964985,1.581445050114689],[0.4733769016193012,1.6414450507104605]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.08542010292610247,0.03488822216852405,0.71338606911949],"aabb_xy":[[-0.09422215823507517,0.027076896013594972],[-0.07661804761712974,0.04269954832345312]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.4211217990501827,1.6801019661275052,0.71338606911949],"aabb_xy":[[-0.4276234355581873,1.6703341441011956],[-0.4146201625421781,1.6898697881538152]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.6592832087973439,0.24150921298899863,0.71338606911949],"aabb_xy":[[0.5992832085459425,0.18722788795253392],[0.7192832090487449,0.29579053802546323]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.26053048695140696,0.6218140281364484,0.71338606911949],"aabb_xy":[[-0.28553048650314544,0.6116715442713136],[-0.23553048739966848,0.6319565120015831]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.5886782462726351,1.726562957321375,0.71338606911949],"aabb_xy":[[-0.6586782480813806,1.7052091885571876],[-0.5186782444638898,1.7479167260855624]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.17477304304094887,-0.7841965646655802,0.71338606911949],"aabb_xy":[[0.0947730450601638,-0.7917981056274321],[0.25477304102173387,-0.7765950237037282]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.1006336989361285,-0.05943450901522507,0.71338606911949],"aabb_xy":[[-0.12313369917964391,-0.07163914367499702],[-0.07813369869261312,-0.04722987435545312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888343144746572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5509.png","name":"5509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3685.png","name":"3685"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3534.png","name":"3534"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":575.7350512266033,"rotation_z_degrees":246.88732830852618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013078758699052447,0.009426356339149133,0.0026007403097899583]},{"name":"camera_2","offset_m":[-0.015673056756910945,-0.0016295605176696454,0.012777201588628547]},{"name":"camera_3","offset_m":[0.013735579795176037,-0.018713823124214907,-0.004618127531431506]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009712004138894526,-0.0019187344079421961,0.0017442111759509828],"end_effector_yaw_offset_degrees":0.9103278515257751},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[1.3783868749531799e-05,4.889449796305128e-05,-0.0017122740968659334],"end_effector_yaw_offset_degrees":0.926608086198295},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019477094986215604,0.0007380519130573381,0.0007792825033145702],"end_effector_yaw_offset_degrees":0.7519932255709565}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010349195125143153,0.002301615352918447],"position_m":[0.29146508048748565,0.09150161535291845,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004660424700154968,0.0016848670256730059],"position_m":[0.14256042470015495,0.257884867025673,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027386820620768715,-0.0014683989124347598],"position_m":[0.3506386820620769,0.29883160108756524,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00026780860102389517,-0.0034952698264783697],"position_m":[0.2260321913989761,-0.40869526982647836,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17743643e5cdd95f9470de8c90597387919e5cd88b7c52734c572c1c7369cff2","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1673/tex_ceiling_textures_3534/tex_floor_textures_3685/tex_table_textures_5509/tex_wall_textures_691","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8695570480786646906,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8695570480786646906,"visual_seed":8695570480786646906,"scene_id":"lab_003","finished_at":"2026-09-02T22:17:28"} +{"episode_id":"ep_000005","started_at":"2026-09-02T22:20:48","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.6368219167830207,0.7977420510276798,0.71338606911949],"aabb_xy":[[0.5868486227797601,0.7477420504731324],[0.686795210786281,0.847742051582227]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.04585868169260743,-0.9282850021275406,0.71338606911949],"aabb_xy":[[0.03859743412220002,-0.9410720123910501],[0.05311992926301485,-0.9154979918640311]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.30623342226821765,0.16805410397968812,0.71338606911949],"aabb_xy":[[-0.31181509390234635,0.1555541041619126],[-0.30065175063408883,0.1805541037974636]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.23152133247379258,-1.1779870402961525,0.71338606911949],"aabb_xy":[[-0.2428830671270787,-1.1893555067024404],[-0.22015959782050637,-1.1666185738898642]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.19698563890599607,0.6518301901887358,0.71338606911949],"aabb_xy":[[-0.26098564212463393,0.6051070782897275],[-0.13298563568735822,0.6985533020877442]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.5344632488763535,0.5402193851655963,0.71338606911949],"aabb_xy":[[-0.5894632470780984,0.4996974185391588],[-0.47946325067460877,0.5807413517920339]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.593694572792163,-2.3815167765005842,0.71338606911949],"aabb_xy":[[0.5099723472920805,-2.47151678003528],[0.6774167982922454,-2.2915167729658883]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.5029177338547506,0.16578114340701466,0.71338606911949],"aabb_xy":[[0.41291773526028075,0.14953055709359364],[0.5929177324492206,0.1820317297204357]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.47587483871678027,-1.1633254279272323,0.71338606911949],"aabb_xy":[[-0.48386832851206235,-1.1713235598677079],[-0.4678813489214983,-1.1553272959867567]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.5965099183276114,-0.2129899774261359,0.71338606911949],"aabb_xy":[[-0.6190099181415137,-0.21746459379661656],[-0.574009918513709,-0.20851536105565519]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.0677593994646174,-1.5843806491488324,0.71338606911949],"aabb_xy":[[-0.11723982067857619,-1.6483806470616842],[-0.018278978250658606,-1.5203806512359805]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.5869692917742968,1.3061420861326343,0.71338606911949],"aabb_xy":[[0.5619692925023345,1.289796722536472],[0.6119692910462591,1.3224874497287966]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.5793287903240053,1.0682956461967197,0.71338606911949],"aabb_xy":[[-0.6006067984674777,1.0032956438706466],[-0.5580507821805332,1.1332956485227927]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.07393929969706137,-1.7936553417123458,0.71338606911949],"aabb_xy":[[-0.006060700773154586,-1.801966049326694],[0.1539393001672773,-1.7853446340979975]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.5456179412575708,0.045118956905333185,0.71338606911949],"aabb_xy":[[-0.583117939680971,0.03195474293750255],[-0.5081179428341703,0.05828317087316381]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.5461061806719514,1.0954533986631017,0.71338606911949],"aabb_xy":[[0.4961130685627595,1.045453397988906],[0.5960992927811433,1.1454533993372973]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.5388326326519801,-0.8203710559242827,0.71338606911949],"aabb_xy":[[0.5301186636020454,-0.8428710565834707],[0.5475466017019144,-0.7978710552650943]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.051027113589312,-2.076888260895071,0.71338606911949],"aabb_xy":[[-0.01297288711415735,-2.1229066433679926],[0.11502711429278137,-2.0308698784221506]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.19026041647018654,1.4967360637041787,0.71338606911949],"aabb_xy":[[-0.2402596916386227,1.4467360624282317],[-0.14026114130175038,1.546736064980126]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.6736982503316175,1.760610874382,0.71338606911949],"aabb_xy":[[-0.6778341066643178,1.7231108749376431],[-0.6695623939989174,1.7981108738263571]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.10098647852260723,-0.979340244983232,0.71338606911949],"aabb_xy":[[-0.13831775504784985,-1.0139932997780843],[-0.0636552019973646,-0.9446871901883798]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.5004087741351826,-2.198427379370484,0.71338606911949],"aabb_xy":[[-0.570408776266612,-2.2211893449961795],[-0.43040877200375294,-2.1756654137447877]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.5142176018487755,1.5810672414285976,0.71338606911949],"aabb_xy":[[-0.5420626386293826,1.5502827426902857],[-0.4863725650681684,1.611851740166909]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.21318009455752218,-2.310394861846805,0.71338606911949],"aabb_xy":[[-0.2517257873827232,-2.3489406329029943],[-0.17463440173232114,-2.271849090790617]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.02259728763031632,1.3692160093784165,0.71338606911949],"aabb_xy":[[-0.08659728790429455,1.3191499091811285],[0.04140271264366191,1.4192821095757044]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.47964942901299623,-1.6250225414783976,0.71338606911949],"aabb_xy":[[-0.5436494281827661,-1.6717892285973601],[-0.4156494298432262,-1.5782558543594352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856084491405099,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5006.png","name":"5006"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5006.png","name":"5006"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5293.png","name":"5293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2051.png","name":"2051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/727.png","name":"727"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":780.4862363492227,"rotation_z_degrees":160.48695714488176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004213315784941735,0.007026424098606047,0.007861638799105439]},{"name":"camera_2","offset_m":[-0.012676494258086021,-0.013577023526931211,0.01294881305710131]},{"name":"camera_3","offset_m":[-0.0023047244623015037,0.003970322790369608,0.007493501742604176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.3480397456855824e-06,0.001405012008810303,-0.0010502550627376737],"end_effector_yaw_offset_degrees":0.8092228693577872},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[9.63707180642163e-05,-0.001856532220227324,0.0018476122336111528],"end_effector_yaw_offset_degrees":0.7571516890463523},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00102568763213964,-0.001804373878066485,0.0014881758616083346],"end_effector_yaw_offset_degrees":0.29935245866300697}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000795810397662443,0.0027148616722880645],"position_m":[0.29329581039766245,0.09191486167228807,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032087176074725677,0.0030628145683363047],"position_m":[0.14110871760747257,0.2592628145683363,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029272540917542247,0.002796443606723359],"position_m":[0.3449727459082458,0.3030964436067234,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004058786509964723,0.0017162820386695862],"position_m":[0.22224121349003528,-0.4034837179613304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb341466c6126dd2294b6e836b162f50334f958e1f34c66362ec473f7534a4df","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5006/tex_ceiling_textures_727/tex_floor_textures_631/tex_table_textures_5293/tex_wall_textures_2051","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2998174560079462668,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2998174560079462668,"visual_seed":2998174560079462668,"scene_id":"lab_003","finished_at":"2026-09-02T22:23:16"} +{"episode_id":"ep_000006","started_at":"2026-09-02T22:23:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.4018396932445511,1.0861994332541824,0.71338606911949],"aabb_xy":[[-0.41701186252618444,1.0710305763259793],[-0.38666752396291776,1.101368290182386]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.22236313721094025,-2.0170766959768063,0.71338606911949],"aabb_xy":[[0.21159016328957247,-2.0520766941958453],[0.23313611113230803,-1.9820766977577673]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.1939408371985809,-0.8554786690894962,0.71338606911949],"aabb_xy":[[-0.21383187707892118,-0.8681344803741932],[-0.17404979731824066,-0.8428228578047995]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.5719250896810191,-1.1094042811910823,0.71338606911949],"aabb_xy":[[0.5069250911239462,-1.1391568146049647],[0.6369250882380919,-1.0796517477771994]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.5651987571488704,-0.5175616990136258,0.71338606911949],"aabb_xy":[[0.501198759846524,-0.5619281259814826],[0.6291987544512168,-0.47319527204576906]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.1278912439468184,-2.278674896904542,0.71338606911949],"aabb_xy":[[0.08008507633304975,-2.3436748996116004],[0.17569741156058705,-2.2136748941974824]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.6228415362384261,-2.1930757304593156,0.71338606911949],"aabb_xy":[[0.5728585860509466,-2.2430757301018756],[0.6728244864259053,-2.1430757308167547]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.2471615468668793,-0.978381521504333,0.71338606911949],"aabb_xy":[[0.24231795210564933,-0.9832331739833172],[0.2520051416281093,-0.973529869025349]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.40799759195324525,-1.9149361362701462,0.71338606911949],"aabb_xy":[[0.4005851364118567,-1.9207873466917744],[0.41541004749463367,-1.9090849258485185]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.19065888662947983,-0.7315463331729475,0.71338606911949],"aabb_xy":[[-0.24065888799036703,-0.7815242377483631],[-0.14065888526859258,-0.6815684285975319]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.38315827189671814,-1.6662063473610658,0.71338606911949],"aabb_xy":[[0.3744443028467836,-1.6887063480202533],[0.3918722409466526,-1.6437063467018769]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.6095345463362042,-0.5955289022053116,0.71338606911949],"aabb_xy":[[-0.6523012532156244,-0.6595289056271141],[-0.566767839456784,-0.5315288987835092]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.6584200596589819,-1.237567707194921,0.71338606911949],"aabb_xy":[[-0.6699890404059186,-1.2625677073118526],[-0.6468510789120454,-1.2125677070779892]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.5293178801936247,-0.8653941079376601,0.71338606911949],"aabb_xy":[[-0.5412506145554528,-0.8777762607455195],[-0.5173851458317966,-0.8530119551298008]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.5924776306795465,-0.054200811357380196,0.71338606911949],"aabb_xy":[[0.5875216104946654,-0.07670081155950183],[0.5974336508644278,-0.031700811155258586]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.02979358703191648,0.7391553727386544,0.71338606911949],"aabb_xy":[[-0.07692296603375215,0.6751553716942523],[0.017335791969919193,0.8031553737830562]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.5538056727898875,-0.7346956710752073,0.71338606911949],"aabb_xy":[[0.5498451890201532,-0.7423635356607279],[0.5577661565596219,-0.7270278064896867]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.37475927404912335,-1.0729095931617838,0.71338606911949],"aabb_xy":[[-0.43875927047644525,-1.1200792169838802],[-0.31075927762180144,-1.0257399693396874]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.28532964874262423,-0.6547459957903958,0.71338606911949],"aabb_xy":[[0.20532964731249703,-0.7342631508030053],[0.36532965017275143,-0.5752288407777864]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[0.4944511800061293,0.298930945208534,0.71338606911949],"aabb_xy":[[0.485104172423834,0.28462732299089],[0.5037981875884245,0.31323456742617806]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.1097391103544777,-1.2890698430306524,0.71338606911949],"aabb_xy":[[-0.15973910993081245,-1.3390504219827586],[-0.059739110778143006,-1.2390892640785467]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.04073417674312718,0.9713939217063938,0.71338606911949],"aabb_xy":[[-0.10073417699452836,0.9171125966699291],[0.019265823508274,1.0256752467428583]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.19937845575710933,1.4724959087313452,0.71338606911949],"aabb_xy":[[-0.2543521777934422,1.4174959091671118],[-0.14440473372077645,1.5274959082955781]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[-0.0607406425601561,0.21330735491739494,0.71338606911949],"aabb_xy":[[-0.08907035250869633,0.2088466127236779],[-0.03241093261161588,0.21776809711111203]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[0.40877652000736964,0.43244203202222486,0.71338606911949],"aabb_xy":[[0.37198188688246336,0.3955361569256426],[0.4455711531322759,0.46934790711880714]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.09344883433357742,-1.1955461856036145,0.71338606911949],"aabb_xy":[[0.08208709968029125,-1.2069146520099023],[0.10481056898686357,-1.1841777191973262]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_26","position":[0.6825610590870768,0.04992716135562558,0.71338606911949],"aabb_xy":[[0.6415431157007059,-7.283927533175555e-05],[0.7235790024734476,0.09992716198658291]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.22756691924920425,1.1259235072944764,0.71338606911949],"aabb_xy":[[0.21246461778818607,1.110821985663414],[0.24266922071022226,1.141025028925538]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.5547955110415538,0.8525485893773248,0.71338606911949],"aabb_xy":[[-0.5773092028650109,0.7825485887763172],[-0.5322818192180965,0.9225485899783322]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[-0.5726303519982652,-2.1412946676609526,0.71338606911949],"aabb_xy":[[-0.5819239702354158,-2.1787946661490865],[-0.5633367337611146,-2.1037946691728187]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[0.07018613459898893,1.707280628196894,0.71338606911949],"aabb_xy":[[0.05841794780433142,1.6222806282916726],[0.08195432139364646,1.7922806281021157]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859213290152237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7562.png","name":"7562"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4511.png","name":"4511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3195.png","name":"3195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2980.png","name":"2980"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.2927936579867,"rotation_z_degrees":287.8512992180257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031061901043326484,-0.01766458671813882,0.006625860616228781]},{"name":"camera_2","offset_m":[0.002893381258762373,0.017335929262270604,-0.00666867302629826]},{"name":"camera_3","offset_m":[-0.0031567258164826965,-0.010010339240378063,0.0016202265323132549]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013488497592709274,-0.0006717285193984948,0.0008690775552181169],"end_effector_yaw_offset_degrees":0.18481783874077573},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007404539579375503,-0.0014105720735447923,0.0016602564846288797],"end_effector_yaw_offset_degrees":0.7141546463715649},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012328279464605108,0.0018047689624919095,-0.0007241523738941043],"end_effector_yaw_offset_degrees":-0.7485594863450524}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019918024104930224,-0.0016353373055405483],"position_m":[0.2926991802410493,0.08756466269445945,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004391551746772118,-0.004243555915309291],"position_m":[0.13350844825322788,0.2519564440846907,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00450162662069507,0.002466810926578921],"position_m":[0.3433983733793049,0.3027668109265789,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007956983652926452,-0.004440651450766756],"position_m":[0.22709569836529264,-0.4096406514507668,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"264b8b61e684cc5f1acf1c3d94f61df2cebbd1d0f0d74c1f502bde9b4b57853c","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3816/tex_ceiling_textures_2980/tex_floor_textures_3195/tex_table_textures_7562/tex_wall_textures_4511","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4265003581707498034,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4265003581707498034,"visual_seed":4265003581707498034,"scene_id":"lab_003","finished_at":"2026-09-02T22:25:49"} +{"episode_id":"ep_000007","started_at":"2026-09-02T22:27:03","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.16477072659730196,-2.185633250168438,0.71338606911949],"aabb_xy":[[0.13977072732533968,-2.2019786137646],[0.18977072586926425,-2.1692878865722753]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.4870399748265951,0.9271965533680779,0.71338606911949],"aabb_xy":[[-0.5204801500226146,0.8937529275371477],[-0.45359979963057545,0.9606401791990079]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.15402004199124475,-1.348822439954283,0.71338606911949],"aabb_xy":[[-0.18993354641623444,-1.3847359481710373],[-0.11810653756625507,-1.3129089317375282]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.5193543746812432,-1.3240253272671383,0.71338606911949],"aabb_xy":[[0.48489189666815535,-1.330689004450061],[0.5538168526943309,-1.3173616500842151]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.04300958303589264,0.9917243970484408,0.71338606911949],"aabb_xy":[[-0.06550958284979502,0.9872497806779602],[-0.020509583221990257,0.9961990134189217]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.5861333654428869,-0.21728915457954168,0.71338606911949],"aabb_xy":[[0.5709704924659498,-0.23245461187466046],[0.6012962384198239,-0.20212369728442295]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.5576585017981674,-1.6996649173243377,0.71338606911949],"aabb_xy":[[0.5220293458982077,-1.7352975840811908],[0.5932876576981272,-1.664032250567485]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.6995647969491032,-1.330357807204735,0.71338606911949],"aabb_xy":[[0.6817712900141868,-1.3481575528005327],[0.7173583038840197,-1.3125580616089374]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.058910447214623574,0.3266531432947968,0.71338606911949],"aabb_xy":[[-0.06235112345468076,0.3227917103204323],[-0.055469770974566415,0.33051457626916125]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.4461153614140383,1.1484280058618004,0.71338606911949],"aabb_xy":[[0.44203720350698855,1.144347025613537],[0.45019351932108803,1.1525089861100637]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.5968006981339373,0.41564218015337984,0.71338606911949],"aabb_xy":[[0.5130784726338549,0.32564217661868394],[0.6805229236340198,0.5056421836880758]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.49880696311658834,1.355698912885118,0.71338606911949],"aabb_xy":[[0.46147568659134575,1.321045858090266],[0.5361382396418309,1.3903519676799705]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.42537887442895284,-1.7965783116898812,0.71338606911949],"aabb_xy":[[0.3942319555853697,-1.8665783103766884],[0.45652579327253595,-1.726578313003074]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.009565194482592299,0.9159957661788178,0.71338606911949],"aabb_xy":[[-0.025434805413426572,0.9076215306668779],[0.044565194378611166,0.9243700016907578]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.6327695527516695,0.19985637357239083,0.71338606911949],"aabb_xy":[[0.5627695563417076,0.17941843792070905],[0.7027695491616311,0.2202943092240725]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.6056410097664637,1.1933607653479306,0.71338606911949],"aabb_xy":[[0.5606410083002349,1.14836090848645],[0.6506410112326926,1.2383606222094112]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.5194397512957297,0.4140964483231344,0.71338606911949],"aabb_xy":[[-0.5544397512722257,0.4046318322755178],[-0.484439751319234,0.42356106437075103]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.04513016174998874,-1.9166023032355155,0.71338606911949],"aabb_xy":[[-0.0048698376902068866,-1.9665702277198314],[0.09513016119018436,-1.8666343787511988]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.3481716091172124,-0.19480113731905346,0.71338606911949],"aabb_xy":[[-0.35230746544991265,-0.23230113676341047],[-0.34403575278451226,-0.15730113787469646]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.334039541817117,-0.47138519951457836,0.71338606911949],"aabb_xy":[[-0.3753440848808529,-0.5353851990826954],[-0.29273499875338094,-0.4073851999464612]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.2378999603007631,1.192018807560236,0.71338606911949],"aabb_xy":[[0.23256744564615012,1.1866944793150005],[0.2432324749553761,1.1973431358054716]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.16759033650962574,0.21387688618102452,0.71338606911949],"aabb_xy":[[-0.17571802470293896,0.20496327777031687],[-0.15946264831631252,0.22279049459173217]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.45157176962412543,-2.0988994807003167,0.71338606911949],"aabb_xy":[[-0.5015717705746583,-2.1304486277038377],[-0.4015717686735926,-2.067350333696795]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.5612930023884557,-1.4617785556513005,0.71338606911949],"aabb_xy":[[0.5063192803521228,-1.5167785552155337],[0.6162667244247886,-1.4067785560870674]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.3351154183804108,1.5694540463763613,0.71338606911949],"aabb_xy":[[0.3129428914037599,1.547278379220238],[0.3572879453570616,1.5916297135324842]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885480191965244,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2986.png","name":"2986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9520.png","name":"9520"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":847.2281585554816,"rotation_z_degrees":318.65525865495067,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019478483382824863,-0.01020454705803061,0.014297485582020004]},{"name":"camera_2","offset_m":[-0.006434047764195948,-0.0006441324101537603,-0.0013555331418314033]},{"name":"camera_3","offset_m":[0.014041073234002503,0.019489845845744095,-0.008707322703665405]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017495507388974652,-5.084580553451181e-05,-0.0012619279995491706],"end_effector_yaw_offset_degrees":0.6829505863639618},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009670781241759223,-0.0009868356586628419,-0.0005682868897234684],"end_effector_yaw_offset_degrees":-0.23639271003819773},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00031800600273667635,0.0009392840122542392,-0.0007764134472407265],"end_effector_yaw_offset_degrees":-0.8724451115537175}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004799248426178249,0.0019027876842247216],"position_m":[0.2972992484261782,0.09110278768422472,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006977055064691521,0.000937849026109638],"position_m":[0.13720229449353083,0.25713784902610964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007271453898244898,0.004980246705697559],"position_m":[0.3471728546101755,0.3052802467056976,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013104165604444118,-0.003347320566230455],"position_m":[0.22498958343955558,-0.40854732056623044,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"385fa67922647ffb3d523170e0e57784e382a875ef82e97cf035628bc6fcfa0e","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2986/tex_ceiling_textures_9520/tex_floor_textures_2495/tex_table_textures_2983/tex_wall_textures_6685","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4397218473028676121,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4397218473028676121,"visual_seed":4397218473028676121,"scene_id":"lab_003","finished_at":"2026-09-02T22:29:20"} +{"episode_id":"ep_000008","started_at":"2026-09-02T22:32:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.1111602088491287,-0.3173663521756733,0.71338606911949],"aabb_xy":[[-0.13980954120954492,-0.34601191145274907],[-0.08251087648871247,-0.2887207928985975]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.27567489275095836,-0.4692256287481875,0.71338606911949],"aabb_xy":[[0.2674603476352743,-0.4779022190458287],[0.2838894378666423,-0.4605490384505461]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.013610708803059035,-1.2647671367310953,0.71338606911949],"aabb_xy":[[-0.06861070842480488,-1.319750829518568],[0.04138929081868681,-1.2097834439436226]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.49812573645477976,-0.28081054847202225,0.71338606911949],"aabb_xy":[[-0.5431257379210087,-0.3258104053335029],[-0.453125734988551,-0.23581069161054158]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.5441479405238865,-2.514935349242902,0.71338606911949],"aabb_xy":[[0.5354339714739519,-2.53743534990209],[0.5528619095738209,-2.4924353485837134]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.5382668523589655,0.23102078959773564,0.71338606911949],"aabb_xy":[[0.5310056047885581,0.21823377933422614],[0.545528099929373,0.2438077998612451]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[0.3851991280179339,-2.38179060910123,0.71338606911949],"aabb_xy":[[0.37923258907719815,-2.387751753760594],[0.3911656669586697,-2.375829464441866]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.40798957713750195,-2.3041841169144397,0.71338606911949],"aabb_xy":[[-0.4429895762674576,-2.309929337990104],[-0.3729895780075463,-2.2984388958387756]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.18967554503676864,1.6267654468130455,0.71338606911949],"aabb_xy":[[0.1770728458996922,1.6141700505881802],[0.2022782441738451,1.6393608430379112]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.5789961322718807,1.034908629283839,0.71338606911949],"aabb_xy":[[-0.5884136068417436,1.02549245214612],[-0.5695786577020181,1.044324806421558]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.6314746072636064,0.7745384808365356,0.71338606911949],"aabb_xy":[[0.6064746077118678,0.7643959969714009],[0.6564746068153448,0.7846809647016704]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.09950459759586883,-1.7333817112340528,0.71338606911949],"aabb_xy":[[-0.1546298032254596,-1.79338171267534],[-0.044379391966278055,-1.6733817097927657]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.08502713940752149,-1.7509065086934472,0.71338606911949],"aabb_xy":[[0.0600271394750036,-1.757789176914371],[0.11002713934003938,-1.7440238404725243]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.17693759148033217,0.6427319914206047,0.71338606911949],"aabb_xy":[[-0.23456806036760297,0.582731992493894],[-0.11930712259306128,0.7027319903473151]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.45129413111654326,0.6487817197779879,0.71338606911949],"aabb_xy":[[0.3612941287825242,0.5712993651928753],[0.5412941334505623,0.7262640743631006]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.5674926833402587,-0.8065220538434361,0.71338606911949],"aabb_xy":[[0.5587114561930225,-0.8153018011319664],[0.5762739104874951,-0.7977423065549061]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.625179127483385,-1.7210186641259095,0.71338606911949],"aabb_xy":[[-0.6608082833833447,-1.7566513308827625],[-0.5895499715834253,-1.6853859973690566]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.11791808334902909,-1.5181163401653353,0.71338606911949],"aabb_xy":[[0.06791808239849627,-1.5496654871688564],[0.1679180842995619,-1.4865671931618136]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.38237211693601725,-0.7844071661359238,0.71338606911949],"aabb_xy":[[0.32237211634000107,-0.8392196386811472],[0.4423721175320334,-0.7295946935907003]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.3288218991539015,1.0337657073656703,0.71338606911949],"aabb_xy":[[-0.34075463351572954,1.0213835545578112],[-0.3168891647920734,1.04614786017353]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.2554953316736833,-2.5245731490613683,0.71338606911949],"aabb_xy":[[0.21958182724869357,-2.560486657278123],[0.29140883609867296,-2.4886596408446136]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.27510876225934516,-0.9372915640899648,0.71338606911949],"aabb_xy":[[-0.2855203209398288,-0.9426372974258631],[-0.2646972035788614,-0.9319458307540661]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.10243192966295211,0.04792559919544148,0.71338606911949],"aabb_xy":[[-0.13993192976854504,0.04110343734246036],[-0.06493192955735914,0.054747761048422605]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.3084562846165797,1.40014595575047,0.71338606911949],"aabb_xy":[[0.27797203448954955,1.3501459559689741],[0.33894053474360986,1.450145955531966]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.5217663473981713,-2.415295555816157,0.71338606911949],"aabb_xy":[[-0.5517580101320416,-2.445295555152957],[-0.49177468466430097,-2.385295556479356]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.28482717036485666,-0.5237565220651521,0.71338606911949],"aabb_xy":[[-0.2889431204769293,-0.5278720770979975],[-0.280711220252784,-0.5196409670323064]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.6465496203983867,-0.6044040109780511,0.71338606911949],"aabb_xy":[[0.581549620364084,-0.6511046876583784],[0.7115496204326894,-0.5577033342977238]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.31560870273282976,1.670444901148922,0.71338606911949],"aabb_xy":[[-0.33810870324487036,1.6479530427835236],[-0.29310870222078916,1.6929367595143203]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.5938560995914582,-0.0025635887007013913,0.71338606911949],"aabb_xy":[[-0.6738560998650651,-0.0755131365264181],[-0.5138560993178511,0.07038595912501532]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_29","position":[-0.1557918400430215,0.8005554644864641,0.71338606911949],"aabb_xy":[[-0.18927100730406246,0.7670763511153571],[-0.12231267278198057,0.8340345778575711]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[0.7021003380900941,-1.5504594661129667,0.71338606911949],"aabb_xy":[[0.6869374651131571,-1.565624923408086],[0.7172632110670313,-1.5352940088178484]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.018970590882439353,-1.99746975118669,0.71338606911949],"aabb_xy":[[-0.051432291764366804,-2.0276025833015923],[0.013491109999488103,-1.967336919071787]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_32","position":[0.309470931773167,0.9393427470212576,0.71338606911949],"aabb_xy":[[0.2394709301708875,0.9259099538196001],[0.37947093337544646,0.9527755402229152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904773783494882,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7856.png","name":"7856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5787.png","name":"5787"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3003.png","name":"3003"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":778.0855760225529,"rotation_z_degrees":294.2030136188519,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012556128569317364,-0.016286384656673446,-0.007411528481756954]},{"name":"camera_2","offset_m":[-0.017343462626482353,-0.01247177445992048,-0.005533353377324244]},{"name":"camera_3","offset_m":[0.015616614612552978,0.003920946496452339,0.018668711689447576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001807443849826096,-0.0006412162458960702,0.001263341327728297],"end_effector_yaw_offset_degrees":0.055475939457697576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00019558255411110306,-0.0018897368195228438,-0.0016519253486351904],"end_effector_yaw_offset_degrees":-0.3158505243454097},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008635138245089112,-0.0017398231154423715,0.0012480843418852922],"end_effector_yaw_offset_degrees":0.8717667522352173}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038051703234768695,-0.0010286654195830157],"position_m":[0.29630517032347686,0.08817133458041698,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015151438307340215,-0.003974057770659765],"position_m":[0.13638485616926596,0.2522259422293402,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003285449508756905,0.0011757602225958008],"position_m":[0.3511854495087569,0.3014757602225958,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002904442466977317,0.002890906728182729],"position_m":[0.22920444246697733,-0.4023090932718173,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dab85ed124126d2aa0db1c229b04ec9dce918add86363e9b7b14b78e1a2e83f1","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7856/tex_ceiling_textures_3003/tex_floor_textures_5787/tex_table_textures_3745/tex_wall_textures_5170","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7025603336889302403,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7025603336889302403,"visual_seed":7025603336889302403,"scene_id":"lab_003","finished_at":"2026-09-02T22:34:48"} +{"episode_id":"ep_000009","started_at":"2026-09-02T22:37:53","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.4322864134267099,0.5189269922245363,0.71338606911949],"aabb_xy":[[0.37465594453943907,0.4589269932978256],[0.48991688231398073,0.5789269911512468]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.27694508223634506,-2.232673908107926,0.71338606911949],"aabb_xy":[[-0.3119450835878268,-2.2530336440647463],[-0.24194508088486336,-2.2123141721511046]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.40096501463585993,-0.9141974538555,0.71338606911949],"aabb_xy":[[-0.4649650132224324,-0.9612044172550087],[-0.33696501604928747,-0.8671904904559913]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.28541766513284617,-0.6096119918938108,0.71338606911949],"aabb_xy":[[0.2054176677292527,-0.6896045630919934],[0.36541766253643954,-0.5296194206956277]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.6254014141070394,-0.8221701457928001,0.71338606911949],"aabb_xy":[[0.6189876004638544,-0.8285799660404684],[0.6318152277502243,-0.8157603255451317]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.2510111944836657,-2.422005733701346,0.71338606911949],"aabb_xy":[[0.18601119592659288,-2.4517582671152285],[0.31601119304073855,-2.3922532002874632]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.5459796248814317,-1.8643717287512829,0.71338606911949],"aabb_xy":[[-0.5834796249870245,-1.8711938906042642],[-0.5084796247758386,-1.857549566898302]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.38478644224677905,-1.8857492959902522,0.71338606911949],"aabb_xy":[[0.37163519627548974,-1.9107492957469392],[0.3979376882180685,-1.860749296233566]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.673653745295381,0.2145118655009628,0.71338606911949],"aabb_xy":[[0.6558602383604646,0.1967121199051651],[0.6914472522302975,0.23231161109676043]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.37447425805941864,-1.1392948441524418,0.71338606911949],"aabb_xy":[[-0.387920784693462,-1.152764695805533],[-0.3610277314253753,-1.1258249924993504]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.5752214898363561,-1.2236829514281038,0.71338606911949],"aabb_xy":[[0.52522221466792,-1.273682952704051],[0.6252207650047923,-1.1736829501521566]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.05061381364369788,-1.8279475817249433,0.71338606911949],"aabb_xy":[[-0.07690263796413851,-1.8542190153795943],[-0.024324989323257207,-1.8016761480702919]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.4398115631749114,0.19705915119361572,0.71338606911949],"aabb_xy":[[-0.5198115617622306,0.11774354925545484],[-0.3598115645875919,0.2763747531317766]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.5440747731260838,0.038401074404939894,0.71338606911949],"aabb_xy":[[0.5391187529412027,0.015901074202818274],[0.549030793310965,0.06090107460706152]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.14881889117046943,-0.027929022849149998,0.71338606911949],"aabb_xy":[[-0.18381889114696529,-0.03739363889676661],[-0.11381889119397362,-0.018464406801533387]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.08797437988050572,-1.2331554978098407,0.71338606911949],"aabb_xy":[[0.023974380586337482,-1.2971416381786949],[0.15197437917467393,-1.1691693574409865]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.6419101767899038,-0.057385353604555434,0.71338606911949],"aabb_xy":[[0.6194101772661963,-0.0798813010551762],[0.6644101763136111,-0.03488940615393465]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.5578451018895657,-1.124293392874658,0.71338606911949],"aabb_xy":[[-0.6078451035510604,-1.1742918351303604],[-0.5078451002280708,-1.074294950618955]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.5431198395976069,-1.6723928083624773,0.71338606911949],"aabb_xy":[[-0.633119839320781,-1.695466160897657],[-0.45311983987443266,-1.6493194558272972]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.49449233333944287,-2.2406949998566668,0.71338606911949],"aabb_xy":[[-0.5169923335829583,-2.2528996345164387],[-0.4719923330959275,-2.228490365196895]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.35156191954086813,-0.37258492445719016,0.71338606911949],"aabb_xy":[[-0.4155619159364412,-0.4365482128759237],[-0.28756192314529505,-0.3086216360384566]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.4698573383919632,0.8433844645329778,0.71338606911949],"aabb_xy":[[-0.4739931947246634,0.8058844650886209],[-0.465721482059263,0.8808844639773349]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.5064957369607979,-2.3227016483613063,0.71338606911949],"aabb_xy":[[0.4714957378308422,-2.3284468694369704],[0.5414957360907535,-2.316956427285642]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.039404265505504465,1.2852246756047987,0.71338606911949],"aabb_xy":[[-0.06440426467113758,1.278272429899442],[-0.014404266339871352,1.292176921310155]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.31113882309248586,-1.5290767141101806,0.71338606911949],"aabb_xy":[[0.2633326554787172,-1.5940767168172392],[0.3589449907062545,-1.4640767114031215]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[0.1531324267031623,1.2121284331779933,0.71338606911949],"aabb_xy":[[0.09815870466682944,1.1571284336137604],[0.2081061487394952,1.2671284327422268]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.11215989139733606,-1.654192419388052,0.71338606911949],"aabb_xy":[[-0.16215989241647133,-1.6906586351258803],[-0.062159890378200786,-1.6177262036502245]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_27","position":[0.4493533605141886,-0.17875236511777048,0.71338606911949],"aabb_xy":[[0.44325873262607035,-0.1873217596694392],[0.455447988402307,-0.17018297056610177]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_28","position":[-0.20966892818808275,1.2991050339110761,0.71338606911949],"aabb_xy":[[-0.289662751766641,1.2191050313182346],[-0.12967510460952456,1.3791050365039177]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.35193482391379766,1.322455828686738,0.71338606911949],"aabb_xy":[[-0.36071605106103394,1.3136760813982078],[-0.3431535967665615,1.3312355759752683]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.5545279398105503,0.798854122906199,0.71338606911949],"aabb_xy":[[0.5466046595718019,0.7763541226681956],[0.5624512200492986,0.8213541231442023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905055008865012,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/565.png","name":"565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/565.png","name":"565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/689.png","name":"689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6502.png","name":"6502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8832.png","name":"8832"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8387.png","name":"8387"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":545.3343651340767,"rotation_z_degrees":184.67175071736094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01559569436608722,0.0018107805549815378,0.016221438299106116]},{"name":"camera_2","offset_m":[-0.00022710538302525562,-0.011426142328912202,0.0012495153988137837]},{"name":"camera_3","offset_m":[-0.016739488491938192,-0.0066596336966666045,-0.014058403948988555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00037622255234167853,0.00016091637003157622,-0.00089340178961996],"end_effector_yaw_offset_degrees":0.6724634739801842},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00018707681464719085,0.0015956018438667854,0.0003158961578184991],"end_effector_yaw_offset_degrees":-0.6424680355475572},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005629291971145497,0.001289977128573289,0.0004001068412248991],"end_effector_yaw_offset_degrees":-0.30961514266525114}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001924361595244047,0.004202975410534586],"position_m":[0.29442436159524404,0.09340297541053459,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028924947137706383,0.0012726210582042876],"position_m":[0.13500750528622935,0.2574726210582043,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029347134297812777,0.001961628450273707],"position_m":[0.3508347134297813,0.3022616284502737,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005744273827725088,0.002673954868333336],"position_m":[0.2268744273827725,-0.4025260451316667,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1a382c0f506635553a49a5dfa9a0b1ccf2e7168ec6055990d5e0298287c4f402","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_565/tex_ceiling_textures_8387/tex_floor_textures_8832/tex_table_textures_689/tex_wall_textures_6502","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2219113845832012064,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2219113845832012064,"visual_seed":2219113845832012064,"scene_id":"lab_003","finished_at":"2026-09-02T22:40:31"} +{"episode_id":"ep_000010","started_at":"2026-09-02T22:43:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.41341297551008455,1.1318646378340547,0.71338606911949],"aabb_xy":[[-0.48341297890164653,1.0965488641306236],[-0.34341297211852256,1.1671804115374853]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.29908415015374157,-2.339419556294333,0.71338606911949],"aabb_xy":[[0.23508415304163588,-2.388451926088744],[0.36308414726584726,-2.2903871864999226]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.03540634078327842,1.3064676357355882,0.71338606911949],"aabb_xy":[[-0.09940633806892707,1.2649609167827442],[0.028593656502370217,1.3479743546884322]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.17227164205982826,-1.0533880602077532,0.71338606911949],"aabb_xy":[[0.14977164154778766,-1.0758799185731516],[0.19477164257186885,-1.0308962018423549]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.16206904654828358,-1.1853667689668312,0.71338606911949],"aabb_xy":[[0.09806904627430535,-1.235432869164119],[0.2260690468222618,-1.135300668769543]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.3859464542616453,-1.2599524757640166,0.71338606911949],"aabb_xy":[[0.38198597049191096,-1.2676203403495374],[0.38990693803137966,-1.2522846111784962]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.34728513541639244,0.5734062667844517,0.71338606911949],"aabb_xy":[[-0.3517157647712326,0.5679578950497691],[-0.34285450606155227,0.5788546385191343]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[0.67919307447573,-0.43037020936846204,0.71338606911949],"aabb_xy":[[0.6633085812104047,-0.44472314966728604],[0.695077567741055,-0.41601726906963793]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.31726202787060226,-0.9738666777110279,0.71338606911949],"aabb_xy":[[-0.34226202780312015,-0.9807493459319513],[-0.29226202793808437,-0.9669840094901047]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.17524769969196152,0.7181420375152712,0.71338606911949],"aabb_xy":[[0.1112476974715545,0.6737689533899828],[0.23924770191236855,0.7625151216405593]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.2123739691062324,1.2928422143241107,0.71338606911949],"aabb_xy":[[-0.2491686022311387,1.2559363392275285],[-0.17557933598132616,1.329748089420693]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.04903388707799761,0.7918525653098563,0.71338606911949],"aabb_xy":[[-0.05500042601873338,0.7858914206504921],[-0.043067348137261804,0.7978137099692202]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.4263191492230385,-0.42109566172652935,0.71338606911949],"aabb_xy":[[0.416166133668889,-0.4571652032992696],[0.43647216477718775,-0.3850261201537889]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[0.6829731602443663,-2.2138220587435464,0.71338606911949],"aabb_xy":[[0.6654264653282473,-2.251322060307798],[0.7005198551604852,-2.176322057179295]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.6476009971486358,1.6498611967639563,0.71338606911949],"aabb_xy":[[0.5876009968972346,1.5955798717274912],[0.7076009974000369,1.7041425218004205]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.21712188819815126,-0.8155767791087607,0.71338606911949],"aabb_xy":[[0.20983957182148755,-0.9055767827182694],[0.22440420457481486,-0.7255767754992514]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.36308066682283013,0.7934332851891224,0.71338606911949],"aabb_xy":[[0.34558073338884676,0.7759332852688877],[0.3805806002568135,0.8109332851093568]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.24590576462113545,1.6431766659342455,0.71338606911949],"aabb_xy":[[0.16590576415091954,1.6348659583198977],[0.32590576509135144,1.6514873735485942]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.536078530538221,-1.0683570985507553,0.71338606911949],"aabb_xy":[[-0.5486812296752973,-1.0809524947756206],[-0.5234758314011444,-1.0557617023258896]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.3535511510767581,0.27312724803234856,0.71338606911949],"aabb_xy":[[-0.40852487311309105,0.21812724846811538],[-0.2985774290404253,0.32812724759658174]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.3341181841955679,-0.45148603195590287,0.71338606911949],"aabb_xy":[[-0.37542272725930387,-0.51548603152402],[-0.2928136411318319,-0.38748603238778573]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.6359354767030929,-2.5433612633324403,0.71338606911949],"aabb_xy":[[-0.673435475126493,-2.556525477300271],[-0.5984354782796923,-2.5301970493646095]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[0.2751852429496293,1.8046690066663538,0.71338606911949],"aabb_xy":[[0.2573161351951738,1.7908360986891427],[0.2930543507040848,1.8185019146435648]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[0.019718760503380506,-2.4212632629832953,0.71338606911949],"aabb_xy":[[-0.07028123599749124,-2.467174905401753],[0.10971875700425225,-2.3753516205648366]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.24097938495827997,0.6730619155241295,0.71338606911949],"aabb_xy":[[-0.2909623351457592,0.623061915881569],[-0.19099643477080058,0.7230619151666898]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.3708047268258279,-1.4254204433577653,0.71338606911949],"aabb_xy":[[0.34829103500237063,-1.4954204439587728],[0.393318418649285,-1.3554204427567578]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.5307258922178812,0.4740388658478234,0.71338606911949],"aabb_xy":[[-0.5422948729648178,0.44903886573089186],[-0.5191569114709447,0.4990388659647553]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[0.5898130323300053,0.712781691479496,0.71338606911949],"aabb_xy":[[0.5258130330358372,0.6487955511106418],[0.6538130316241736,0.7767678318483502]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[-0.6503812689663667,-1.185580924893408,0.71338606911949],"aabb_xy":[[-0.6540845302955055,-1.1892829432021257],[-0.6466780076372277,-1.1818789065846902]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.16724755852039674,1.4243584487764314,0.71338606911949],"aabb_xy":[[-0.1732845715210615,1.4183317477074833],[-0.16121054551973205,1.4303851498453795]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[0.14201575504215258,1.267431528227346,0.71338606911949],"aabb_xy":[[0.13117527681563768,1.2502452469366974],[0.15285623326866749,1.2846178095179948]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_31","position":[-0.06012816938604282,-2.1861154402911893,0.71338606911949],"aabb_xy":[[-0.08262730511226979,-2.208615441069452],[-0.037629033659815854,-2.1636154395129266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839360377513333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7911.png","name":"7911"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7911.png","name":"7911"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4869.png","name":"4869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7294.png","name":"7294"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9618.png","name":"9618"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":537.8258031698599,"rotation_z_degrees":27.99594335078947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006877637307964512,-0.008145834961922959,-0.004779222550514493]},{"name":"camera_2","offset_m":[0.010466353393716231,-0.000609869200072985,-0.009951364166535477]},{"name":"camera_3","offset_m":[0.006902537561674166,-0.008019978678748325,-0.015742849531628203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008359191550269904,-0.0003794252124943434,0.001977229372271399],"end_effector_yaw_offset_degrees":0.05200830566782555},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010596646041848375,-0.0017077010234935357,-0.00015953692092120783],"end_effector_yaw_offset_degrees":0.7913480784188835},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012466202710946562,0.0016582661495138846,0.0001676250157188414],"end_effector_yaw_offset_degrees":-0.3482192082666751}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034059124611800673,-0.0018761690050145873],"position_m":[0.28909408753881993,0.08732383099498542,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036081092801087257,0.0041938836367138395],"position_m":[0.13429189071989128,0.26039388363671384,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002981146059311498,-0.0022061464994069736],"position_m":[0.3449188539406885,0.29809385350059303,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002167393534981062,0.0007561929565700109],"position_m":[0.22846739353498105,-0.40444380704342997,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f7b5a26f67fe16aca217397ceb61d40bc0edf52a77f8d08c9fd47f19f172fdf9","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7911/tex_ceiling_textures_9618/tex_floor_textures_7294/tex_table_textures_4869/tex_wall_textures_9130","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":186044676744776153,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":186044676744776153,"visual_seed":186044676744776153,"scene_id":"lab_003","finished_at":"2026-09-02T22:46:37"} +{"episode_id":"ep_000011","started_at":"2026-09-02T22:46:41","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.17797982050310646,-0.9865793232115301,0.71338606911949],"aabb_xy":[[0.12800101199279057,-1.036579323217249],[0.22795862901342234,-0.9365793232058114]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.17968670354800076,1.0278707887353598,0.71338606911949],"aabb_xy":[[-0.18464272373288199,1.0053707885332384],[-0.1747306833631196,1.0503707889374816]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.29391747626146875,-0.5621026141204042,0.71338606911949],"aabb_xy":[[-0.3438948931267223,-0.6121026156096526],[-0.24394005939621513,-0.5121026126311555]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.24055721785548184,-1.3719914905929569,0.71338606911949],"aabb_xy":[[-0.24848049809423017,-1.3944914908309602],[-0.2326339376167335,-1.3494914903549535]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.16817526315752496,0.07990453487604432,0.71338606911949],"aabb_xy":[[-0.2031752631340208,0.0704399188284277],[-0.13317526318102912,0.08936915092366093]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.5439156798961358,0.22746703469102503,0.71338606911949],"aabb_xy":[[-0.5861000940569666,0.16346703441381383],[-0.5017312657353051,0.2914670349682362]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.5417410426742568,-1.3216076392094145,0.71338606911949],"aabb_xy":[[0.46174104051149434,-1.4015628228355583],[0.6217410448370193,-1.241652455583271]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.22785304678663043,1.4365345086444692,0.71338606911949],"aabb_xy":[[0.1778530455027904,1.3865556542538469],[0.2778530480704703,1.486513363035091]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.3921328797592034,1.3727436641185102,0.71338606911949],"aabb_xy":[[0.3508840687292886,1.3177436646062926],[0.4333816907891181,1.4277436636307275]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.04562889696923611,1.645092432139132,0.71338606911949],"aabb_xy":[[0.008128898545835754,1.631928218171301],[0.08312889539263646,1.6582566461069626]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.47694893910847447,1.1226155539030676,0.71338606911949],"aabb_xy":[[-0.4994489393519899,1.1104109192432956],[-0.45444893886495913,1.1348201885628395]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.29299432484438914,-2.064515982774367,0.71338606911949],"aabb_xy":[[-0.3390794160991206,-2.1285159800269216],[-0.2469092335896577,-2.0005159855218113]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.1954385895909222,1.5921151859554024,0.71338606911949],"aabb_xy":[[0.1581073130656796,1.5574621311605503],[0.23276986611616485,1.6267682407502548]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.5903524271129086,-0.33234572810276,0.71338606911949],"aabb_xy":[[-0.6092368108814188,-0.35123165288311275],[-0.5714680433443984,-0.3134598033224072]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.5295209991024418,1.0309967368552058,0.71338606911949],"aabb_xy":[[-0.6195209976969117,1.014746150541785],[-0.4395210005079718,1.047247323168627]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[0.20706983678235702,-2.0739760130284846,0.71338606911949],"aabb_xy":[[0.20110329784162123,-2.0799371576878487],[0.2130363757230928,-2.0680148683691204]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.27306502071460725,0.44265909270557957,0.71338606911949],"aabb_xy":[[-0.3380650185962551,0.39153542899903876],[-0.20806502283295952,0.4937827564121205]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.4571389478582917,-0.2807872275346539,0.71338606911949],"aabb_xy":[[-0.5021315345767421,-0.3257872268091027],[-0.4121463611398413,-0.2357872282602052]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.391325342711756,0.734427956369323,0.71338606911949],"aabb_xy":[[0.3691528157351051,0.7122522892131998],[0.41349786968840674,0.7566036235254461]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.265289343055468,-0.1251607047548915,0.71338606911949],"aabb_xy":[[-0.3292893403578144,-0.16952713172274825],[-0.20128934575312157,-0.08079427778703474]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.013537774828342397,1.1757046940137093,0.71338606911949],"aabb_xy":[[-0.03627900463649236,1.1257046955294059],[0.06335455429317716,1.2257046924980126]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.044887458263643376,0.8694760286236107,0.71338606911949],"aabb_xy":[[-0.12488745527789136,0.8493414769501993],[0.035112538750604605,0.8896105802970219]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.5403496794564022,-1.8722300941671048,0.71338606911949],"aabb_xy":[[-0.57466595663102,-1.9222300941402826],[-0.5060334022817842,-1.8222300941939271]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[-0.6487420444642706,-1.5030132965087766,0.71338606911949],"aabb_xy":[[-0.6575440997732432,-1.5108246226637054],[-0.6399399891552978,-1.4952019703538473]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[-0.15766747950440696,-0.37911706084763264,0.71338606911949],"aabb_xy":[[-0.17955722709334776,-0.46911705813688176],[-0.13577773191546616,-0.2891170635583835]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.06492772742240627,-1.3978887124421269,0.71338606911949],"aabb_xy":[[0.053055644410905156,-1.482888712135777],[0.07679981043390738,-1.3128887127484763]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[-0.4362977352740052,-2.2835909029846584,0.71338606911949],"aabb_xy":[[-0.470760082672147,-2.31808478538248],[-0.40183538787586337,-2.249097020586835]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[0.6044627418291626,-1.7500661313934724,0.71338606911949],"aabb_xy":[[0.5938952621710635,-1.760611161506481],[0.6150302214872615,-1.7395211012804639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683845024077804,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/0.png","name":"0"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6067.png","name":"6067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5033.png","name":"5033"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8894.png","name":"8894"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":815.3747908638919,"rotation_z_degrees":228.44008841402677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006712849505350053,-0.001170780549425706,-0.019670849464896497]},{"name":"camera_2","offset_m":[0.016174588326751314,-0.012590678672826332,0.016785805689366124]},{"name":"camera_3","offset_m":[0.009551702901651214,-0.00939899857062068,-0.007917153452133282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011899746590638119,-0.0008709957021496156,0.0019657397873733074],"end_effector_yaw_offset_degrees":0.42399768486580847},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012176380111551398,0.0016637497026753055,-0.00043286481470117266],"end_effector_yaw_offset_degrees":0.6918799259281521},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018694459091499306,-0.0013906144309941025,0.0016577759094359365],"end_effector_yaw_offset_degrees":0.9183708782803355}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002694574359807355,-0.0038811918467395257],"position_m":[0.2898054256401926,0.08531880815326047,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004793101012113628,-0.0035440039600887143],"position_m":[0.13310689898788636,0.2526559960399113,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004035550656998265,-0.0021614709443711845],"position_m":[0.3438644493430017,0.2981385290556288,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015924729910998304,-0.0041695946629015015],"position_m":[0.22470752700890018,-0.4093695946629015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ccd49cd1b25de874881dee7cd0ec993fbc9f6fb8f363293a171c449eb7198ad5","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3116/tex_ceiling_textures_8894/tex_floor_textures_5033/tex_table_textures_0/tex_wall_textures_6067","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4002036825629951539,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4002036825629951539,"visual_seed":4002036825629951539,"scene_id":"lab_003","finished_at":"2026-09-02T22:49:20"} +{"episode_id":"ep_000012","started_at":"2026-09-02T22:50:52","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.6113372400694677,1.6365970107760242,0.71338606911949],"aabb_xy":[[0.6050251405331294,1.6308300715228052],[0.6176493396058061,1.642363950029243]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.66907583764678,-0.884240218134853,0.71338606911949],"aabb_xy":[[-0.6859865700831217,-0.8977124237274674],[-0.6521651052104381,-0.8707680125422383]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.4809366520167734,1.806599628028255,0.71338606911949],"aabb_xy":[[-0.5034014219881785,1.7840996271493945],[-0.45847188204536826,1.8290996289071155]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.09121465935244777,-1.1991793733951222,0.71338606911949],"aabb_xy":[[0.08145866984327386,-1.2089419074543566],[0.10097064886162165,-1.1894168393358877]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.3620727002779003,-0.049680673258464925,0.71338606911949],"aabb_xy":[[-0.3955518675389413,-0.08315978662957194],[-0.3285935330168594,-0.016201559887357928]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.6714084034117029,-0.05015029363699952,0.71338606911949],"aabb_xy":[[0.6627104411209875,-0.06227526794447426],[0.6801063657024181,-0.038025319329524805]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.1088154210614618,1.6180322443519155,0.71338606911949],"aabb_xy":[[0.09171334310309363,1.6009254388206455],[0.12591749901982996,1.635139049883185]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.13437344283648534,0.9922014791217393,0.71338606911949],"aabb_xy":[[0.11616761917523766,0.9811760785397478],[0.152579266497733,1.003226879703731]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.30963238548287303,-0.8307830401360843,0.71338606911949],"aabb_xy":[[-0.3271323857422097,-0.8448745823248571],[-0.29213238522353646,-0.8166914979473119]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.6210174531106114,0.5996104032326421,0.71338606911949],"aabb_xy":[[-0.6263499677652244,0.5942860749874066],[-0.6156849384559984,0.6049347314778777]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.04978719133367049,-1.0122825284743078,0.71338606911949],"aabb_xy":[[0.0272871915197681,-1.0167571448447887],[0.07228719114757287,-1.0078079121038273]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.6318905196057063,0.707896048271933,0.71338606911949],"aabb_xy":[[-0.6868837309428429,0.6528960479331395],[-0.5768973082685694,0.7628960486107268]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.19445369820648717,-1.8621492957404477,0.71338606911949],"aabb_xy":[[0.17228117122983633,-1.8843249628965706],[0.21662622518313798,-1.8399736285843244]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.2833438552541342,-1.6959114799120096,0.71338606911949],"aabb_xy":[[0.24902757807951625,-1.7459114798851871],[0.31766013242875213,-1.6459114799388317]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.27400164348547995,1.592442537306448,0.71338606911949],"aabb_xy":[[-0.28170483415955694,1.5847331666077098],[-0.26629845281140285,1.600151908005186]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.09251343520320732,-1.6413233397487468,0.71338606911949],"aabb_xy":[[-0.14239613208090351,-1.6913233389950217],[-0.04263073832551111,-1.5913233405024723]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.011091536444898353,-2.0351793468159647,0.71338606911949],"aabb_xy":[[-0.0710915380878202,-2.087179496107909],[0.0489084651980235,-1.9831791975240205]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.5738306858214492,-2.3150697080324587,0.71338606911949],"aabb_xy":[[-0.6388306843785222,-2.3448222414463413],[-0.5088306872643765,-2.285317174618576]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.6938222804155925,-1.0579520243140812,0.71338606911949],"aabb_xy":[[0.6888662602307114,-1.080452024516203],[0.6987783006004737,-1.0354520241119598]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.39734871491501883,1.0086886526772152,0.71338606911949],"aabb_xy":[[-0.44734871593415415,0.9722224369393873],[-0.34734871389588357,1.0451548684150431]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.21258170492541173,-2.103736253727255,0.71338606911949],"aabb_xy":[[0.16758911820696132,-2.1487362530017036],[0.25757429164386214,-2.058736254452806]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.5352662045408871,0.20856903675721883,0.71338606911949],"aabb_xy":[[-0.6189884300409695,0.11856903322252285],[-0.45154397904080457,0.2985690402919148]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.05583716490929991,1.1945768759163218,0.71338606911949],"aabb_xy":[[-0.06546880112972953,1.1849395631366129],[-0.04620552868887029,1.2042141886960307]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.4262038010180378,-2.4149500579567147,0.71338606911949],"aabb_xy":[[-0.462998434142944,-2.451855933053297],[-0.38940916789313146,-2.3780441828601324]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.21954369706774873,0.11277031603100518,0.71338606911949],"aabb_xy":[[-0.25704369858338044,0.10154354301486013],[-0.18204369555211702,0.12399708904715023]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.5118404211861679,-0.6474843479221677,0.71338606911949],"aabb_xy":[[-0.601840417921778,-0.7006678112394622],[-0.4218404244505576,-0.5943008846048732]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.2740059775646495,-1.4025963091044582,0.71338606911949],"aabb_xy":[[-0.3085970604186947,-1.467596309389489],[-0.23941489471060431,-1.337596308819427]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.5871831742754587,-0.8037108364178183,0.71338606911949],"aabb_xy":[[-0.612183173547421,-0.8200562000139806],[-0.5621831750034965,-0.7873654728216559]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.5981088665746379,-0.9078520085163344,0.71338606911949],"aabb_xy":[[0.5806088674402706,-0.917731635553922],[0.615608865709005,-0.8979723814787464]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895596909486794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2479.png","name":"2479"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2479.png","name":"2479"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4554.png","name":"4554"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4699.png","name":"4699"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.7431646428635,"rotation_z_degrees":71.88075241894222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011142990183060966,-0.0001631761488248805,0.003649944888274387]},{"name":"camera_2","offset_m":[0.014411746354021347,0.009541084961392405,-0.0055323248690697605]},{"name":"camera_3","offset_m":[-0.006152658441197993,0.0007899569360034289,-0.008989949273527937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016952738404080944,-0.000920387586616903,0.000878550310792414],"end_effector_yaw_offset_degrees":0.08532467883289341},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013322322980443843,-0.001585886888822924,-0.001385690398191627],"end_effector_yaw_offset_degrees":-0.47915423463160245},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011155039886102357,0.001824701289860209,-0.0009420865796321634],"end_effector_yaw_offset_degrees":0.16428307467182712}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034934462843031226,0.00034233633194823664],"position_m":[0.29599344628430313,0.08954233633194823,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00020115173088008833,-0.0006009853097332105],"position_m":[0.1376988482691199,0.25559901469026675,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031718914423068635,-0.0006964958236359182],"position_m":[0.3510718914423068,0.2996035041763641,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003239496764713496,0.0019254945201264409],"position_m":[0.2230605032352865,-0.4032745054798736,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0a9d01f86ccb05c62ad67192bcf0cd9d147845d866456a1952fa0df7498ff40f","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2479/tex_ceiling_textures_9709/tex_floor_textures_4699/tex_table_textures_4554/tex_wall_textures_3899","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2691521883279209691,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2691521883279209691,"visual_seed":2691521883279209691,"scene_id":"lab_003","finished_at":"2026-09-02T22:53:28"} +{"episode_id":"ep_000013","started_at":"2026-09-02T22:53:32","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.5550266132402331,0.5586495540144347,0.71338606911949],"aabb_xy":[[-0.5701894862171702,0.543484096719316],[-0.5398637402632961,0.5738150113095535]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.5718716767113545,-1.771535704023656,0.71338606911949],"aabb_xy":[[0.5068716756054112,-1.7965010770917844],[0.6368716778172978,-1.7465703309555278]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.31044311071186226,0.5259460576385289,0.71338606911949],"aabb_xy":[[-0.33402823417575706,0.4609460553930972],[-0.28685798724796735,0.5909460598839608]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.27515704026745363,-2.114539690231379,0.71338606911949],"aabb_xy":[[-0.3648441165755691,-2.2045396904858294],[-0.18546996395933818,-2.0245396899769283]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.4930431308187153,1.4728119457031474,0.71338606911949],"aabb_xy":[[0.4557118542934727,1.4381588909082954],[0.5303744073439579,1.507465000498]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.13322922416715,-0.6478600140752595,0.71338606911949],"aabb_xy":[[-0.15072922442648667,-0.6619515562640322],[-0.11572922390781343,-0.633768471886487]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.2874622960341426,1.3187399396620827,0.71338606911949],"aabb_xy":[[-0.35146229520391253,1.2719732525431202],[-0.22346229686437266,1.3655066267810452]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.3087973613976539,0.3625601149215312,0.71338606911949],"aabb_xy":[[-0.3727973616716321,0.3124940147242432],[-0.24479736112367562,0.41262621511881914]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.4246011440931985,0.4268079584685953,0.71338606911949],"aabb_xy":[[0.40571676032468834,0.4079220336882425],[0.44348552786170875,0.44569388324894804]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3055136224086229,-0.1615673884885167,0.71338606911949],"aabb_xy":[[-0.38551362348174323,-0.17134543482590114],[-0.22551362133550257,-0.15178934215113227]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.05177183580849354,0.6417506268440625,0.71338606911949],"aabb_xy":[[0.04806857447935466,0.6380486085353446],[0.0554750971376324,0.6454526451527803]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[-0.6496690038886505,-2.285814724231771,0.71338606911949],"aabb_xy":[[-0.6846690021993458,-2.2935297391553164],[-0.6146690055779549,-2.278099709308225]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.3843776641585599,0.7165656258058304,0.71338606911949],"aabb_xy":[[0.3725055811470588,0.63156562611218],[0.396249747170061,0.8015656254994807]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.32944944976205215,-1.3043634700214983,0.71338606911949],"aabb_xy":[[0.2919494499450186,-1.30900168133264],[0.3669494495790857,-1.2997252587103563]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.11167848515442991,-2.472988459472484,0.71338606911949],"aabb_xy":[[-0.14917848532630185,-2.505689194855391],[-0.07417848498255795,-2.440287724089577]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[-0.5039583381435317,1.35603190779914,0.71338606911949],"aabb_xy":[[-0.5679583401932637,1.315937424709832],[-0.43995833609379975,1.396126390888448]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.6392429118284284,-0.9323186817589706,0.71338606911949],"aabb_xy":[[0.6017429117228354,-0.9391408436119516],[0.6767429119340214,-0.9254965199059894]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.35303823001301504,-0.9663605102849935,0.71338606911949],"aabb_xy":[[0.29791302438342426,-1.0263605117262804],[0.4081634356426058,-0.9063605088437063]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.4202603662188149,-2.4355905086691383,0.71338606911949],"aabb_xy":[[0.4028296511398084,-2.452862623332989],[0.4376910812978214,-2.418318394005287]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[0.32864218930693934,-2.194435067139955,0.71338606911949],"aabb_xy":[[0.3104363656456917,-2.2054604677219465],[0.34684801296818707,-2.183409666557963]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892452966746776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9362.png","name":"9362"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9362.png","name":"9362"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4160.png","name":"4160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2240.png","name":"2240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6715.png","name":"6715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":685.6671991299013,"rotation_z_degrees":28.875355592849125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007823170776930038,0.011893410917212337,0.018276091539180504]},{"name":"camera_2","offset_m":[-0.014233747185605997,-0.013273654342308393,-0.013814803957452257]},{"name":"camera_3","offset_m":[0.005158047831551618,-0.0013397044156151783,0.003425842699754166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014467825393187687,0.001499809896348655,0.0011400757012918006],"end_effector_yaw_offset_degrees":0.9304017576870063},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000358340833811685,0.0011818747356334858,-0.0001589162247046731],"end_effector_yaw_offset_degrees":-0.8532983019959379},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00017495584213168543,0.0006933436001614383,0.001997174051331412],"end_effector_yaw_offset_degrees":-0.6801771790617979}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004487037221535201,-0.004846554421453475],"position_m":[0.2880129627784648,0.08435344557854653,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004192117395056948,-0.001943930918529483],"position_m":[0.13370788260494304,0.2542560690814705,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004581820445155582,-0.004368506497807126],"position_m":[0.3524818204451556,0.2959314935021929,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002308655904711635,0.0036588258989912045],"position_m":[0.22860865590471163,-0.4015411741010088,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a8d08631fc78707923e20ce76cc60ba6b80b96cbb2edbd9e53c151c3cef72bce","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9362/tex_ceiling_textures_1276/tex_floor_textures_6715/tex_table_textures_4160/tex_wall_textures_2240","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":734030066684457649,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":734030066684457649,"visual_seed":734030066684457649,"scene_id":"lab_003","finished_at":"2026-09-02T22:56:11"} +{"episode_id":"ep_000014","started_at":"2026-09-02T22:56:14","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.02894730688870739,0.052849846907654374,0.71338606911949],"aabb_xy":[[-0.0393588655691911,0.0475041135717559],[-0.018535748208223672,0.058195580243552834]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.015451363852156619,-2.4689851568299273,0.71338606911949],"aabb_xy":[[-0.049548637253786665,-2.4939505298980555],[0.0804513649580999,-2.444019783761799]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.3066971426112859,1.7509889591788874,0.71338606911949],"aabb_xy":[[0.2653925995475499,1.6869889596107701],[0.3480016856750219,1.8149889587470043]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.3994444869054705,1.2346004804132757,0.71338606911949],"aabb_xy":[[0.3769797169340653,1.2121004795344152],[0.4219092568768755,1.2571004812921363]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[-0.004710880134930595,-1.7609758782626213,0.71338606911949],"aabb_xy":[[-0.06871088247773215,-1.8059167295067537],[0.05928912220787096,-1.7160350270184888]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.5288268185298179,-2.032774358599145,0.71338606911949],"aabb_xy":[[0.4984287074306743,-2.063181260600814],[0.5592249296289614,-2.002367456597475]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.16668923139704095,1.3101776261219085,0.71338606911949],"aabb_xy":[[-0.17265577033777674,1.3042164814625443],[-0.16072269245630516,1.3161387707812726]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[-0.2377321422796813,-0.8176088759009132,0.71338606911949],"aabb_xy":[[-0.30273214231398404,-0.8643095525812406],[-0.17273214224537858,-0.7709081992205861]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.02555394284482171,0.6871753436147552,0.71338606911949],"aabb_xy":[[-0.03944605811230549,0.6352271316810496],[0.09055394380194892,0.7391235555484608]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.38586828967389913,-0.7474592314749227,0.71338606911949],"aabb_xy":[[-0.38982877344363354,-0.7551270960604433],[-0.38190780590416473,-0.7397913668894021]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.30375168215178516,-0.8818942500092006,0.71338606911949],"aabb_xy":[[0.2984141064857806,-0.9068942509383403],[0.30908925781778973,-0.8568942490800607]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.14482707196520084,-0.9812677976200905,0.71338606911949],"aabb_xy":[[0.06482707169159387,-1.054217345445807],[0.22482707223880782,-0.9083182497943738]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.6412548025395867,-0.9200887633899324,0.71338606911949],"aabb_xy":[[-0.6587548016739537,-0.9299683904275201],[-0.6237548034052194,-0.9102091363523445]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.5928852835374445,-1.8265119788582567,0.71338606911949],"aabb_xy":[[-0.6428852848212844,-1.8764908332488786],[-0.5428852822536044,-1.7765331244676343]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.26503729907795537,-2.30061778326775,0.71338606911949],"aabb_xy":[[0.22649160625275433,-2.3391635543239384],[0.3035829919031564,-2.262072012211561]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.24421685738927895,1.7266848449025631,0.71338606911949],"aabb_xy":[[-0.2941956658995949,1.6766848448968443],[-0.1942380488789631,1.776684844908282]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.22273447827862286,-0.21504652189889395,0.71338606911949],"aabb_xy":[[-0.2727077722818833,-0.2650465224534413],[-0.1727611842753624,-0.1650465213443466]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.591356601967034,-1.2951958690026548,0.71338606911949],"aabb_xy":[[-0.6088566022120833,-1.3126956568422214],[-0.5738566017219845,-1.2776960811630877]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.6410135153111558,0.6434291140201083,0.71338606911949],"aabb_xy":[[0.6185135153010075,0.629332894380505],[0.6635135153213041,0.6575253336597116]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.5329393109901228,-2.4807971458223244,0.71338606911949],"aabb_xy":[[0.5252361203160457,-2.4885065165210625],[0.5406425016641997,-2.4730877751235862]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.09723809030319219,-0.027837995066547272,0.71338606911949],"aabb_xy":[[-0.12245892716303185,-0.05306174591943401],[-0.07201725344335251,-0.0026142442136605176]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.030196626081159583,-0.8336931598207551,0.71338606911949],"aabb_xy":[[-0.10019662871774593,-0.8537980248166205],[0.03980337655542676,-0.8135882948248895]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.42981790727704805,1.7020833248737568,0.71338606911949],"aabb_xy":[[0.40730421545359075,1.632083324272749],[0.45233159910050513,1.772083325474764]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.6138895175592602,-1.3737316097176024,0.71338606911949],"aabb_xy":[[0.5301672920591778,-1.4637316132522984],[0.6976117430593427,-1.2837316061829065]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[-0.24619394188450877,-0.4125400129916019,0.71338606911949],"aabb_xy":[[-0.2608373474385417,-0.4271987326483862],[-0.2315505363304757,-0.39788129333481764]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.5125767115247394,-2.2432708647252473,0.71338606911949],"aabb_xy":[[-0.5361618349886342,-2.308270866970679],[-0.48899158806084453,-2.1782708624798155]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[-0.3713597608793099,-2.4367622561525293,0.71338606911949],"aabb_xy":[[-0.42135975952523114,-2.4866817998119917],[-0.32135976223338875,-2.386842712493067]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[0.614651511084422,-1.796237448015828,0.71338606911949],"aabb_xy":[[0.573402700054507,-1.8512374475280453],[0.6559003221143365,-1.7412374485036104]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.11499517219422095,0.5684611396473955,0.71338606911949],"aabb_xy":[[-0.1267633589888785,0.4834611397421741],[-0.10322698539956346,0.6534611395526172]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.6032537939649487,-1.009464745161855,0.71338606911949],"aabb_xy":[[0.5432537934570957,-1.066311478847776],[0.6632537944728015,-0.9526180114759336]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_30","position":[-0.35837150907720605,-1.7988725317358623,0.71338606911949],"aabb_xy":[[-0.42237151048519667,-1.850661483259787],[-0.2943715076692153,-1.7470835802119375]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[0.5434839444518433,0.3550895266017786,0.71338606911949],"aabb_xy":[[0.5110222435699157,0.3249566944868759],[0.5759456453337706,0.3852223587166812]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_32","position":[0.02824229807023615,-2.3464456514835397,0.71338606911949],"aabb_xy":[[0.00195347374979549,-2.3727170851381905],[0.05453112239067681,-2.320174217828888]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_33","position":[0.11627606113119515,1.7682757669996634,0.71338606911949],"aabb_xy":[[0.05227605784148703,1.7249408479957458],[0.18027606442090324,1.811610686003581]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881504955509807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3350.png","name":"3350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3584.png","name":"3584"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7136.png","name":"7136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5195.png","name":"5195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4457.png","name":"4457"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":800.147092152027,"rotation_z_degrees":303.6923801474449,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003572856502565877,0.01128078020102868,-0.005613131880443514]},{"name":"camera_2","offset_m":[-0.004917666172384837,0.0027764609587974873,-0.007689999525308489]},{"name":"camera_3","offset_m":[0.007404676260078753,0.014740159198870232,-0.010560721736063577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007789953373863554,-5.1953944142957374e-05,0.0013462824416954349],"end_effector_yaw_offset_degrees":-0.28634646075520753},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006201705618883815,-0.0015544535283852296,-0.0019248987234615333],"end_effector_yaw_offset_degrees":-0.9723299587712053},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008428307521920553,-0.0001802352397688382,0.0009691217986376164],"end_effector_yaw_offset_degrees":0.2541334653505023}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004193811662235166,0.0016656715562797962],"position_m":[0.28830618833776483,0.0908656715562798,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001527206938804467,0.0020876726371150053],"position_m":[0.13942720693880445,0.258287672637115,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006923101647745532,0.004011943392769591],"position_m":[0.34720768983522543,0.3043119433927696,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004251884466684519,0.0015972513410089043],"position_m":[0.2220481155333155,-0.4036027486589911,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"86bdc856d5cf05c65c596cd26c4a86fb8fa03d7513d20d4ebc30ee24796ed563","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3350/tex_ceiling_textures_4457/tex_floor_textures_5195/tex_table_textures_3584/tex_wall_textures_7136","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5193920167915974338,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5193920167915974338,"visual_seed":5193920167915974338,"scene_id":"lab_003","finished_at":"2026-09-02T22:58:54"} +{"episode_id":"ep_000015","started_at":"2026-09-02T23:02:04","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.5750706479286245,-2.2524633888174526,0.71338606911949],"aabb_xy":[[0.5686568342854394,-2.2588732090651202],[0.5814844615718093,-2.246053568569783]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.6037954883414445,-1.0140014419731136,0.71338606911949],"aabb_xy":[[0.5909235848405043,-1.0940014423869495],[0.6166673918423846,-0.9340014415592773]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.49847391049879064,0.029955212997208047,0.71338606911949],"aabb_xy":[[-0.5484739108593566,-0.020024774212394895],[-0.4484739101382245,0.07993520020681098]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.5088824273779741,-1.7135480883040959,0.71338606911949],"aabb_xy":[[-0.5438824273544699,-1.7230127043517125],[-0.47388242740147823,-1.7040834722564793]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.09347261487036795,-0.715654427248642,0.71338606911949],"aabb_xy":[[-0.15747261126594103,-0.7796177156673756],[-0.029472618474794876,-0.6516911388299085]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.5259560339247552,-2.476355596448633,0.71338606911949],"aabb_xy":[[-0.6156431102328708,-2.5663555967030836],[-0.43626895761663986,-2.3863555961941825]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.18736026593980903,-2.0121178848973447,0.71338606911949],"aabb_xy":[[-0.21364909026024967,-2.0383893185519955],[-0.16107144161936834,-1.9858464512426932]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.46272062801186986,-1.6254685770983448,0.71338606911949],"aabb_xy":[[-0.4977206279078887,-1.6338428126102846],[-0.42772062811585093,-1.6170943415864045]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.6237319836432746,-0.47278539219348303,0.71338606911949],"aabb_xy":[[0.5899564244525817,-0.486823887406648],[0.6575075428339676,-0.45874689698031795]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.11512746623234538,-1.8279169992071571,0.71338606911949],"aabb_xy":[[-0.2001274646497686,-1.9127912946694423],[-0.03012746781492215,-1.7430427037448724]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.6350287183015717,-1.883309892964276,0.71338606911949],"aabb_xy":[[0.630950560394522,-1.887390873212539],[0.6391068762086214,-1.8792289127160124]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.47166559729301033,0.9025786326997118,0.71338606911949],"aabb_xy":[[-0.49458131017806023,0.8796743355632884],[-0.44874988440796043,0.9254829298361354]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.044176769344352884,-0.9487276084097573,0.71338606911949],"aabb_xy":[[0.019176769411835,-0.9556102766306808],[0.06917676927687078,-0.9418449401888341]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.23579035476566595,1.2263574735352214,0.71338606911949],"aabb_xy":[[-0.29979035617365657,1.1745685220112965],[-0.17179035335767529,1.2781464250591459]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.38708036633694265,1.0422395815457972,0.71338606911949],"aabb_xy":[[0.3170803645281972,1.0208858127816098],[0.4570803681456881,1.0635933503099846]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.35797247454085523,-0.4463174502983618,0.71338606911949],"aabb_xy":[[-0.36538493008224376,-0.45216866071998973],[-0.3505600189994668,-0.44046623987673383]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.48303347896025195,1.4359481106301355,0.71338606911949],"aabb_xy":[[0.433054670449936,1.3859481106244167],[0.5330122874705678,1.4859481106358543]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.20059853972132613,1.4686194897480624,0.71338606911949],"aabb_xy":[[-0.20785978729173354,1.4558324794845532],[-0.19333729215091872,1.4814065000115721]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.520542009043101,1.3279324504158794,0.71338606911949],"aabb_xy":[[-0.5357141783247343,1.3127635934876762],[-0.5053698397614677,1.343101307344083]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.25473162902541197,-1.4718374138128656,0.71338606911949],"aabb_xy":[[-0.27973162857715045,-1.4819798976780003],[-0.22973162947367348,-1.4616949299477309]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.3921796794993101,-0.5217683796837176,0.71338606911949],"aabb_xy":[[-0.41246398222270875,-0.5420510048264263],[-0.3718953767759112,-0.5014857545410086]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.026104882517902217,-1.261718218721548,0.71338606911949],"aabb_xy":[[-0.0486048823318046,-1.2661928350920286],[-0.003604882703999838,-1.2572436023510671]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864620627547185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8455.png","name":"8455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8455.png","name":"8455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7057.png","name":"7057"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7119.png","name":"7119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5142.png","name":"5142"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5931.png","name":"5931"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":677.0616898933442,"rotation_z_degrees":238.29188036648816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0064082767844657156,0.016913304255497443,-0.0002673118204355972]},{"name":"camera_2","offset_m":[-0.0004579830676809393,-0.004789313253201604,0.005191441928972019]},{"name":"camera_3","offset_m":[-0.004324950491960418,0.01063701034625767,0.0016939506459717063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009603761698386941,-0.0005605447073061289,0.0009533570717700697],"end_effector_yaw_offset_degrees":-0.22349907999566243},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000586791858731973,-0.0019788973546151045,0.0005157837385131969],"end_effector_yaw_offset_degrees":0.5474609394745373},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00047096249103453693,0.0010130812182993867,0.0011528234265325856],"end_effector_yaw_offset_degrees":-0.3803641689191102}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004154769990369703,-0.0035827480351030075],"position_m":[0.29665476999036966,0.085617251964897,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035696336574703334,0.0022625488234715597],"position_m":[0.14146963365747034,0.2584625488234715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003012411400920619,0.004894042855059626],"position_m":[0.34488758859907936,0.30519404285505963,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011001188525804752,0.0049045590514137484],"position_m":[0.22519988114741954,-0.40029544094858627,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"75cbf06ce5fdad18727dfb159c154e8b332f7aaf8f50238efab1b82288e25ef1","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8455/tex_ceiling_textures_5931/tex_floor_textures_5142/tex_table_textures_7057/tex_wall_textures_7119","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7541684876077194358,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7541684876077194358,"visual_seed":7541684876077194358,"scene_id":"lab_003","finished_at":"2026-09-02T23:04:46"} +{"episode_id":"ep_000016","started_at":"2026-09-02T23:04:49","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.5883936896176225,-1.1438728791929051,0.71338606911949],"aabb_xy":[[-0.6533936881746953,-1.1736254126067878],[-0.5233936910605497,-1.1141203457790225]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.047955882346489176,1.506746922827459,0.71338606911949],"aabb_xy":[[-0.11195587877381108,1.4595772990053626],[0.01604411408083272,1.5539165466495555]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.2322301065902061,0.937060272764541,0.71338606911949],"aabb_xy":[[-0.2972301066245088,0.8903595960842138],[-0.16723010655590337,0.9837609494448684]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[0.567167267279375,-1.8232545252727683,0.71338606911949],"aabb_xy":[[0.5563942933580073,-1.8582545234918075],[0.5779402412007428,-1.7882545270537296]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.08523399954653466,1.645356804189141,0.71338606911949],"aabb_xy":[[-0.0995684246726981,1.633296588634602],[-0.07089957442037119,1.6574170197436797]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.45048962134832116,-1.8700166934073124,0.71338606911949],"aabb_xy":[[0.41298962117644916,-1.9027174287902193],[0.48798962152019304,-1.837315958024405]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.6425667458394806,-2.4571441178658615,0.71338606911949],"aabb_xy":[[-0.6654824587245305,-2.4800484150022855],[-0.6196510329544307,-2.4342398207294385]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.5336622391015629,0.7099657425330506,0.71338606911949],"aabb_xy":[[0.5159866085129644,0.6922855262536477],[0.5513378696901611,0.7276459588124532]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.5076671633907912,0.8315875760820264,0.71338606911949],"aabb_xy":[[-0.5716671637683247,0.7818423092312141],[-0.4436671630132575,0.8813328429328386]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.4126626916780405,-0.2916975348333066,0.71338606911949],"aabb_xy":[[-0.4554293985574607,-0.3556975382551091],[-0.3698959847986203,-0.22769753141150417]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.4071979131161376,-2.3390899998727894,0.71338606911949],"aabb_xy":[[0.38713950150289733,-2.359155086781947],[0.4272563247293779,-2.319024912963632]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.6382555845737186,-0.5233939072447447,0.71338606911949],"aabb_xy":[[0.6007555830580869,-0.5346206802608897],[0.6757555860893503,-0.5121671342285996]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.5833579898511599,-1.88136442234367,0.71338606911949],"aabb_xy":[[-0.648357990808287,-1.9333126342773759],[-0.5183579888940326,-1.8294162104099647]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.015610320392465904,-2.5030425616291123,0.71338606911949],"aabb_xy":[[-0.012234716388141218,-2.533827060367424],[0.04345535717307303,-2.4722580628908006]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.08512004709010057,1.1162497482573435,0.71338606911949],"aabb_xy":[[0.03012004791351107,1.0612600734823856],[0.14012004626669006,1.1712394230323009]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.37919483186868186,1.5798350214846848,0.71338606911949],"aabb_xy":[[-0.3879760590159182,1.571055274196155],[-0.3704136047214457,1.5886147687732155]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.10366031557551414,1.487289386224535,0.71338606911949],"aabb_xy":[[0.06866031638269585,1.4763223402268724],[0.13866031476833238,1.4982564322221974]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.3174285267491841,0.6893580129648167,0.71338606911949],"aabb_xy":[[0.22742852733081315,0.655982516120627],[0.4074285261675549,0.7227335098090064]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.011012157880164963,0.8618985572905795,0.71338606911949],"aabb_xy":[[-0.04398784174158088,0.8069148645031069],[0.0660121575019108,0.9168822500780524]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.5797489585582565,1.0678619463009476,0.71338606911949],"aabb_xy":[[0.5689084803317416,1.0506756650102986],[0.5905894367847714,1.085048227591596]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.6419510135217631,-0.447068800445487,0.71338606911949],"aabb_xy":[[-0.691951014805603,-0.4970476548361091],[-0.591951012237923,-0.39708994605486486]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.08308174768706744,-1.5891564611245763,0.71338606911949],"aabb_xy":[[0.07373474010477221,-1.6034600833422203],[0.09242875526936267,-1.5748528389069323]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.47062551285030974,-0.07428460051672792,0.71338606911949],"aabb_xy":[[-0.50812551127371,-0.08744881448455853],[-0.4331255144269093,-0.061120386548897274]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[-0.5345031986637778,-0.3502263662872087,0.71338606911949],"aabb_xy":[[-0.5689656766768655,-0.35689004347013153],[-0.5000407206506899,-0.3435626891042859]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[-0.22054159301643633,-0.3335649395276783,0.71338606911949],"aabb_xy":[[-0.2905415894263981,-0.3540028751793599],[-0.15054159660647448,-0.31312700387599646]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.6629320860663204,-0.004844865129606468,0.71338606911949],"aabb_xy":[[0.656837458178202,-0.013414259681275187],[0.6690267139544387,0.0037245294220622505]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.02880265238582813,-2.191386044033323,0.71338606911949],"aabb_xy":[[-0.07880265404732288,-2.241384486289025],[0.021197349275666626,-2.1413876017776197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851008473922816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8014.png","name":"8014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3339.png","name":"3339"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9042.png","name":"9042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4936.png","name":"4936"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":805.3398953507372,"rotation_z_degrees":261.2584969057815,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015439911413221404,-0.007156081142416237,-0.0076790210692279405]},{"name":"camera_2","offset_m":[0.008899066915051108,-0.0029363270355046295,-0.015488609457152842]},{"name":"camera_3","offset_m":[-0.006245104812837061,0.010222655868952334,0.011571637801290339]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00038286045379900104,0.0004897023629990556,0.0017947412175870932],"end_effector_yaw_offset_degrees":0.6660403238536108},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013272737814140896,-0.00033089571468108135,0.0018313315987080196],"end_effector_yaw_offset_degrees":-0.3711555783895395},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014001175944505758,-0.001237364361670038,-0.001845607850215905],"end_effector_yaw_offset_degrees":0.6522097570668097}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003932443861218507,0.001287692385681335],"position_m":[0.2921067556138781,0.09048769238568134,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002610412870131699,0.001942187354985742],"position_m":[0.1352895871298683,0.25814218735498573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003471641221952735,0.002752717926659194],"position_m":[0.34442835877804723,0.3030527179266592,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036678912290405976,0.003546846868333539],"position_m":[0.2226321087709594,-0.40165315313166644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9f5a02f176c7206601ff43c5f37e7a7a8c687059504a5bb81e372936d2d7d6d3","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9448/tex_ceiling_textures_4936/tex_floor_textures_9042/tex_table_textures_8014/tex_wall_textures_3339","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4519310034842825968,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4519310034842825968,"visual_seed":4519310034842825968,"scene_id":"lab_003","finished_at":"2026-09-02T23:07:26"} +{"episode_id":"ep_000017","started_at":"2026-09-02T23:08:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.2819317851344503,0.9054670735553438,0.71338606911949],"aabb_xy":[[0.2737172400187662,0.8967904832577024],[0.29014633025013414,0.9141436638529851]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.2927966769769031,-0.9348367216470779,0.71338606911949],"aabb_xy":[[-0.3009103316502802,-0.9429425381011068],[-0.284683022303526,-0.9267309051930487]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.12490573457092435,-0.7463147612224308,0.71338606911949],"aabb_xy":[[0.06990573494917851,-0.8012984540099035],[0.1799057341926702,-0.6913310684349581]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.6433738722684847,-1.2796973414810253,0.71338606911949],"aabb_xy":[[0.609933697072465,-1.3131409673119552],[0.6768140474645042,-1.246253715650095]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.6035824359734316,0.5559927882290134,0.71338606911949],"aabb_xy":[[0.5955889461781497,0.5479946562885379],[0.6115759257687138,0.5639909201694892]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.5287764999789053,1.335534961414762,0.71338606911949],"aabb_xy":[[0.4647808025838087,1.2715349631140533],[0.5927721973740019,1.3995349597154707]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.3826837457798353,-0.8341870282237998,0.71338606911949],"aabb_xy":[[-0.4201837457236018,-0.8424801182586363],[-0.345183745836069,-0.8258939381889632]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.567009111295629,1.1718955889610458,0.71338606911949],"aabb_xy":[[-0.5895091113057772,1.1577993693214426],[-0.5445091112854806,1.1859918086006491]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.5638884535607375,-1.7211639667137681,0.71338606911949],"aabb_xy":[[-0.5814351484768564,-1.7586639682780194],[-0.5463417586446185,-1.6836639651495169]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.5631855992578632,-1.5735939978965605,0.71338606911949],"aabb_xy":[[0.5480134299762298,-1.5887628548247639],[0.5783577685394965,-1.5584251409683572]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.40156961167138516,-1.252526209795005,0.71338606911949],"aabb_xy":[[0.31784738617130276,-1.3425262133297007],[0.4852918371714677,-1.1625262062603088]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.3474472102322599,-0.904847959523164,0.71338606911949],"aabb_xy":[[0.28344721312015414,-0.9538803293175747],[0.4114472073443655,-0.8558155897287535]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.1812438820884653,-0.552815521634082,0.71338606911949],"aabb_xy":[[-0.24524388138263353,-0.6168016620029361],[-0.1172438827942971,-0.4888293812652277]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.10052237645456907,-0.12981153193961115,0.71338606911949],"aabb_xy":[[-0.17052237909115542,-0.14991639693547662],[-0.030522373817982715,-0.10970666694374562]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.6036537489262066,-2.085845255027886,0.71338606911949],"aabb_xy":[[-0.6936537486493808,-2.1089186075630653],[-0.5136537492030324,-2.0627719024927056]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.3691462096323414,-1.1625207786353253,0.71338606911949],"aabb_xy":[[-0.3751832226330062,-1.1685474797042736],[-0.3631091966316767,-1.1564940775663775]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.611490179547542,1.119654420867565,0.71338606911949],"aabb_xy":[[0.5314901784744216,1.1098763745301805],[0.6914901806206623,1.1294324672049494]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.5000805478355186,0.3981331943819204,0.71338606911949],"aabb_xy":[[0.43508054780121586,0.35143251770159306],[0.5650805478698213,0.44483387106224764]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.6024923217186541,-0.9904194253706367,0.71338606911949],"aabb_xy":[[-0.6324598786284799,-1.0204194256685224],[-0.5725247648088285,-0.9604194250727509]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.014986598639304738,-2.1469565828102377,0.71338606911949],"aabb_xy":[[0.00305386427747667,-2.159338735618097],[0.026919333001132806,-2.1345744300023783]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[-0.588900183587361,-1.338383981143149,0.71338606911949],"aabb_xy":[[-0.6789001800882326,-1.384295623561607],[-0.49890018708648914,-1.2924723387246906]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.1360954007033246,-1.4887986078651245,0.71338606911949],"aabb_xy":[[-0.1910953989050694,-1.529320574491562],[-0.08109540250157975,-1.4482766412386867]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.4252311948252667,-0.3425143793675227,0.71338606911949],"aabb_xy":[[0.3752581292927513,-0.3925143791800558],[0.47520426035778224,-0.29251437955498993]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.5687483244995393,-2.1234433725458266,0.71338606911949],"aabb_xy":[[0.5508792167450837,-2.1372762805230376],[0.5866174322539947,-2.1096104645686156]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.3043964029429057,-2.4260860814380627,0.71338606911949],"aabb_xy":[[0.2543964042969845,-2.476005625097525],[0.3543964015888269,-2.3761665377786003]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.1177332149304321,-2.440204343632336,0.71338606911949],"aabb_xy":[[0.06010274604316122,-2.500204342559046],[0.17536368381770293,-2.380204344705625]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.4518061184007367,-2.031685683791509,0.71338606911949],"aabb_xy":[[-0.4590673659711441,-2.0444726940550186],[-0.4445448708303293,-2.0188986735279997]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[0.6227367240770392,0.361129633738527,0.71338606911949],"aabb_xy":[[0.6174042094224261,0.3558053054932915],[0.6280692387316522,0.3664539619837627]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.5336602274407876,-1.4455355042471678,0.71338606911949],"aabb_xy":[[-0.5392418990749164,-1.4580355040649433],[-0.5280785558066587,-1.4330355044293923]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[-0.6676111040984115,-0.34507097498485617,0.71338606911949],"aabb_xy":[[-0.6710517803384687,-0.34893240795922065],[-0.6641704278583543,-0.3412095420104917]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[0.3447022626283691,1.254915490498841,0.71338606911949],"aabb_xy":[[0.28957705699877834,1.194915489057554],[0.3998274682579599,1.3149154919401282]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[0.562011322282536,-1.4428525393129108,0.71338606911949],"aabb_xy":[[0.5438054986212885,-1.4538779398949027],[0.5802171459437838,-1.4318271387309194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6869855869551065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7032.png","name":"7032"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7032.png","name":"7032"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/47.png","name":"47"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1489.png","name":"1489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":752.8274883644991,"rotation_z_degrees":162.98927848867126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0066697056217478005,0.014639528554290782,0.007042808184600204]},{"name":"camera_2","offset_m":[0.016564189581766243,0.011816816322386691,0.013142042331314652]},{"name":"camera_3","offset_m":[0.0034180232508029193,0.01395562746314179,0.0058132948105524135]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019071205885723135,0.0017744540033144073,-0.0013520819736826508],"end_effector_yaw_offset_degrees":0.8560244772203076},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014320368660857192,-0.0015778335790290338,0.0017698495386785527],"end_effector_yaw_offset_degrees":0.39156350888562486},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016084208020059176,-0.00012791511489993238,-0.0019590799495984275],"end_effector_yaw_offset_degrees":0.279538472146011}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030501531376443567,-0.0043255930870097735],"position_m":[0.28944984686235564,0.08487440691299022,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007013061075702683,0.0006525917114070644],"position_m":[0.13719869389242972,0.25685259171140706,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006103849274629383,-0.001311560174743992],"position_m":[0.34851038492746295,0.298988439825256,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004809423331329567,0.0003011150744951178],"position_m":[0.23110942333132956,-0.4048988849255049,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7572a58b46d4a04561501eec606b91eefbb26ef38230ffa817b39331cb2129cd","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7032/tex_ceiling_textures_4196/tex_floor_textures_8967/tex_table_textures_47/tex_wall_textures_1489","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8840948157169921681,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8840948157169921681,"visual_seed":8840948157169921681,"scene_id":"lab_003","finished_at":"2026-09-02T23:11:35"} +{"episode_id":"ep_000018","started_at":"2026-09-02T23:11:39","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.2955678335071634,1.2158258853833304,0.71338606911949],"aabb_xy":[[-0.3330678336127564,1.209003723530349],[-0.25806783340157047,1.2226480472363113]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.6121578522631488,0.7232534912131161,0.71338606911949],"aabb_xy":[[0.5946578531287815,0.7133738641755283],[0.6296578513975158,0.7331331182507039]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.4743301358080497,1.7320867410251126,0.71338606911949],"aabb_xy":[[-0.502175172588657,1.701302242286801],[-0.44648509902744266,1.7628712397634243]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.14279620635988588,-1.214743279317443,0.71338606911949],"aabb_xy":[[0.09269874237881223,-1.2787432798272547],[0.19289367034095947,-1.150743278807631]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.03559627737223792,-1.0354310600312455,0.71338606911949],"aabb_xy":[[-0.06188510169267857,-1.0617024936858965],[-0.009307453051797253,-1.009159626376594]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.03329202695398703,1.4243204754471042,0.71338606911949],"aabb_xy":[[-0.03070797234018119,1.36033433507825],[0.09729202624815525,1.4883066158159584]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.2469591821944288,-2.232485429047371,0.71338606911949],"aabb_xy":[[-0.33195918061185203,-2.317359724509656],[-0.16195918377700558,-2.147611133585086]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.6640876802286879,1.1542834930414636,0.71338606911949],"aabb_xy":[[-0.6728897355376606,1.1464721668865343],[-0.6552856249197152,1.1620948191963925]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.5555784983405136,0.8127895797641638,0.71338606911949],"aabb_xy":[[-0.5794147159811187,0.7227895789556773],[-0.5317422806999086,0.9027895805726504]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.031150577378575073,-2.2187879219724884,0.71338606911949],"aabb_xy":[[-0.09615057837907559,-2.269574287127163],[0.033849423621925445,-2.168001556817813]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.11370264951069153,-1.1579944374888302,0.71338606911949],"aabb_xy":[[-0.1837026529022535,-1.193310211192261],[-0.043702646119129544,-1.1226786637853994]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.5507645388800666,-0.7648433545435129,0.71338606911949],"aabb_xy":[[0.46704231337998414,-0.8548433580782088],[0.6344867643801491,-0.6748433510088169]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.0900236845031438,-0.5589188955151378,0.71338606911949],"aabb_xy":[[-0.17002368557626413,-0.5686969418525223],[-0.010023683430023467,-0.5491408491777534]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.7063030567142268,0.2053421265661406,0.71338606911949],"aabb_xy":[[0.6954625784877119,0.18815584527549176],[0.7171435349407417,0.22252840785678937]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.016976055693668224,-0.7460813894531111,0.71338606911949],"aabb_xy":[[-0.027749029615036003,-0.7810813876721501],[-0.006203081772300445,-0.7110813912340721]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.12989104514481986,1.004805527594125,0.71338606911949],"aabb_xy":[[-0.17769721275858852,0.939805524887066],[-0.08208487753105122,1.069805530301184]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.051962814677919966,-1.9513420188734287,0.71338606911949],"aabb_xy":[[-0.08696281457393884,-1.9597162543853686],[-0.016962814781901103,-1.942967783361489]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.2715245664076429,-1.194146248554479,0.71338606911949],"aabb_xy":[[0.2372082892330249,-1.2441462485276567],[0.30584084358226077,-1.1441462485813012]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.5075351997977913,-0.9566299977235386,0.71338606911949],"aabb_xy":[[0.47190604389783153,-0.9922626644803917],[0.543164355697751,-0.9209973309666858]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.10271671849390496,0.6005199420616716,0.71338606911949],"aabb_xy":[[-0.12521585422013193,0.5780199412834086],[-0.080217582767678,0.6230199428399346]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.02355532906341229,1.5911355169134418,0.71338606911949],"aabb_xy":[[-0.07355034002286431,1.5411355178778503],[0.02643968189603975,1.6411355159490337]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.5859127909424608,-2.316215951159532,0.71338606911949],"aabb_xy":[[0.525912789299539,-2.3682161004514763],[0.6459127925853827,-2.264215801867588]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.22102315738796796,-1.9710752040458033,0.71338606911949],"aabb_xy":[[0.1997451492444957,-2.036075206371876],[0.2423011655314402,-1.9060752017197298]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.3062818659536102,0.7706590325462028,0.71338606911949],"aabb_xy":[[-0.3702818623491832,0.7066957441274694],[-0.24228186955803704,0.8346223209649365]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[-0.6692237561663805,-0.03260660135849358,0.71338606911949],"aabb_xy":[[-0.6847795255766458,-0.048157034602900786],[-0.6536679867561153,-0.017056168114086393]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.2706919835434099,0.5660778809869997,0.71338606911949],"aabb_xy":[[-0.3205087630082446,0.5160778825026964],[-0.22087520407857508,0.6160778794713031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876093401222343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1197.png","name":"1197"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5211.png","name":"5211"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":838.5106766896542,"rotation_z_degrees":94.99446204260532,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0065714489369029,-0.018231978136429614,0.015448520451106982]},{"name":"camera_2","offset_m":[0.0021417250744377066,-0.011182220282115409,0.019172419853749696]},{"name":"camera_3","offset_m":[0.004628665051707049,-0.004136625663938243,-0.013377592949536998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016344952296773432,-0.0006416176267495146,0.0018506486560197618],"end_effector_yaw_offset_degrees":0.41191806389912067},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013759036676456219,-0.0009171116518961809,0.0018165571818810782],"end_effector_yaw_offset_degrees":-0.9896131869486746},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[4.082110472617513e-05,0.00021902292214177107,0.0002240552888149775],"end_effector_yaw_offset_degrees":0.31673505122714185}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004258787497493422,0.0037169212704199423],"position_m":[0.28824121250250656,0.09291692127041995,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020615230861986186,0.0023529127488877534],"position_m":[0.1399615230861986,0.25855291274888775,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00011598449236165619,0.0016097572957614352],"position_m":[0.3477840155076383,0.30190975729576147,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00040415518287737276,-0.0035745222626614526],"position_m":[0.22670415518287737,-0.4087745222626615,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"163a76f29b4149fdda80c5e3001f130cb8c2c4c315fa5cb4255ce85b11f8e2fa","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4165/tex_ceiling_textures_5211/tex_floor_textures_7847/tex_table_textures_1197/tex_wall_textures_544","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4193287401385249040,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4193287401385249040,"visual_seed":4193287401385249040,"scene_id":"lab_003","finished_at":"2026-09-02T23:14:28"} +{"episode_id":"ep_000019","started_at":"2026-09-02T23:15:55","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.5836546117347325,-1.207037999589524,0.71338606911949],"aabb_xy":[[0.5286546121129868,-1.2620216923769967],[0.6386546113564785,-1.1520543068020512]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.38012446532847755,-1.3394280085847434,0.71338606911949],"aabb_xy":[[-0.41603796975346724,-1.375341516801498],[-0.34421096090348785,-1.3035145003679889]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.2393853077749044,-0.9847317182331796,0.71338606911949],"aabb_xy":[[0.1753853075144336,-1.0297405175861072],[0.3033853080353752,-0.9397229188802514]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.07703650416272978,-1.5913785610128293,0.71338606911949],"aabb_xy":[[0.013036500944091936,-1.6381016729118378],[0.14103650738136764,-1.5446554491138211]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.54174984436682,-0.8199490638263798,0.71338606911949],"aabb_xy":[[0.526586971389883,-0.8351145211214986],[0.5569127173437571,-0.8047836065312611]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.21425437343000958,1.364755281499661,0.71338606911949],"aabb_xy":[[-0.25075019405728827,1.3282713390729035],[-0.17775855280273078,1.4012392239264186]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.3455285868248933,-0.9276521567720155,0.71338606911949],"aabb_xy":[[-0.3581312859619697,-0.940247552996881],[-0.3329258876878168,-0.91505676054715]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.288179542656541,-0.5451257217800025,0.71338606911949],"aabb_xy":[[-0.2982612497351144,-0.625125719672117],[-0.27809783557796747,-0.46512572388788775]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[0.06402857221914726,-2.1312940546146217,0.71338606911949],"aabb_xy":[[0.04938516666511428,-2.145952774271406],[0.07867197777318025,-2.1166353349578375]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.325599432442873,-1.966994498320613,0.71338606911949],"aabb_xy":[[-0.3332237005330512,-1.9746277218571566],[-0.31797516435269474,-1.9593612747840692]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.6163532951865798,1.5320761208672695,0.71338606911949],"aabb_xy":[[0.5753353518002089,1.4820761202363124],[0.6573712385729507,1.582076121498227]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.31584946869026576,1.4550689628480362,0.71338606911949],"aabb_xy":[[0.30448773403697954,1.4437004964417481],[0.32721120334355186,1.4664374292543243]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.08944490488008627,-1.9458987834740218,0.71338606911949],"aabb_xy":[[0.019444902243499915,-1.9660036484698868],[0.15944490751667262,-1.9257939184781558]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.47289505578799473,-0.8577818878467538,0.71338606911949],"aabb_xy":[[-0.537895056745122,-0.9097300997804594],[-0.4078950548308676,-0.8058336759130482]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5761390197771923,-2.164863324428589,0.71338606911949],"aabb_xy":[[0.49613901950358535,-2.2378128722543056],[0.6561390200507993,-2.091913776602872]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.22912355500052484,-1.4196355454335887,0.71338606911949],"aabb_xy":[[0.13912355558215395,-1.4530110422777782],[0.3191235544188957,-1.3862600485893988]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.6484070157642476,0.19910317653871346,0.71338606911949],"aabb_xy":[[0.5834070157299449,0.15240249985838616],[0.7134070157985504,0.24580385321904075]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.21227720202627576,0.44565815926137153,0.71338606911949],"aabb_xy":[[-0.21968965756766423,0.43980694883974353],[-0.20486474648488728,0.45150936968299943]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.5850164236669945,0.8008084746827242,0.71338606911949],"aabb_xy":[[-0.6001187251280123,0.7857069530516622],[-0.5699141222059761,0.8159099963137858]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.4220903902982249,1.7503664440240825,0.71338606911949],"aabb_xy":[[0.4042968833633085,1.7325666984282846],[0.43988389723314136,1.76816618961988]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.0021790004507621363,0.8170891294958293,0.71338606911949],"aabb_xy":[[-0.057821000410050664,0.7656626994893428],[0.06217900131157494,0.8685155595023156]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.6588173982649781,-0.9656832241056743,0.71338606911949],"aabb_xy":[[0.5948174018694049,-1.0296465125244079],[0.7228173946605511,-0.9017199356869408]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.48298805139418466,-1.9265674044518821,0.71338606911949],"aabb_xy":[[-0.5179880527456664,-1.9469271404087032],[-0.4479880500427029,-1.9062076684950615]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[0.5643106458546154,1.0422719652165653,0.71338606911949],"aabb_xy":[[0.541810646040713,1.0377973488460845],[0.5868106456685178,1.046746581587046]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.5469682611804438,-1.586383550635247,0.71338606911949],"aabb_xy":[[0.4829682597724532,-1.6381725021591718],[0.6109682625884345,-1.5345945991113223]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[0.5078927707213186,-0.06350667598804671,0.71338606911949],"aabb_xy":[[0.4438927704473403,-0.11357277618533466],[0.5718927709952968,-0.013440575790758733]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.6347610185054162,0.8091532782583659,0.71338606911949],"aabb_xy":[[0.6114791763072848,0.7241532769611377],[0.6580428607035474,0.8941532795555939]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[-0.17840743675335557,-1.3081096667220342,0.71338606911949],"aabb_xy":[[-0.21286978415149735,-1.3426035491198567],[-0.14394508935521375,-1.2736157843242113]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686500924275623,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7651.png","name":"7651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7651.png","name":"7651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1675.png","name":"1675"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2939.png","name":"2939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9239.png","name":"9239"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":649.014604631309,"rotation_z_degrees":69.45555482144329,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008280937699489122,0.003645835331154087,0.00429063052213411]},{"name":"camera_2","offset_m":[0.007673981589200279,0.011328993384777563,-7.087234817745869e-05]},{"name":"camera_3","offset_m":[-0.007658021583311832,-0.006682342377586763,0.015492093427797605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001642425417556935,-0.0004020945031597903,-0.0005599805547827784],"end_effector_yaw_offset_degrees":0.5546778803318597},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014737133142684322,0.0006426040452641012,0.0013433094155374747],"end_effector_yaw_offset_degrees":-0.048464159369325355},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016839545673187448,-0.0015522859785324847,-9.307024731739465e-05],"end_effector_yaw_offset_degrees":0.10410426038254106}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002195604631152104,-0.004760835935770627],"position_m":[0.2903043953688479,0.08443916406422937,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003615971265316156,0.0049530000723698895],"position_m":[0.14151597126531615,0.26115300007236986,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015456848671770137,-0.004376784893688605],"position_m":[0.349445684867177,0.2959232151063114,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001635265786387844,0.0011359703763277416],"position_m":[0.22466473421361216,-0.40406402962367227,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c4de93dfe2fb7751466fdc885c2b092f2238ef5cdb4ff081b31ee9af16cabf1a","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7651/tex_ceiling_textures_9239/tex_floor_textures_2939/tex_table_textures_9484/tex_wall_textures_1675","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8909474535791919387,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8909474535791919387,"visual_seed":8909474535791919387,"scene_id":"lab_003","finished_at":"2026-09-02T23:18:40"} +{"episode_id":"ep_000020","started_at":"2026-09-02T23:18:43","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.21510825733885103,-2.4270471981219104,0.71338606911949],"aabb_xy":[[-0.3001082557562742,-2.511921493584196],[-0.13010825892142777,-2.342172902659626]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.6449572318627277,1.1518709150015045,0.71338606911949],"aabb_xy":[[0.6186684075422869,1.125599481346853],[0.6712460561831682,1.1781423486561555]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.10348035583554815,-1.809631661662536,0.71338606911949],"aabb_xy":[[-0.1161071431227445,-1.8191777353641092],[-0.0908535685483518,-1.8000855879609634]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.47919770760434877,0.6593350261048441,0.71338606911949],"aabb_xy":[[-0.5407884668283416,0.5953350279957973],[-0.417606948380356,0.7233350242138911]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.3716668047942062,-0.630171952800872,0.71338606911949],"aabb_xy":[[-0.4356668051717398,-0.6799172196516842],[-0.30766680441667255,-0.5804266859500596]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.2798080745857129,-1.9506032371069226,0.71338606911949],"aabb_xy":[[0.22980879941727678,-2.00060323838287],[0.3298073497541491,-1.9006032358309755]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.2029084150441532,1.6999551691778447,0.71338606911949],"aabb_xy":[[-0.22040834847813653,1.68245516925761],[-0.1854084816101698,1.717455169098079]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.31141211862907525,0.6862615285137639,0.71338606911949],"aabb_xy":[[0.2743780092010155,0.6518843211800545],[0.348446228057135,0.7206387358474733]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.4845034034000612,-2.336112034103246,0.71338606911949],"aabb_xy":[[-0.5070025391262882,-2.358612034881509],[-0.46200426767383423,-2.3136120333249828]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.516552967346561,-0.46373647653987593,0.71338606911949],"aabb_xy":[[0.512849706017422,-0.4674384948485937],[0.5202562286756998,-0.46003445823115796]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.4970790638325092,-1.6998740963751793,0.71338606911949],"aabb_xy":[[-0.5770790624893953,-1.7143789552994424],[-0.41707906517562326,-1.6853692374509166]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.08807937805535027,1.7624834593778762,0.71338606911949],"aabb_xy":[[-0.1380793793391902,1.712504604987254],[-0.03807937677151029,1.8124623137684983]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.11274052037866467,-2.41835603989924,0.71338606911949],"aabb_xy":[[0.06774793366021425,-2.463356039173689],[0.15773310709711508,-2.3733560406247913]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.3093075652385604,0.14952029504960151,0.71338606911949],"aabb_xy":[[-0.35930756618909315,0.11797114804608008],[-0.25930756428802754,0.1810694420531229]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.3025611810182592,-1.2599127831275527,0.71338606911949],"aabb_xy":[[-0.3121928172386888,-1.2695500959072616],[-0.29292954479782957,-1.2502754703478438]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.6641131681149586,-1.9985066090844077,0.71338606911949],"aabb_xy":[[0.6189418502667896,-2.062506606228946],[0.7092844859631275,-1.9345066119398695]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.5813565129093151,-2.103848613789938,0.71338606911949],"aabb_xy":[[-0.671356511503785,-2.1200992001033594],[-0.49135651431484506,-2.087598027476517]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.01627347858296635,-2.5364393661266003,0.71338606911949],"aabb_xy":[[-0.008726521349551538,-2.543322034347524],[0.04127347851548424,-2.5295566979056767]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.6606122220953896,-2.3470120597851323,0.71338606911949],"aabb_xy":[[-0.6654558168566196,-2.3518637122641164],[-0.6557686273341596,-2.342160407306148]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.5627613622889941,-1.3832212980360827,0.71338606911949],"aabb_xy":[[-0.5828197739022344,-1.40328638494524],[-0.5427029506757538,-1.363156211126925]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.3215051800925733,-0.10513704928079726,0.71338606911949],"aabb_xy":[[-0.3465051792582064,-0.11208929498615383],[-0.29650518092694017,-0.09818480357544068]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.3919013052097871,-1.314098584778804,0.71338606911949],"aabb_xy":[[-0.4065447107638201,-1.328757304435588],[-0.3772578996557541,-1.2994398651220196]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.5507534406153702,1.50250895942145,0.71338606911949],"aabb_xy":[[-0.6007376763235475,1.4525089606079544],[-0.500769204907193,1.5525089582349456]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.12140932136182137,-1.572930389174429,0.71338606911949],"aabb_xy":[[0.03172224505370591,-1.6629303894288796],[0.21109639766993682,-1.4829303889199785]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.21476296588633448,-1.070992651032185,0.71338606911949],"aabb_xy":[[-0.30476296530470537,-1.1043681478763745],[-0.12476296646796359,-1.037617154187995]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.15686938954142837,1.2436329481411401,0.71338606911949],"aabb_xy":[[-0.17875913713036917,1.153632950851891],[-0.13497964195248757,1.3336329454303892]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[0.6803823893743786,-1.6647058229877336,0.71338606911949],"aabb_xy":[[0.675044813708374,-1.689705823916873],[0.6857199650403831,-1.6397058220585934]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.11388003475394681,-2.109808221452223,0.71338606911949],"aabb_xy":[[0.10072878878265745,-2.13480822120891],[0.12703128072523617,-2.084808221695537]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[-0.6054835749354242,-2.5463782294377624,0.71338606911949],"aabb_xy":[[-0.6904835736274988,-2.5783640928326412],[-0.5204835762433495,-2.5143923660428835]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_29","position":[0.47612790633817004,-1.5659743149938847,0.71338606911949],"aabb_xy":[[0.438627906232577,-1.5727964768468659],[0.5136279064437629,-1.5591521531409036]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890926569847802,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3845.png","name":"3845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8241.png","name":"8241"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9505.png","name":"9505"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6134.png","name":"6134"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":648.8593452034602,"rotation_z_degrees":216.05793159038552,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013034695478560222,0.017084479809440983,0.001563985659729563]},{"name":"camera_2","offset_m":[0.019944547801572645,-0.017740626515918106,-0.017463493171441646]},{"name":"camera_3","offset_m":[-0.00826070503114079,-0.015587022360551362,-0.0012835695289818566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029107694705402497,0.0010708254805775965,-0.0013363968013944652],"end_effector_yaw_offset_degrees":0.9725904778947438},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00020709190170328188,0.001017431980447753,-0.0004699933071561184],"end_effector_yaw_offset_degrees":0.36815612142422527},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013648669956052295,-0.0019697728119154813,0.0003747052069472496],"end_effector_yaw_offset_degrees":0.9023224492626181}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001092226257541554,0.004414590376453476],"position_m":[0.29359222625754156,0.09361459037645348,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004688506198595246,-0.0045638432824908984],"position_m":[0.13321149380140473,0.2516361567175091,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045996098952871675,-0.004761656915441037],"position_m":[0.35249960989528717,0.29553834308455895,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004729508040598354,3.298945197018413e-05],"position_m":[0.23102950804059835,-0.40516701054802984,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0fb866d3c5cc9321f07dbc62f42cb74c33ffcffffe5d1f4dedf4264920b76511","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4762/tex_ceiling_textures_6134/tex_floor_textures_9505/tex_table_textures_3845/tex_wall_textures_8241","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":9034005129442766566,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":9034005129442766566,"visual_seed":9034005129442766566,"scene_id":"lab_003","finished_at":"2026-09-02T23:21:19"} +{"episode_id":"ep_000021","started_at":"2026-09-02T23:22:49","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.22486472899377508,1.492962847282174,0.71338606911949],"aabb_xy":[[0.18736472864554732,1.4811714517010903],[0.26236472934200283,1.5047542428632574]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.3704320965682923,-1.2195329446374799,0.71338606911949],"aabb_xy":[[-0.37923415187726495,-1.227344270792409],[-0.3616300412593195,-1.2117216184825508]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.2928950276567598,-1.8032031416074359,0.71338606911949],"aabb_xy":[[-0.3288085320817495,-1.8391166498241902],[-0.2569815232317701,-1.7672896333906811]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.15868850575693294,0.8428846514268495,0.71338606911949],"aabb_xy":[[-0.16239176708607178,0.8391826331181316],[-0.15498524442779404,0.8465866697355673]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.19725964826542325,-1.573868117205586,0.71338606911949],"aabb_xy":[[-0.2872596450010334,-1.62705158052288],[-0.10725965152981301,-1.520684653888291]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.6425661554971487,1.2971811065163616,0.71338606911949],"aabb_xy":[[0.6329345192767191,1.2875437937366527],[0.6521977917175783,1.3068184192960706]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.09391890302114958,-1.7129606948902811,0.71338606911949],"aabb_xy":[[-0.10475938124766447,-1.7301469761809298],[-0.08307842479463466,-1.6957744135996324]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.18175965769920166,-2.4822631309003342,0.71338606911949],"aabb_xy":[[-0.24175965829521784,-2.5370756034455577],[-0.12175965710318548,-2.4274506583551108]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.09858156834154364,0.9700111089703145,0.71338606911949],"aabb_xy":[[0.08801408868344461,0.9594660788573058],[0.10914904799964263,0.980556139083323]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[-0.5689901330719273,-2.3122478558610005,0.71338606911949],"aabb_xy":[[-0.5939901330044453,-2.319130524081924],[-0.5439901331394095,-2.305365187640077]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.09678287089311954,-2.260883338845665,0.71338606911949],"aabb_xy":[[-0.15678287073968633,-2.3177019610387033],[-0.036782871046552756,-2.204064716652626]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.3884886489928372,-1.7477178650201188,0.71338606911949],"aabb_xy":[[0.338605952115141,-1.797717864266394],[0.43837134587053345,-1.6977178657738445]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[0.1407942261384708,-1.120219397576064,0.71338606911949],"aabb_xy":[[0.08079422588706964,-1.1745007226125288],[0.200794226389872,-1.0659380725395995]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.660439049371476,1.226361613042278,0.71338606911949],"aabb_xy":[[0.626663490180783,1.212323117829113],[0.694214608562169,1.2404001082554428]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.5925551504891061,-0.45267931743251477,0.71338606911949],"aabb_xy":[[-0.6026368575676795,-0.5326793153246294],[-0.5824734434105325,-0.37267931954040007]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.38761632322840145,-0.15284243786940355,0.71338606911949],"aabb_xy":[[-0.41089816542653285,-0.2378424391666316],[-0.36433448103027016,-0.06784243657217547]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.4034048639628738,0.3561832514732073,0.71338606911949],"aabb_xy":[[0.39204312930958757,0.34481478506691915],[0.4147665986161599,0.3675517178794953]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.3159657862768525,1.1688357454549005,0.71338606911949],"aabb_xy":[[-0.34842748715877986,1.1387029133399977],[-0.28350408539492494,1.198968577569803]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.4436298078387961,1.262658703056938,0.71338606911949],"aabb_xy":[[-0.49362980727899175,1.2126907785726218],[-0.3936298083986005,1.3126266275412544]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.0619220700805615,-2.341648733000986,0.71338606911949],"aabb_xy":[[0.03945730010915637,-2.364148733879846],[0.08438684005196662,-2.319148732122125]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.506732573029947,0.30318057076300775,0.71338606911949],"aabb_xy":[[0.4898218405936052,0.28970836517039317],[0.5236433054662887,0.3166527763556222]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.5543395898548775,-1.1179943330805024,0.71338606911949],"aabb_xy":[[-0.5928852826800785,-1.1565401041366912],[-0.5157938970296764,-1.0794485620243137]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[0.10407327614020045,-2.0338976118762115,0.71338606911949],"aabb_xy":[[0.04907327651845461,-2.0888813046636843],[0.1590732757619463,-1.9789139190887388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879814003173631,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8884.png","name":"8884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8884.png","name":"8884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5688.png","name":"5688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8460.png","name":"8460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/381.png","name":"381"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":574.6119083456242,"rotation_z_degrees":125.30464376004582,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018583761498020743,-0.0010085519430424808,-0.009775834153448612]},{"name":"camera_2","offset_m":[0.006053611462684846,-0.01999489194948818,0.011828308550100457]},{"name":"camera_3","offset_m":[-0.007384907755907576,-0.008100429556461312,-0.009808450646058038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008479514872359525,-0.0003918974841318019,0.001009367717975548],"end_effector_yaw_offset_degrees":-0.1702519156123452},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004923781359924937,0.0006305108179556875,-0.0017895760467411886],"end_effector_yaw_offset_degrees":0.8718714191740449},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001577248293725476,-0.0006106408167622229,0.000574719580358663],"end_effector_yaw_offset_degrees":0.844167006585361}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007778199647954275,0.0017455309728926912],"position_m":[0.29172218003520456,0.0909455309728927,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003476441725307227,-0.0032293486970600372],"position_m":[0.14137644172530722,0.25297065130293994,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013477635469072193,0.0049568323192023525],"position_m":[0.34655223645309274,0.30525683231920236,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012014148998632781,0.0002493892752149611],"position_m":[0.22750141489986328,-0.40495061072478505,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c9257e8902ca695ba25bbe0a2d5bee60ea75c5d5bde7689588c1559afc04ccb9","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8884/tex_ceiling_textures_381/tex_floor_textures_3590/tex_table_textures_5688/tex_wall_textures_8460","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4713631013165647831,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4713631013165647831,"visual_seed":4713631013165647831,"scene_id":"lab_003","finished_at":"2026-09-02T23:25:30"} +{"episode_id":"ep_000022","started_at":"2026-09-02T23:25:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.31611675950788953,-1.2400762564254726,0.71338606911949],"aabb_xy":[[0.3080804248066047,-1.2481143757298891],[0.3241530942091744,-1.2320381371210556]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.6073936141253664,-0.9860963809310672,0.71338606911949],"aabb_xy":[[0.6003533041918295,-1.0660963803307388],[0.6144339240589035,-0.906096381531396]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.01845737598756192,1.1442600280662174,0.71338606911949],"aabb_xy":[[-0.031425320890134285,1.0942600288199427],[0.06834007286525813,1.1942600273124921]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.22781698820492435,-0.7662024318481486,0.71338606911949],"aabb_xy":[[-0.28781698906573705,-0.8176288618546349],[-0.1678169873441115,-0.7147760018416621]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.1694248235033622,-1.6062701854834942,0.71338606911949],"aabb_xy":[[-0.22439854553969504,-1.6612701850477272],[-0.11445110146702928,-1.5512701859192608]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.5203475788112275,-1.38384468109438,0.71338606911949],"aabb_xy":[[0.4563475816991218,-1.4328770508887905],[0.5843475759233332,-1.3348123112999692]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.46183410449082296,-2.3527093422796996,0.71338606911949],"aabb_xy":[[-0.5118341055099582,-2.389175558017528],[-0.4118341034716877,-2.316243126541872]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.13462010871537922,-1.9313619772214605,0.71338606911949],"aabb_xy":[[-0.21462011087814167,-2.0113171608476046],[-0.054620106552616704,-1.8514067935953171]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[-0.6279646427515257,-1.5786522226975344,0.71338606911949],"aabb_xy":[[-0.632100499084226,-1.6161522221418916],[-0.6238287864188257,-1.5411522232531776]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.5605849760591652,0.14824862640813308,0.71338606911949],"aabb_xy":[[0.5500174964010662,0.13770359629512452],[0.5711524557172643,0.15879365652114164]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.41503908341190376,-1.3665204752759004,0.71338606911949],"aabb_xy":[[-0.49503908667591695,-1.3800805075848137],[-0.3350390801478907,-1.352960442966987]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.006004510908239724,1.6169141769416222,0.71338606911949],"aabb_xy":[[-0.01724956647885756,1.605672379217527],[0.0052405446623781105,1.6281559746657175]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.538855203181553,-0.5718367346756081,0.71338606911949],"aabb_xy":[[0.500309510356352,-0.6103825057317966],[0.577400896006754,-0.5332909636194194]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.3320655839342632,-0.9341614932461169,0.71338606911949],"aabb_xy":[[0.27206558368286193,-0.9884428182825814],[0.3920655841856643,-0.8798801682096521]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.4010582945880721,1.3325057942088763,0.71338606911949],"aabb_xy":[[0.35105829501173746,1.2825252152567703],[0.4510582941644069,1.3824863731609822]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.29838116239539736,-1.6431911304063418,0.71338606911949],"aabb_xy":[[0.25707661933166137,-1.7071911299744587],[0.33968570545913335,-1.5791911308382245]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.25036347994236774,0.9794508048548116,0.71338606911949],"aabb_xy":[[0.16036348320675753,0.9262673415375171],[0.34036347667797795,1.0326342681721061]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.5373105854808703,0.06677762996985459,0.71338606911949],"aabb_xy":[[-0.5923105851026162,0.011793937182381864],[-0.48231058585912456,0.12176132275732732]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.5642557977503958,1.7125168199709004,0.71338606911949],"aabb_xy":[[-0.6282557991583865,1.6607278684469757],[-0.5002557963424051,1.7643057714948251]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.10835029467131141,-0.33823889179116273,0.71338606911949],"aabb_xy":[[-0.17235029325788387,-0.38524585519067145],[-0.04435029608473895,-0.291231928391654]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.4559015368154389,0.3580243770451852,0.71338606911949],"aabb_xy":[[0.43889143952538817,0.34188988854691127],[0.4729116341054895,0.3741588655434591]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.35447215961319367,0.817405083648719,0.71338606911949],"aabb_xy":[[0.29447215901717744,0.7625926111034955],[0.4144721602092098,0.8722175561939425]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[-0.16862558609754486,-2.21622400477078,0.71338606911949],"aabb_xy":[[-0.20321666895159005,-2.2812240050558112],[-0.1340345032434996,-2.151224004485749]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[0.020114173603892116,-2.1151208815971545,0.71338606911949],"aabb_xy":[[-0.029885826756673943,-2.165100868806757],[0.07011417396445817,-2.065140894387551]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.20953268822595716,-1.4728971936024644,0.71338606911949],"aabb_xy":[[0.17453268909600148,-1.4786424146781283],[0.2445326873559128,-1.4671519725268]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.5363917424052765,-1.1635554451588541,0.71338606911949],"aabb_xy":[[-0.5915169480348672,-1.223555446600141],[-0.4812665367756857,-1.1035554437175668]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[-0.24338775783050837,1.6503344803585702,0.71338606911949],"aabb_xy":[[-0.2679013819275142,1.626069887056534],[-0.2188741337335025,1.674599073660607]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[0.19332718017446848,-1.2371389220020763,0.71338606911949],"aabb_xy":[[0.15582718175106813,-1.250303135969907],[0.23082717859786883,-1.2239747080342456]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[-0.1328372049488451,0.023471863900546452,0.71338606911949],"aabb_xy":[[-0.16783720414166334,0.012504817902883825],[-0.09783720575602681,0.03443890989820908]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[-0.10707993367465429,1.5016995154980424,0.71338606911949],"aabb_xy":[[-0.1710799340521879,1.4519542486472299],[-0.04307993329712066,1.5514447823488544]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[-0.2763836510931838,-2.4777073158861547,0.71338606911949],"aabb_xy":[[-0.29329438352952547,-2.491179521478769],[-0.2594729186568419,-2.4642351102935396]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[-0.4800296157983864,-1.9143920343197385,0.71338606911949],"aabb_xy":[[-0.5025296153220935,-1.936887981770359],[-0.45752961627467886,-1.8918960868691175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905561650555665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5648.png","name":"5648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5648.png","name":"5648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6346.png","name":"6346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6228.png","name":"6228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3260.png","name":"3260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":565.1567995918841,"rotation_z_degrees":44.34092773649989,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015760425102687863,0.01264658527057164,-0.0028184432079419314]},{"name":"camera_2","offset_m":[-0.013666662064756644,-0.009264743877871707,0.013689999685951759]},{"name":"camera_3","offset_m":[-0.01164547390619866,-0.01608200826219569,0.00023107223163877644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046765961525434144,-0.0013738704791891715,0.0001019238836636586],"end_effector_yaw_offset_degrees":0.647788692932993},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014501923101754247,0.0017734048990679066,-0.00166603998853419],"end_effector_yaw_offset_degrees":-0.6145250328928633},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00023865194447896042,-8.447083171951109e-05,-0.00014814722962186617],"end_effector_yaw_offset_degrees":0.36371058414296287}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004448093594074135,-0.0019040552553155933],"position_m":[0.2969480935940741,0.08729594474468441,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003052613802410414,-0.004353788436989854],"position_m":[0.14095261380241042,0.2518462115630101,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004645645827054287,-0.0014610423662165563],"position_m":[0.3525456458270543,0.29883895763378343,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004904702496156622,0.004597971815957753],"position_m":[0.22139529750384337,-0.4006020281840422,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"19b71415181853b419097a276639d3ffa769d330fa2a11c747232a5b8f8dfcc4","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5648/tex_ceiling_textures_1372/tex_floor_textures_3260/tex_table_textures_6346/tex_wall_textures_6228","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3369434368273870119,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3369434368273870119,"visual_seed":3369434368273870119,"scene_id":"lab_003","finished_at":"2026-09-02T23:28:09"} +{"episode_id":"ep_000023","started_at":"2026-09-02T23:28:13","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.20985013962238985,1.322775089540809,0.71338606911949],"aabb_xy":[[-0.28985013702598317,1.2427825183426262],[-0.12985014221879637,1.4027676607389918]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.30468758671506124,-2.2730029659689217,0.71338606911949],"aabb_xy":[[-0.3086480704847956,-2.2806708305544423],[-0.3007271029453269,-2.265335101383401]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[0.18886452420072508,0.9596065869134307,0.71338606911949],"aabb_xy":[[0.17136452394138846,0.9455150447246582],[0.20636452446006173,0.9736981291022034]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.3161860675115111,-2.0060061105834497,0.71338606911949],"aabb_xy":[[-0.40618607118842914,-2.067438517160553],[-0.22618606383459283,-1.9445737040063444]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.6472394426943271,1.423133527735661,0.71338606911949],"aabb_xy":[[0.5972463305851352,1.3731335270614655],[0.697232554803519,1.4731335284098568]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.34820621422568,0.4411621069752769,0.71338606911949],"aabb_xy":[[-0.3591119903132427,0.3611621105764478],[-0.3373004381381173,0.5211621033741061]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[-0.12900325058064,0.3809169110103019,0.71338606911949],"aabb_xy":[[-0.18399550121615094,0.32591690926698913],[-0.07401099994512904,0.4359169127536147]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.6222992354564483,-2.0175628536156043,0.71338606911949],"aabb_xy":[[0.6143759552176998,-2.0400628538536076],[0.6302225156951965,-1.995062853377601]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.3566565188958273,1.0459550321956836,0.71338606911949],"aabb_xy":[[0.3016827968594944,0.9909550326314507],[0.41163024093216016,1.100955031759917]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.4389866377941871,-1.3709052354396536,0.71338606911949],"aabb_xy":[[-0.47490014221917676,-1.4068187436564081],[-0.40307313336919737,-1.334991727222899]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.44181737595435155,-1.6192348115209867,0.71338606911949],"aabb_xy":[[0.4249066435180098,-1.632707017113601],[0.45872810839069333,-1.605762605928372]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.2632926999593255,-0.1659620262276511,0.71338606911949],"aabb_xy":[[-0.2734457155134748,-0.2020315678003914],[-0.25313968440517604,-0.12989248465491074]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.4061812258720927,1.2711238047395121,0.71338606911949],"aabb_xy":[[0.3686812260550591,1.2664855934283703],[0.4436812256891262,1.275762016050654]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.25079204113335274,-1.2516886928002222,0.71338606911949],"aabb_xy":[[-0.2957920425995816,-1.2966885496617029],[-0.2057920396671239,-1.2066888359387415]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.10379912104316269,-0.7160743934343747,0.71338606911949],"aabb_xy":[[0.06629911952753097,-0.7273011664505198],[0.1412991225587944,-0.7048476204182297]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.21320350918835418,-1.2089834703646942,0.71338606911949],"aabb_xy":[[0.14820350915405145,-1.2556841470450217],[0.2782035092226569,-1.1622827936843672]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.4460083350432549,0.9843034012302261,0.71338606911949],"aabb_xy":[[-0.506008335294656,0.9300220761937613],[-0.38600833479185365,1.0385847262666905]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.047822528331565306,1.3408650307891903,0.71338606911949],"aabb_xy":[[0.03840505376170255,1.3314488536514713],[0.05724000290142805,1.3502812079269093]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.05264096857639167,-2.4546181820381876,0.71338606911949],"aabb_xy":[[-0.09014096976118444,-2.4590364047342477],[-0.015140967391598854,-2.4501999593421266]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.002619065742309745,-1.0850944633307185,0.71338606911949],"aabb_xy":[[-0.019880934267838546,-1.0991906829703217],[0.025119065752458036,-1.0709982436911152]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.22297694456223494,-2.4895142668968644,0.71338606911949],"aabb_xy":[[0.21212533831335936,-2.500373557624515],[0.23382855081111056,-2.4786549761692136]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.27997218151516967,0.9288919555728774,0.71338606911949],"aabb_xy":[[-0.2975504837041165,0.9113174659987724],[-0.2623938793262228,0.9464664451469822]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.4403592010710535,-1.1256377794246428,0.71338606911949],"aabb_xy":[[-0.5043592013450318,-1.1757038796219306],[-0.3763592007970752,-1.0755716792273546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844795878443544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9011.png","name":"9011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3837.png","name":"3837"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":615.3753124844517,"rotation_z_degrees":61.68726802774281,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012778329321072267,-0.014572351093364815,0.005446452047785013]},{"name":"camera_2","offset_m":[0.004652688427936404,0.005949843952526481,0.012647290470032286]},{"name":"camera_3","offset_m":[-0.019140267419795427,0.019223152113334478,-0.012237765322111458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012760336230851,-0.0002535449623421982,0.0005626353810952874],"end_effector_yaw_offset_degrees":0.40206322670459915},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005374274330070721,-0.0005849445950202128,0.0018242780793584525],"end_effector_yaw_offset_degrees":-0.5136206830552683},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010956221702936413,-0.0017678873799365968,0.0012946353831532146],"end_effector_yaw_offset_degrees":0.026434261082525445}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018508438585441156,0.0010136145660757127],"position_m":[0.29064915614145587,0.09021361456607571,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004290975221747686,0.0007899952180982382],"position_m":[0.13360902477825232,0.25698999521809823,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00041683956828619285,-0.004958097268456867],"position_m":[0.3474831604317138,0.29534190273154315,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00432943713359519,0.0037683998991352658],"position_m":[0.22197056286640482,-0.40143160010086476,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f18013f2adbd94346165c6ba646e3f2ab4097ce17de50536c835c9ea96f1bccd","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6388/tex_ceiling_textures_3837/tex_floor_textures_86/tex_table_textures_2279/tex_wall_textures_9011","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1042123407178824042,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1042123407178824042,"visual_seed":1042123407178824042,"scene_id":"lab_003","finished_at":"2026-09-02T23:30:54"} +{"episode_id":"ep_000024","started_at":"2026-09-02T23:32:23","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.41846978130047163,-1.8899070635827109,0.71338606911949],"aabb_xy":[[0.35346978314455263,-1.9162033081326233],[0.48346977945639075,-1.863610819032799]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.3265635472929067,-1.7424807484196883,0.71338606911949],"aabb_xy":[[0.2987185105122996,-1.7732652471580002],[0.35440858407351383,-1.7116962496813768]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.17050008126217409,1.6401165319946283,0.71338606911949],"aabb_xy":[[-0.20397924852321506,1.6066374186235215],[-0.13702091400113317,1.6735956453657355]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.08787515891586017,-1.8924028129478323,0.71338606911949],"aabb_xy":[[-0.09864813283722794,-1.9274028111668715],[-0.07710218499449238,-1.8574028147287935]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.5804639466844033,0.11002171923163395,0.71338606911949],"aabb_xy":[[0.490463946961229,0.0869483666964541],[0.6704639464075773,0.13309507176681376]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.544547200823174,-0.1568645049526074,0.71338606911949],"aabb_xy":[[0.474547204413212,-0.17730244060428907],[0.6145471972331356,-0.13642656930092562]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.1468519221963882,0.1354912332285485,0.71338606911949],"aabb_xy":[[-0.204482391083659,0.07549123430183789],[-0.08922145330911734,0.19549123215525904]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.4681244052920446,1.1263581073160203,0.71338606911949],"aabb_xy":[[-0.482458830418208,1.1142978917614814],[-0.45378998016588107,1.138418322870559]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.022437793979216747,-1.9920213213600961,0.71338606911949],"aabb_xy":[[-0.04434647611856779,-2.013921988180187],[-0.0005291118398657001,-1.9701206545400054]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.5926041579605844,1.1710156145471502,0.71338606911949],"aabb_xy":[[-0.6566041586640539,1.1249972320742294],[-0.5286041572571152,1.2170339970200714]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[0.46773198332994914,0.9885254887857688,0.71338606911949],"aabb_xy":[[0.4552646252202135,0.9760601641524455],[0.4801993414396848,1.0009908134190924]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.4731322128718689,1.5829452619895714,0.71338606911949],"aabb_xy":[[-0.5371322161615769,1.5396103429856536],[-0.40913220958216073,1.6262801809934888]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.408438844638199,0.5546337547378988,0.71338606911949],"aabb_xy":[[0.37093884345340616,0.5502155320418382],[0.44593884582299176,0.5590519774339592]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.09370799566385879,-1.6343246487581116,0.71338606911949],"aabb_xy":[[-0.1437028285918004,-1.6843246476533549],[-0.0437131627359172,-1.5843246498628678]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.2122448126661881,0.5624945400179797,0.71338606911949],"aabb_xy":[[-0.26234227664726173,0.4984945395081678],[-0.16214734868511446,0.6264945405277914]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.6629475398464733,-2.0258179284033746,0.71338606911949],"aabb_xy":[[-0.6735150195045723,-2.0363629585163827],[-0.6523800601883742,-2.0152728982903656]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.06480553820315482,-1.1944049090364992,0.71338606911949],"aabb_xy":[[-0.07495855375730419,-1.230474450609239],[-0.05465252264900543,-1.1583353674637584]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.3822229704024197,-1.9051822103717913,0.71338606911949],"aabb_xy":[[-0.4011073541709299,-1.9240681351521443],[-0.3633385866339095,-1.8862962855914387]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.07391918091642835,-2.232171636444516,0.71338606911949],"aabb_xy":[[0.04392751818255802,-2.262171635781316],[0.10391084365029868,-2.202171637107715]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.5719856188592525,-0.8130664599718878,0.71338606911949],"aabb_xy":[[0.5219856175754124,-0.8630453143625098],[0.6219856201430923,-0.7630876055812655]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.4275635106881319,1.2429541058196936,0.71338606911949],"aabb_xy":[[0.37774673122329716,1.1929541073353902],[0.4773802901529667,1.292954104303997]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.4384426365107561,-2.0696326121461457,0.71338606911949],"aabb_xy":[[-0.4500116172576928,-2.094632612263078],[-0.42687365576381964,-2.0446326120292144]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.39439456649626736,-0.7536454623556352,0.71338606911949],"aabb_xy":[[0.32439456385968096,-0.7737503273515006],[0.46439456913285365,-0.7335405973597696]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.4364610409293308,0.8762336658857062,0.71338606911949],"aabb_xy":[[0.3564610398562104,0.8664556195483216],[0.5164610420024511,0.8860117122230905]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.616514488995521,1.6870972655203196,0.71338606911949],"aabb_xy":[[-0.6400996124594157,1.6220972632748878],[-0.592929365531626,1.7520972677657514]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[-0.34050756389332854,1.7179968092335192,0.71338606911949],"aabb_xy":[[-0.3905075652542157,1.6680189046581035],[-0.29050756253244125,1.7679747138089348]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.1809101282385639,1.2487769888560263,0.71338606911949],"aabb_xy":[[-0.21139437836559402,1.1987769890745303],[-0.1504258781115337,1.2987769886375222]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.2655462064958515,-0.3158194930789451,0.71338606911949],"aabb_xy":[[-0.3155462074463843,-0.34736864008246643],[-0.21554620554531867,-0.2842703460754236]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.6283747226986598,0.02518601066505699,0.71338606911949],"aabb_xy":[[-0.6783747230592257,-0.02479397654454596],[-0.5783747223380936,0.07516599787465993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859786185229415,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7215.png","name":"7215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7215.png","name":"7215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6884.png","name":"6884"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3328.png","name":"3328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9585.png","name":"9585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2048.png","name":"2048"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":578.6986777914377,"rotation_z_degrees":51.30253866387514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011512322487266111,0.008280736950930498,-0.005461934840203426]},{"name":"camera_2","offset_m":[-0.0051853728310748345,0.018152046656064225,-0.010917403466820188]},{"name":"camera_3","offset_m":[0.01838662797136353,0.0071432727574846505,-0.003379894407915158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014427927698475083,0.00021959430884416903,-0.0014899221318221856],"end_effector_yaw_offset_degrees":0.6563845652345688},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015513184145602437,-0.0001078174934637298,-0.001519746504205644],"end_effector_yaw_offset_degrees":-0.15570041289513914},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00033276605213150524,-0.0009067453278814033,0.0011230701796507325],"end_effector_yaw_offset_degrees":-0.0840475388799522}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004200636118262639,1.3377978117535931e-05],"position_m":[0.29670063611826264,0.08921337797811754,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024539537602496653,0.0025617499216661135],"position_m":[0.14035395376024967,0.2587617499216661,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037556299680484117,8.776630275493004e-05],"position_m":[0.3441443700319516,0.30038776630275493,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004917705638003596,-0.00494433616322545],"position_m":[0.22679177056380037,-0.41014433616322543,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2cd3d31a300525ac1095f2558c0d4cbe84dc29453d413f5c08555797b49f167c","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7215/tex_ceiling_textures_2048/tex_floor_textures_9585/tex_table_textures_6884/tex_wall_textures_3328","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5423726524336295218,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5423726524336295218,"visual_seed":5423726524336295218,"scene_id":"lab_003","finished_at":"2026-09-02T23:35:16"} +{"episode_id":"ep_000025","started_at":"2026-09-02T23:35:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.30237597084841367,-0.35414891537148385,0.71338606911949],"aabb_xy":[[-0.3192867032847554,-0.3676211209640983],[-0.28546523841207183,-0.34067670977886927]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.5650914395665774,-2.1933558349225613,0.71338606911949],"aabb_xy":[[-0.5821015368566279,-2.2094903234208347],[-0.5480813422765266,-2.177221346424287]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.10347284690823055,0.2023919487994803,0.71338606911949],"aabb_xy":[[-0.10717610823736941,0.19868993049076242],[-0.09976958557909167,0.20609396710819813]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.46900254009538733,-0.21656942006648272,0.71338606911949],"aabb_xy":[[-0.5390025427319736,-0.2366742850623482],[-0.39900253745880093,-0.1964645550706172]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.07798673014051949,-1.7114760578083512,0.71338606911949],"aabb_xy":[[0.030857351138683806,-1.7754760588527527],[0.12511610914235516,-1.6474760567639488]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.6449773966764338,-0.3742773164329374,0.71338606911949],"aabb_xy":[[-0.6674773964903361,-0.37875193280341807],[-0.6224773968625313,-0.3698027000624567]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.6142179001805853,0.41814734473561455,0.71338606911949],"aabb_xy":[[-0.6235115184177359,0.3806473462474806],[-0.6049242819434347,0.4556473432237484]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.6517197094902667,0.6127167847491122,0.71338606911949],"aabb_xy":[[0.6401507287433302,0.5877167846321805],[0.6632886902372034,0.6377167848660439]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.5686387739046872,1.0359909616292868,0.71338606911949],"aabb_xy":[[0.5336387739281913,1.0265263455816704],[0.6036387738811829,1.0454555776769037]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.20897866012198507,-2.0366067658048665,0.71338606911949],"aabb_xy":[[-0.26410386575157585,-2.0966067672461532],[-0.1538534544923943,-1.9766067643635792]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.2379877755554901,-1.3592102101395025,0.71338606911949],"aabb_xy":[[0.23252982991847002,-1.4392102134471616],[0.24344572119251015,-1.2792102068318434]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.20184811486521764,-0.3918092890201206,0.71338606911949],"aabb_xy":[[-0.20718569053122224,-0.41680928994926036],[-0.1965105391992131,-0.3668092880909808]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.1278278916552218,1.3389077383151098,0.71338606911949],"aabb_xy":[[0.06382789522789989,1.2917381144930133],[0.1918278880825437,1.3860773621372062]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.6711568751928934,0.7509030122713045,0.71338606911949],"aabb_xy":[[0.6336568750210213,0.7182022768883971],[0.7086568753647652,0.7836037476542115]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.11946035204255567,-2.3588480466377275,0.71338606911949],"aabb_xy":[[0.11219910447214826,-2.3716350569012374],[0.1267215996129631,-2.3460610363742185]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.6343998058907123,-1.4279539101430487,0.71338606911949],"aabb_xy":[[0.5794065945535757,-1.4829539104818423],[0.6893930172278492,-1.3729539098042551]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.4270188013337367,-2.1249311230934453,0.71338606911949],"aabb_xy":[[-0.46451879990935757,-2.137667418757003],[-0.38951880275811596,-2.112194827429887]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.686204619243258,-0.7117474227354819,0.71338606911949],"aabb_xy":[[0.6557203691162278,-0.7617474225169778],[0.7166888693702881,-0.6617474229539859]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.1842224956275954,-0.8027042556903565,0.71338606911949],"aabb_xy":[[0.13422249698167418,-0.8526237993498188],[0.23422249427351657,-0.752784712030894]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[-0.4556882299318372,-0.7141878441040899,0.71338606911949],"aabb_xy":[[-0.5406882283492604,-0.799062139566375],[-0.370688231514414,-0.629313548641805]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.6262826269870958,-0.3532887998861636,0.71338606911949],"aabb_xy":[[0.6030007847889644,-0.4382888011833916],[0.649564469185227,-0.26828879858893545]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.6363431022131099,-1.1072973020265717,0.71338606911949],"aabb_xy":[[0.6113431029411475,-1.123642665622734],[0.661343101485072,-1.0909519384304094]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.07787838761200006,0.7401207326765866,0.71338606911949],"aabb_xy":[[-0.1328783858137449,0.699598766050149],[-0.022878389410255228,0.7806426993030242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867386013412936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2878.png","name":"2878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3977.png","name":"3977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8996.png","name":"8996"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":527.6650742336864,"rotation_z_degrees":141.89369421272093,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01620089181102067,-0.01170392218297731,0.017226833200754566]},{"name":"camera_2","offset_m":[0.017298327322913382,-0.019803158723967287,-0.018946544091349788]},{"name":"camera_3","offset_m":[0.016946155642025205,-0.0013234136494879242,0.011885711435737679]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011979879270301312,-0.001704226302510263,-0.0009337827401748036],"end_effector_yaw_offset_degrees":0.7425045410047812},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009591678460409286,-0.0006722619038001692,-0.0012206849753880302],"end_effector_yaw_offset_degrees":-0.813949976386245},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014647926692685012,-0.000831679314582885,0.0011017152271900498],"end_effector_yaw_offset_degrees":0.13013500839885106}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007955157895245882,0.003959557519059287],"position_m":[0.2917044842104754,0.09315955751905929,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004386471940677478,-0.0037887437782441113],"position_m":[0.1335135280593225,0.25241125622175586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002088860582366522,0.003651532201235235],"position_m":[0.3458111394176335,0.3039515322012352,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004118865016348064,0.004214224117893403],"position_m":[0.23041886501634806,-0.4009857758821066,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"06a299b45f088650d143f0b7d7a8c679c10c3975a89bdf09d04174afec5cb1af","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_226/tex_ceiling_textures_8996/tex_floor_textures_8849/tex_table_textures_2878/tex_wall_textures_3977","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5721372433698774104,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5721372433698774104,"visual_seed":5721372433698774104,"scene_id":"lab_003","finished_at":"2026-09-02T23:37:55"} +{"episode_id":"ep_000026","started_at":"2026-09-02T23:37:57","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.06579378575542316,0.67860465443193,0.71338606911949],"aabb_xy":[[0.05062161647378982,0.6634357975037266],[0.0809659550370565,0.6937735113601333]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.5320536060594837,0.08363203671116093,0.71338606911949],"aabb_xy":[[-0.5658291652501767,0.0695935414979959],[-0.49827804686879074,0.09767053192432595]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.4673931018291959,-1.7319639470335777,0.71338606911949],"aabb_xy":[[0.4633149439221462,-1.736044927281841],[0.4714712597362457,-1.7278829667853144]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.5330806139195653,1.2938872526615044,0.71338606911949],"aabb_xy":[[-0.539047152860301,1.2879261080021402],[-0.5271140749788293,1.2998483973208685]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.055798393180820915,0.07103641255116999,0.71338606911949],"aabb_xy":[[-0.0782983929947233,0.06656179618068932],[-0.03329839336691854,0.0755110289216507]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.3146898786074133,-0.3256357777602483,0.71338606911949],"aabb_xy":[[-0.33968987853993116,-0.3325184459811717],[-0.2896898786748954,-0.31875310953932506]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.016691118066470056,1.0105277487110143,0.71338606911949],"aabb_xy":[[-0.03658215794681031,0.9978719374263174],[0.003199921813870189,1.023183559995711]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.03304889073152606,-0.7646074856626355,0.71338606911949],"aabb_xy":[[-0.016934059455953273,-0.8146074853051957],[0.08303184091900538,-0.7146074860200748]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.6953920258116524,0.5486522821698951,0.71338606911949],"aabb_xy":[[0.6753336141984121,0.5285871952607375],[0.7154504374248927,0.5687173690790526]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.402476824816207,0.2759105818280694,0.71338606911949],"aabb_xy":[[-0.4199767582501904,0.2584105819078348],[-0.38497689138222363,0.29341058174830387]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.3633053755454622,-2.339096739907328,0.71338606911949],"aabb_xy":[[-0.385477902522113,-2.361272407063451],[-0.3411328485688114,-2.316921072751205]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.5757297395182671,-0.34700049160429547,0.71338606911949],"aabb_xy":[[-0.6257297389584626,-0.3969684160886117],[-0.5257297400780714,-0.2970325671199791]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.4761527048825591,-2.1461044789550714,0.71338606911949],"aabb_xy":[[0.4311601181641087,-2.19110447822952],[0.5211452916010095,-2.1011044796806226]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.391230797273886,-1.5325043355653085,0.71338606911949],"aabb_xy":[[-0.47623079596596063,-1.5644901989601874],[-0.30623079858181135,-1.5005184721704297]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.1680291888237645,-1.322970910984272,0.71338606911949],"aabb_xy":[[0.15214469555843935,-1.3373238512830958],[0.18391368208908965,-1.3086179706854477]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.4635631570587817,0.6876193370098767,0.71338606911949],"aabb_xy":[[0.37356315733560747,0.6645459844746967],[0.5535631567819558,0.7106926895450564]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[-0.44576736880797607,-1.3112530302959848,0.71338606911949],"aabb_xy":[[-0.46826650453420304,-1.3337530310742478],[-0.4232682330817491,-1.2887530295177219]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.09101572609148223,1.103592181746436,0.71338606911949],"aabb_xy":[[0.021015724489202747,1.0901593885447785],[0.1610157276937617,1.1170249749480936]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.3271136928744496,-1.8736571066835768,0.71338606911949],"aabb_xy":[[-0.3523345297342892,-1.8988808575364635],[-0.30189285601460986,-1.84843335583069]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.6241488812952868,-1.1119008882601442,0.71338606911949],"aabb_xy":[[-0.6791488804718762,-1.1668905630351019],[-0.5691488821186972,-1.0569112134851866]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.2107553497989475,-1.9699699142941913,0.71338606911949],"aabb_xy":[[0.20542283514433454,-1.9752942425394269],[0.2160878644535605,-1.9646455860489558]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[0.32042845025890854,1.2189937534948463,0.71338606911949],"aabb_xy":[[0.255428449258408,1.1682073883401711],[0.38542845125940906,1.269780118649521]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[0.40220965019975474,-0.3133243006389157,0.71338606911949],"aabb_xy":[[0.3846629552836358,-0.3508243022031669],[0.4197563451158737,-0.2758242990746644]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[0.4411067888013229,-0.7155614599372422,0.71338606911949],"aabb_xy":[[0.37710679168921724,-0.7645938297316528],[0.5051067859134286,-0.6665290901428316]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[-0.49905846630161793,-1.8740614433757448,0.71338606911949],"aabb_xy":[[-0.5790584632646572,-1.9511370850195182],[-0.4190584693385787,-1.7969858017319713]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[-0.07464652269033367,-1.3693023391568586,0.71338606911949],"aabb_xy":[[-0.12461981669359412,-1.4193023397114057],[-0.024673228687073223,-1.319302338602311]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[-0.1445312369941486,1.6560525783033113,0.71338606911949],"aabb_xy":[[-0.16196195207315509,1.6387804636394605],[-0.12710052191514207,1.6733246929671621]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.4786926966533825,-1.006350999722379,0.71338606911949],"aabb_xy":[[-0.4859364626996277,-1.0863509979259813],[-0.47144893060713705,-0.9263510015187766]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.49985306780644373,1.0790277463389053,0.71338606911949],"aabb_xy":[[-0.5169551457648118,1.0619209408076353],[-0.4827509898480755,1.0961345518701748]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[0.36224690423424466,-1.0590480997589018,0.71338606911949],"aabb_xy":[[0.35413324956086756,-1.0671539162129309],[0.37036055890762176,-1.0509422833048727]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[-0.1312434060644333,0.5857969460102477,0.71338606911949],"aabb_xy":[[-0.19124340770735515,0.5337967967183035],[-0.07124340442151145,0.6377970953021919]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_31","position":[0.5955426174025824,-2.440279245149822,0.71338606911949],"aabb_xy":[[0.5776735096481268,-2.454112153127033],[0.6134117251570378,-2.426446337172611]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_32","position":[-0.3896327841561817,1.7027255375098638,0.71338606911949],"aabb_xy":[[-0.4446327837779276,1.6477418447223913],[-0.3346327845344359,1.7577092302973367]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882741816825156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9251.png","name":"9251"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/712.png","name":"712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7783.png","name":"7783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6033.png","name":"6033"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":728.1121581108299,"rotation_z_degrees":243.76607043915126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007514077551721657,0.0063057981947622875,-0.004296700046554615]},{"name":"camera_2","offset_m":[-0.0017035172900737167,0.01995707451203878,0.0005082163730408783]},{"name":"camera_3","offset_m":[0.014570265161433536,0.0057775342580738236,-0.00844674141081346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007099510307466096,-0.0017928369430886435,0.0017097565539573732],"end_effector_yaw_offset_degrees":0.6069289443348034},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006410041886344585,-0.001998774726356655,-0.0009337211886302418],"end_effector_yaw_offset_degrees":-0.4035947091001859},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-8.20272754503866e-06,0.0010984039480302502,0.0017370276738760387],"end_effector_yaw_offset_degrees":-0.10787872612473803}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010814996020785594,-0.0016738937267466412],"position_m":[0.2935814996020785,0.08752610627325336,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028012598492488973,0.0033445028387269803],"position_m":[0.1350987401507511,0.259544502838727,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002509538447871329,-0.00228432849749134],"position_m":[0.3504095384478713,0.2980156715025087,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011615354684606982,0.0027637808296289692],"position_m":[0.2274615354684607,-0.40243621917037103,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a46ddf497ea87a8f6a21dea9b73d41a639c7557d9e60611966d541db30185802","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4608/tex_ceiling_textures_6033/tex_floor_textures_7783/tex_table_textures_9251/tex_wall_textures_712","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1885154115969117426,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1885154115969117426,"visual_seed":1885154115969117426,"scene_id":"lab_003","finished_at":"2026-09-02T23:40:33"} +{"episode_id":"ep_000027","started_at":"2026-09-02T23:46:36","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.3005407309512941,1.473522029806531,0.71338606911949],"aabb_xy":[[0.28709420431725075,1.4600521781534397],[0.3139872575853374,1.4869918814596224]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.16328970638213636,1.4353391341935562,0.71338606911949],"aabb_xy":[[0.12951414719144339,1.4213006389803915],[0.19706526557282933,1.4493776294067213]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.038459733752654546,-1.4893388758002335,0.71338606911949],"aabb_xy":[[-0.04289036310749473,-1.4947872475349164],[-0.034029104397814376,-1.483890504065551]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.42733379413332484,1.5983808551923793,0.71338606911949],"aabb_xy":[[0.3973421313994545,1.5683808558555785],[0.45732545686719517,1.6283808545291796]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.21849582882103702,1.7084956891591827,0.71338606911949],"aabb_xy":[[-0.25599582961303247,1.7021278482009925],[-0.18099582802904154,1.714863530117373]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.5790372454103888,-0.8169091281685563,0.71338606911949],"aabb_xy":[[-0.601550937233846,-0.8869091287695637],[-0.5565235535869316,-0.7469091275675487]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.3797387585192282,0.8041251933606799,0.71338606911949],"aabb_xy":[[0.36837702386594207,0.7927567269543918],[0.3911004931725144,0.815493659766968]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.6938979495839945,1.298311705454918,0.71338606911949],"aabb_xy":[[0.6885654349293815,1.2929873772096827],[0.6992304642386076,1.3036360337001538]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.27311155702004164,0.5855606164976122,0.71338606911949],"aabb_xy":[[0.20811155886412253,0.5592643719477],[0.33811155517596064,0.6118568610475243]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.39937944195784536,1.762479612707161,0.71338606911949],"aabb_xy":[[0.30937944545697355,1.7165679702887024],[0.48937943845871706,1.808391255125619]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.5668245349597874,-0.0998494253845732,0.71338606911949],"aabb_xy":[[-0.630824536367778,-0.1516383769084979],[-0.5028245335517967,-0.048060473860648496]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.07422439729898289,-1.9163903512102691,0.71338606911949],"aabb_xy":[[0.00922439634185569,-1.9683385631439745],[0.1392243982561101,-1.8644421392765633]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.1897113064038023,-1.8922063979544235,0.71338606911949],"aabb_xy":[[-0.19986432195795162,-1.9282759395271634],[-0.17955829084965289,-1.8561368563816827]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.6330952391219551,-2.3791925527368765,0.71338606911949],"aabb_xy":[[0.5980952408112596,-2.386907567660422],[0.6680952374326505,-2.371477537813331]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.5646086295632551,-2.2137582070940107,0.71338606911949],"aabb_xy":[[0.5096086299415092,-2.2687418998814834],[0.6196086291850009,-2.158774514306538]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.5669154449241212,1.2515167449981872,0.71338606911949],"aabb_xy":[[-0.5710313950361937,1.2474011899653414],[-0.5627994948120484,1.2556323000310325]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.6181240711307756,0.8326645679083571,0.71338606911949],"aabb_xy":[[-0.6556240717953542,0.8169775099081349],[-0.5806240704661968,0.8483516259085793]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.4201298830060244,-0.7798201825141042,0.71338606911949],"aabb_xy":[[-0.4505279941051679,-0.8102270845157736],[-0.38973177190688074,-0.7494132805124346]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.1238760357224975,1.6489082535691284,0.71338606911949],"aabb_xy":[[0.043876032464654546,1.5689117457771444],[0.20387603898034046,1.7289047613611124]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.4986936417341652,-2.0729778873678537,0.71338606911949],"aabb_xy":[[0.42869364532420323,-2.0934158230195345],[0.5686936381441268,-2.052539951716171]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.5472881732184032,-0.8513370959221087,0.71338606911949],"aabb_xy":[[0.497288898049967,-0.9013370971980559],[0.5972874483868393,-0.8013370946461615]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.2465494701341832,1.445879001629749,0.71338606911949],"aabb_xy":[[-0.33654946686979337,1.3926955383124544],[-0.15654947339857297,1.4990624649470434]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.145829228935897,-0.8009823348805512,0.71338606911949],"aabb_xy":[[-0.16572026881623728,-0.8136381461652481],[-0.1259381890555568,-0.7883265235958544]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.1732019202225663,0.7011157731982229,0.71338606911949],"aabb_xy":[[-0.23720192190056363,0.6525983817189086],[-0.10920191854456893,0.749633164677537]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.5145317395777409,0.5408843329904904,0.71338606911949],"aabb_xy":[[0.44453173618617886,0.5055685592870595],[0.5845317429693028,0.5762001066939212]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.670409853314217,-2.044498755796219,0.71338606911949],"aabb_xy":[[-0.6784461880155018,-2.0525368751006354],[-0.6623735186129321,-2.0364606364918023]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[-0.2623352756402649,-2.039243290519182,0.71338606911949],"aabb_xy":[[-0.312335274286186,-2.0891628341786443],[-0.21233527699434362,-1.9893237468597196]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.2065653310116774,0.47209873495256405,0.71338606911949],"aabb_xy":[[-0.23178616787151704,0.44687498409967724],[-0.1813444941518377,0.49732248580545074]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.4201627576656137,-1.3260829152229312,0.71338606911949],"aabb_xy":[[-0.44881209002602984,-1.354728474500007],[-0.3915134253051974,-1.2974373559458554]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.4837669339856845,-0.2519165890925583,0.71338606911949],"aabb_xy":[[-0.5056756161250355,-0.27381725591264905],[-0.46185825184633345,-0.2300159222724676]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_30","position":[-0.13341116240601691,-1.6484958432275152,0.71338606911949],"aabb_xy":[[-0.1709111623497833,-1.6567889332623515],[-0.09591116246225048,-1.6402027531926784]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879472542079881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1729.png","name":"1729"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1729.png","name":"1729"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9974.png","name":"9974"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2122.png","name":"2122"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4038.png","name":"4038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":627.3877486270096,"rotation_z_degrees":46.29552209003646,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004230378292052396,0.003581334698900932,-0.010129363580215323]},{"name":"camera_2","offset_m":[0.015391395214776001,-0.015016140565904763,-0.014977670142810968]},{"name":"camera_3","offset_m":[-0.004070207624052285,-0.0017975752665002898,0.00734599751070919]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.203314374090158e-06,0.0016834234143644588,0.0006299506455985423],"end_effector_yaw_offset_degrees":0.5725723452344584},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-9.428686235004951e-05,0.0006044300654354812,-0.00040953834669267856],"end_effector_yaw_offset_degrees":0.37834048349189775},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006940773088805771,0.0010307430549535155,-0.001220376718504018],"end_effector_yaw_offset_degrees":-0.06662550492233343}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002045399976499567,0.002937378758123406],"position_m":[0.29045460002350043,0.0921373787581234,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020469136545050327,0.0009283019193607909],"position_m":[0.13585308634549495,0.25712830191936076,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032712579010387996,-0.0046351904587528196],"position_m":[0.3511712579010388,0.2956648095412472,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019414271668762714,0.0018159062940090263],"position_m":[0.22824142716687626,-0.403384093705991,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e09d1c35fe4e21d608475d9a8b759ea3e33d66b85ecabc3acf6fb5b5241f342c","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1729/tex_ceiling_textures_5531/tex_floor_textures_4038/tex_table_textures_9974/tex_wall_textures_2122","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1361641468791163877,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1361641468791163877,"visual_seed":1361641468791163877,"scene_id":"lab_003","finished_at":"2026-09-02T23:49:22"} +{"episode_id":"ep_000028","started_at":"2026-09-02T23:50:43","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.15278528724593687,-2.2793906082345257,0.71338606911949],"aabb_xy":[[0.14315365102550726,-2.2890279210142346],[0.1624169234663665,-2.2697532954548167]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.4037997743100828,0.21719096457999454,0.71338606911949],"aabb_xy":[[-0.43879977258020264,0.21011683688500635],[-0.36879977603996283,0.22426509227498267]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.1785355144347076,1.2493630786755263,0.71338606911949],"aabb_xy":[[0.12354003661404822,1.1943630772416194],[0.233530992255367,1.3043630801094332]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.45760411462453365,-2.39675950661255,0.71338606911949],"aabb_xy":[[-0.5276041167559631,-2.419521472238245],[-0.38760411249310406,-2.373997540986854]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.1349743850960432,-2.490616020009636,0.71338606911949],"aabb_xy":[[-0.14690711945787124,-2.5029981728174957],[-0.12304165073421511,-2.478233867201777]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.24035509526667553,-1.6180320749537378,0.71338606911949],"aabb_xy":[[0.2353990750817944,-1.6405320751558596],[0.2453111154515568,-1.5955320747516164]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.3958120798448874,-2.1008588138170854,0.71338606911949],"aabb_xy":[[0.38456702427426953,-2.1121006115411802],[0.4070571354155052,-2.0896170160929897]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.3871177947216523,-0.14696366500405533,0.71338606911949],"aabb_xy":[[-0.40963148654510945,-0.21696366560506283],[-0.36460410289819506,-0.07696366440304778]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.2275220058806664,-2.541821064082945,0.71338606911949],"aabb_xy":[[0.1925220045291846,-2.5621808000397657],[0.262522007232148,-2.521461328126124]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.38200214028846147,-2.011154670550759,0.71338606911949],"aabb_xy":[[-0.3971743095700948,-2.0263235274789624],[-0.3668299710068281,-1.9959858136225554]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.10170190806395052,0.8566221163288819,0.71338606911949],"aabb_xy":[[-0.13855245600093813,0.8191221155058481],[-0.06485136012696291,0.8941221171519156]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.4490378755196205,-1.4978568118717694,0.71338606911949],"aabb_xy":[[0.38403787451911997,-1.5486431770264444],[0.514037876520121,-1.4470704467170945]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.6754314798270871,0.3954562515943181,0.71338606911949],"aabb_xy":[[0.6579315463931037,0.3779562516740835],[0.6929314132610704,0.41295625151455256]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.34125445445224284,0.9510722863336749,0.71338606911949],"aabb_xy":[[-0.35875445469729217,0.9335724984941082],[-0.3237544542071934,0.9685720741732419]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.24320200596480274,-0.40273302187540194,0.71338606911949],"aabb_xy":[[-0.3072020030769085,-0.45176539166981255],[-0.17920200885269708,-0.35370065208099133]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.6351941135876407,-0.3524714598663743,0.71338606911949],"aabb_xy":[[0.5851948384192046,-0.40247146114232146],[0.6851933887560769,-0.3024714585904271]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.05084507884403644,-2.566670317525829,0.71338606911949],"aabb_xy":[[-0.05734671535204106,-2.5764381395521387],[-0.044343442336031824,-2.556902495499519]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.06320842077436017,1.3934354613430115,0.71338606911949],"aabb_xy":[[-0.10837973862252917,1.3294354641984731],[-0.01803710292619121,1.45743545848755]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.595293039564236,1.4045327004006283,0.71338606911949],"aabb_xy":[[-0.6054460551183852,1.3684631588278877],[-0.5851400240100865,1.4406022419733684]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.15415779472260682,1.018519745353971,0.71338606911949],"aabb_xy":[[-0.19165779314600717,1.00535553138614],[-0.11665779629920647,1.0316839593218015]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.43351448354262967,-0.785705515648212,0.71338606911949],"aabb_xy":[[0.3535144813798672,-0.8656606992743556],[0.5135144857053922,-0.7057503320220684]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.652913371242134,0.272498365407825,0.71338606911949],"aabb_xy":[[0.6279133720765009,0.2655461197024685],[0.6779133704077671,0.27945061111318165]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.6340528847116391,-0.776341211496069,0.71338606911949],"aabb_xy":[[0.5700528823688374,-0.8212820627402014],[0.6980528870544406,-0.7314003602519364]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.2233676826800597,-1.7922982982759708,0.71338606911949],"aabb_xy":[[-0.23853055565699682,-1.80746375557109],[-0.20820480970312266,-1.7771328409808524]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[0.1589968822719784,-1.667835378222195,0.71338606911949],"aabb_xy":[[0.13516066463137336,-1.757835379030682],[0.18283309991258348,-1.577835377413709]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880614226378574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2655.png","name":"2655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2610.png","name":"2610"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/24.png","name":"24"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":776.8285417102152,"rotation_z_degrees":127.9118474534616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005350708755205736,-0.0172928283149532,0.012693839616042087]},{"name":"camera_2","offset_m":[0.005392271498181219,0.014846966370321634,-0.007303556895875248]},{"name":"camera_3","offset_m":[-0.017768762749144535,-0.019874184435317282,0.004393727401030306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001088258680475065,0.0007826558958725464,0.0017105706526329956],"end_effector_yaw_offset_degrees":0.7219000660211468},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021651060068265428,0.0013733853354459154,4.282569074168805e-05],"end_effector_yaw_offset_degrees":0.12021537527989334},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018310590795764053,0.0004897561197668354,-0.0006652582903719497],"end_effector_yaw_offset_degrees":-0.32621071501183785}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013699695229178457,-0.0008203686789867055],"position_m":[0.29386996952291783,0.0883796313210133,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001529050756078113,-0.0005851864907876281],"position_m":[0.13942905075607812,0.25561481350921234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010071744286304614,0.004448666681119433],"position_m":[0.3468928255713695,0.30474866668111944,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004588305062245161,0.0029878091199239355],"position_m":[0.22171169493775483,-0.4022121908800761,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a2c54de8c9aa2e7fed978008ee084ccb9d04bf7aa2bf0e08bdddb5026ff9219","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1187/tex_ceiling_textures_2685/tex_floor_textures_24/tex_table_textures_2655/tex_wall_textures_2610","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4714139565810398410,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4714139565810398410,"visual_seed":4714139565810398410,"scene_id":"lab_003","finished_at":"2026-09-02T23:53:27"} +{"episode_id":"ep_000029","started_at":"2026-09-02T23:53:30","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.3125926705966374,1.1374751715904128,0.71338606911949],"aabb_xy":[[-0.3925926675596766,1.060399529946639],[-0.23259267363359826,1.214550813234186]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.03606203843884359,-1.677402488100695,0.71338606911949],"aabb_xy":[[-0.10106203847314632,-1.7241031647810223],[0.028937961595459145,-1.6307018114203677]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.5408008354213198,0.18612970747991575,0.71338606911949],"aabb_xy":[[-0.6258008338387431,0.1012554120176308],[-0.4558008370038966,0.27100400294220073]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.08021439370524375,-1.351036654554802,0.71338606911949],"aabb_xy":[[-0.14421439299941197,-1.4150227949236562],[-0.016214394411075528,-1.2870505141859478]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.2070236405784573,0.8586490099821074,0.71338606911949],"aabb_xy":[[-0.26702364117447347,0.8038365374368839],[-0.1470236399824411,0.9134614825273308]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.22175692442645045,-1.0003716581576945,0.71338606911949],"aabb_xy":[[-0.23259740265296536,-1.0175579394483432],[-0.21091644619993555,-0.9831853768670457]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.5514851605217362,-1.5554300254880327,0.71338606911949],"aabb_xy":[[-0.6164851614788635,-1.6073782374217382],[-0.4864851595646091,-1.503481813554327]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.04071343025018059,-1.0740395253543136,0.71338606911949],"aabb_xy":[[-0.12071342726442857,-1.0941740770277248],[0.039286566764067395,-1.0539049736809023]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.5136303880859101,0.6208797484512099,0.71338606911949],"aabb_xy":[[-0.5636036820891706,0.5708797478966624],[-0.46365709408264966,0.6708797490057571]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.4513811800321076,-1.1235694684162705,0.71338606911949],"aabb_xy":[[-0.5153811804096412,-1.173314735267083],[-0.38738117965457397,-1.0738242015654584]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.5477823134102349,0.2773816128822775,0.71338606911949],"aabb_xy":[[0.46778231542944987,0.2697800719204255],[0.6277823113910199,0.2849831538441294]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.09537260969813399,0.978168180504313,0.71338606911949],"aabb_xy":[[0.07290783972672886,0.9556681796254525],[0.1178373796695391,1.0006681813831735]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.528598009192937,-0.9146279720765571,0.71338606911949],"aabb_xy":[[0.4635980080869938,-0.9395933451446854],[0.5935980102988804,-0.8896625990084288]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.2976508063588762,-2.5060591845135645,0.71338606911949],"aabb_xy":[[0.2785384990008973,-2.5251939633908065],[0.316763113716855,-2.4869244056363224]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.560459469591998,1.4984619122026452,0.71338606911949],"aabb_xy":[[0.5379594693484826,1.4862572775428733],[0.5829594698355134,1.5106665468624172]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.7111956662703449,-1.5791042473185501,0.71338606911949],"aabb_xy":[[0.7018486586880497,-1.5934078695361942],[0.7205426738526401,-1.5648006251009061]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.3506401390051707,-2.5360417543375577,0.71338606911949],"aabb_xy":[[-0.36326692629236706,-2.5455878280391304],[-0.33801335171797436,-2.526495680635984]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.15453388940274393,-2.4073329724995505,0.71338606911949],"aabb_xy":[[0.1045338884522111,-2.4388821195030714],[0.2045338903532767,-2.3757838254960286]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.6145449261371423,-2.467688674078737,0.71338606911949],"aabb_xy":[[0.524544926413968,-2.490762026613916],[0.7045449258603164,-2.4446153215435564]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.6578494129119751,-0.27211999032194845,0.71338606911949],"aabb_xy":[[-0.692165690086593,-0.32211999029512617],[-0.6235331357373571,-0.22211999034877072]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.6239246812855759,-1.1897653024842445,0.71338606911949],"aabb_xy":[[-0.6739076314730551,-1.2397653021268047],[-0.5739417310980964,-1.1397653028416839]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.38429308585994915,1.1783963666524508,0.71338606911949],"aabb_xy":[[0.3727241051130126,1.1533963665355191],[0.3958620666068858,1.2033963667693826]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.40752895635239317,-1.489387506015614,0.71338606911949],"aabb_xy":[[0.34252895779532033,-1.5191400394294965],[0.472528954909466,-1.4596349726017313]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.5090706903141484,-1.758551261125943,0.71338606911949],"aabb_xy":[[0.4474799310901557,-1.82255125923499],[0.5706614495381414,-1.6945512630168962]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.2339697726278393,0.20669650125099004,0.71338606911949],"aabb_xy":[[-0.3139697712151587,0.12738089931282912],[-0.15396977404051987,0.2860121031891509]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.2306158785220932,-1.2856807061837978,0.71338606911949],"aabb_xy":[[0.21551357706107505,-1.3007822278148593],[0.24571817998311124,-1.2705791845527354]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.44410027432547583,-2.2815718304725787,0.71338606911949],"aabb_xy":[[0.42642464373687744,-2.299252046751981],[0.4617759049140741,-2.2638916141931755]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_27","position":[0.3692532244752358,1.6478309527444712,0.71338606911949],"aabb_xy":[[0.3631585965871174,1.6392615581928025],[0.37534785236335405,1.65640034729614]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853079298291712,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5895.png","name":"5895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9963.png","name":"9963"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1249.png","name":"1249"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/686.png","name":"686"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":698.4662313838567,"rotation_z_degrees":132.11068067601764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016045312128812647,0.014553449410342135,-0.014768050581088184]},{"name":"camera_2","offset_m":[0.018998900070543685,-0.018762611484121217,0.008995315330243402]},{"name":"camera_3","offset_m":[-0.013111956296614827,-0.0049203119923198636,-0.015888723615119914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009573074644912128,-0.0013543670221196874,0.0007016555032948245],"end_effector_yaw_offset_degrees":0.7995583328562945},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006649078191899717,-0.001543818585482039,-0.0007284893050086799],"end_effector_yaw_offset_degrees":0.2469002759782022},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010790875084048333,-0.0014037690404419692,-0.0008304159570138815],"end_effector_yaw_offset_degrees":-0.9561013091799899}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00408948229974866,-0.0017594424806479801],"position_m":[0.28841051770025133,0.08744055751935202,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004263386229896902,-0.0022358365552180427],"position_m":[0.13363661377010308,0.25396416344478195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002545833411073821,0.0013391803866406263],"position_m":[0.34535416658892615,0.3016391803866406,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009541489813455371,-0.0003551360456320717],"position_m":[0.22534585101865445,-0.4055551360456321,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"81002ae2b8488dcbae94565fa8a176964ac45e0426317dea9948144814ac4264","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_376/tex_ceiling_textures_686/tex_floor_textures_1249/tex_table_textures_5895/tex_wall_textures_9963","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7076833328096479532,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7076833328096479532,"visual_seed":7076833328096479532,"scene_id":"lab_003","finished_at":"2026-09-02T23:56:04"} +{"episode_id":"ep_000030","started_at":"2026-09-02T23:56:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.37947021513346524,1.6608202501272564,0.71338606911949],"aabb_xy":[[0.3619702816994818,1.6433202502070214],[0.39697014856744856,1.6783202500474905]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.3832342051673364,1.4118833049920618,0.71338606911949],"aabb_xy":[[-0.43322921612678855,1.3618833059564703],[-0.33323919420788445,1.4618833040276538]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.3779243784889368,1.3155860067562983,0.71338606911949],"aabb_xy":[[0.36469343295425544,1.302358587734299],[0.391155324023618,1.3288134257782978]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.6832002684203999,1.6352335668578468,0.71338606911949],"aabb_xy":[[-0.6933532839745491,1.599164025285106],[-0.6730472528662503,1.6713031084305867]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.1507945851621726,-1.0091907935235351,0.71338606911949],"aabb_xy":[[0.10580199844372218,-1.0541907927979837],[0.195787171880623,-0.9641907942490862]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.25431334214236334,-1.4046611581945858,0.71338606911949],"aabb_xy":[[0.1903133418818925,-1.4496699575475138],[0.3183133424028341,-1.3596523588416578]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.13207683254517855,-2.0785802814071426,0.71338606911949],"aabb_xy":[[-0.14975246313377685,-2.0962604976865444],[-0.1144012019565802,-2.060900065127739]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.6132796347267825,-1.0219182760808683,0.71338606911949],"aabb_xy":[[-0.6167203109668397,-1.0257797090552327],[-0.6098389584867253,-1.0180568431065038]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.5949890493776233,-0.5239560062194242,0.71338606911949],"aabb_xy":[[0.5856954311404727,-0.5614560047075581],[0.6042826676147739,-0.4864560077312903]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.32810759411975265,-0.2167810135863979,0.71338606911949],"aabb_xy":[[-0.3585057052188962,-0.24718791558806738],[-0.297709483020609,-0.18637411158472836]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.11303587164977424,1.3755375125648786,0.71338606911949],"aabb_xy":[[-0.19302969522833247,1.2955375099720372],[-0.033042048071216024,1.4555375151577203]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.6389354114441292,-2.4626842742043142,0.71338606911949],"aabb_xy":[[0.6016041349188866,-2.497337328999167],[0.6762666879693718,-2.4280312194094624]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[-0.5901157930458222,0.4258289054853517,0.71338606911949],"aabb_xy":[[-0.6244127040635626,0.3915320192754102],[-0.5558188820280815,0.46012579169529294]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.19231663679919808,-2.352660343901302,0.71338606911949],"aabb_xy":[[-0.20989493898814493,-2.370234833475407],[-0.17473833461025123,-2.335085854327197]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.03374650514395516,-1.0040610866152206,0.71338606911949],"aabb_xy":[[0.02290602691744025,-1.0212473679058696],[0.04458698337047006,-0.9868748053245718]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.5720198836924484,-1.7486369811524778,0.71338606911949],"aabb_xy":[[0.5170276330569374,-1.8036369828957908],[0.6270121343279593,-1.6936369794091652]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.10576491656735987,-1.8200234152317636,0.71338606911949],"aabb_xy":[[-0.10988086667943252,-1.824138970264609],[-0.10164896645528719,-1.8159078601989178]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.22352796435321665,-1.2382304409364913,0.71338606911949],"aabb_xy":[[0.1685279661514718,-1.2787524075629289],[0.2785279625549615,-1.1977084743100537]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.16983587670975653,1.1500414480282823,0.71338606911949],"aabb_xy":[[0.1566846307384672,1.1250414482715958],[0.18298712268104592,1.1750414477849689]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.4129262303768456,-1.407485144563429,0.71338606911949],"aabb_xy":[[-0.47692623359548353,-1.4542082564624377],[-0.3489262271582078,-1.360762032664421]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.33596635369102,-1.0919022950785715,0.71338606911949],"aabb_xy":[[0.28598754518070413,-1.1419022950842903],[0.3859451622013359,-1.0419022950728527]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.48145937371459957,-0.1638775531620511,0.71338606911949],"aabb_xy":[[0.4439593735427276,-0.19657828854495826],[0.5189593738864715,-0.1311768177791439]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.2935166268420077,0.2714600338823354,0.71338606911949],"aabb_xy":[[-0.3413227944557763,0.2064600311752764],[-0.24571045922823898,0.33646003658939433]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.1426832527241335,-0.8392256980549417,0.71338606911949],"aabb_xy":[[-0.16156763649264372,-0.8581116228352946],[-0.12379886895562331,-0.8203397732745891]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[0.42706447492960997,0.9212262372368483,0.71338606911949],"aabb_xy":[[0.3470644779665708,0.8441505955930748],[0.5070644718926491,0.9983018788806217]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.14839461525970143,-0.9879319422054382,0.71338606911949],"aabb_xy":[[-0.17089461550321683,-1.0001365768652102],[-0.12589461501618604,-0.9757273075456664]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[0.30352561586357607,-2.464263859372941,0.71338606911949],"aabb_xy":[[0.2934439087850026,-2.5442638572650553],[0.31360732294214955,-2.384263861480826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824844183603481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1006.png","name":"1006"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1006.png","name":"1006"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8659.png","name":"8659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9435.png","name":"9435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2670.png","name":"2670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7614.png","name":"7614"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":540.6715246442157,"rotation_z_degrees":312.0215556331895,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001211956552099585,0.0009132526943811427,-0.012891195233189073]},{"name":"camera_2","offset_m":[0.0032965050711643677,0.01426449031420909,-0.019087003364155256]},{"name":"camera_3","offset_m":[-0.001345575034103784,0.012592064887871453,0.015237461360168163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000990387237082795,0.001647392330983616,0.001771892635956035],"end_effector_yaw_offset_degrees":-0.13987978469394724},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013471027531777062,0.00022819803587916833,0.0013042834530633037],"end_effector_yaw_offset_degrees":0.15067392535534552},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014800945017592877,-0.0009468698924577606,0.0006010353685237881],"end_effector_yaw_offset_degrees":-0.582848694007615}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004834805695530766,-0.002795760433863893],"position_m":[0.28766519430446924,0.0864042395661361,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029259501647935825,-0.002616990928035162],"position_m":[0.13497404983520642,0.25358300907196485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003566005011542834,-0.003014429001326491],"position_m":[0.3443339949884571,0.29728557099867353,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004860526923082542,0.0041495096769182975],"position_m":[0.22143947307691747,-0.4010504903230817,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bf1ae377c6eef7399fa5ca02c50c455be46893a071bdb5e5dbdeaf7dba5c9b5d","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1006/tex_ceiling_textures_7614/tex_floor_textures_2670/tex_table_textures_8659/tex_wall_textures_9435","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":38037462075321771,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":38037462075321771,"visual_seed":38037462075321771,"scene_id":"lab_003","finished_at":"2026-09-02T23:58:40"} +{"episode_id":"ep_000031","started_at":"2026-09-03T00:01:34","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.11129088844992785,-2.4460564646347005,0.71338606911949],"aabb_xy":[[-0.11732790145059259,-2.4520831657036486],[-0.10525387544926314,-2.4400297635657524]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.04926196159091212,0.8212236106860846,0.71338606911949],"aabb_xy":[[-0.08426196156740795,0.8117589946384681],[-0.014261961614416285,0.8306882267337014]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.467828259208831,0.18381342226778763,0.71338606911949],"aabb_xy":[[0.45848125162653575,0.16950980005014363],[0.4771752667911262,0.1981170444854317]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.22705506741942943,1.4032600223997358,0.71338606911949],"aabb_xy":[[-0.2344675229608179,1.3974088119781078],[-0.21964261187804096,1.4091112328213637]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.20811905767948924,-0.6909717999447225,0.71338606911949],"aabb_xy":[[0.14811905603656741,-0.7429719492366668],[0.2681190593224111,-0.6389716506527784]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.32690263367850264,0.23985359866159284,0.71338606911949],"aabb_xy":[[-0.3310384900112029,0.20235359921723586],[-0.3227667773458025,0.27735359810594984]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.07094611933925421,-2.130906601313101,0.71338606911949],"aabb_xy":[[-0.11622473422040347,-2.1949066006612843],[-0.02566750445810495,-2.066906601964917]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.448714885025244,-1.1103539759549625,0.71338606911949],"aabb_xy":[[-0.47911299612438757,-1.1407608779566318],[-0.4183167739261004,-1.0799470739532928]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.00575668563158771,-1.2208359147181709,0.71338606911949],"aabb_xy":[[-0.08575668428847372,-1.2353407736424336],[0.0742433130252983,-1.2063310557939082]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.4318871880293145,-1.9676402655170817,0.71338606911949],"aabb_xy":[[-0.4868609100656474,-2.022640265081315],[-0.37691346599298164,-1.9126402659528485]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.33379335190585485,-0.401737447685536,0.71338606911949],"aabb_xy":[[-0.4137933493094482,-0.4817300188837188],[-0.25379335450226137,-0.32174487648735317]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.44940189915535206,0.7283685554524149,0.71338606911949],"aabb_xy":[[-0.4566631467257595,0.7155815451889054],[-0.44214065158494464,0.7411555657159243]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.12827156712877863,1.3840524549743036,0.71338606911949],"aabb_xy":[[-0.17836903110985225,1.3200524544644918],[-0.07817410314770501,1.4480524554841154]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.3254324588586319,1.4803396000750975,0.71338606911949],"aabb_xy":[[0.3172179137429479,1.471663009777456],[0.33364700397431585,1.4890161903727386]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.06694318710114344,0.9177596418270371,0.71338606911949],"aabb_xy":[[-0.08940795707254856,0.8952596409481764],[-0.044478417129738324,0.9402596427058975]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.6278336485934233,0.03482613827465286,0.71338606911949],"aabb_xy":[[-0.6324687637456565,0.03095880319750421],[-0.6231985334411898,0.038693473351801504]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.3975581314657124,-2.1407582469098574,0.71338606911949],"aabb_xy":[[0.37255813219375006,-2.1571036105060193],[0.4225581307376746,-2.1244128833136946]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.1827783560303059,-1.1039465781537898,0.71338606911949],"aabb_xy":[[-0.23777835565205177,-1.1589302709412626],[-0.12777835640856008,-1.048962885366317]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.37991143297097874,0.5596260705080294,0.71338606911949],"aabb_xy":[[0.3718680730450235,0.47462606941266294],[0.38795479289693385,0.6446260716033958]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.48330822567256404,0.7042009676626604,0.71338606911949],"aabb_xy":[[0.43332398996438676,0.6542009688491647],[0.5332924613807413,0.7542009664761559]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.10635600621498609,-0.7868921184423481,0.71338606911949],"aabb_xy":[[-0.123902701131105,-0.8243921200065993],[-0.08880931129886714,-0.7493921168780968]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.2632036321472895,1.2755642732230044,0.71338606911949],"aabb_xy":[[0.2551773615166635,1.266812778245652],[0.2712299027779155,1.2843157682003572]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.4689915260655453,-1.6816341808891748,0.71338606911949],"aabb_xy":[[-0.4753036256018837,-1.687401120142394],[-0.46267942652920685,-1.6758672416359561]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.3162552154777079,0.7945323255494112,0.71338606911949],"aabb_xy":[[-0.3962552187355508,0.7145358177574274],[-0.2362552122198649,0.8745288333413953]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.15691727191070548,-0.8738912980353326,0.71338606911949],"aabb_xy":[[0.14606566566182985,-0.8847505887629836],[0.16776887815958105,-0.8630320073076816]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.1575742550161302,0.9735779242283451,0.71338606911949],"aabb_xy":[[0.14886028596619566,0.951077923569157],[0.16628822406606464,0.9960779248875334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874135928899942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4796.png","name":"4796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6272.png","name":"6272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6928.png","name":"6928"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":611.2166173549405,"rotation_z_degrees":185.29408797139453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032379007928717944,0.004756701687428141,-0.0076766516953610565]},{"name":"camera_2","offset_m":[0.0032015372425175277,-0.00772942418370858,0.009510942547629537]},{"name":"camera_3","offset_m":[-0.0035874555891005355,-0.009317463938107609,0.01229093021839604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012649518147864781,0.00016824836992259144,-0.001934252350382653],"end_effector_yaw_offset_degrees":0.21307603121083996},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00014605457900022998,-0.0006765720470967324,0.0001282078838244381],"end_effector_yaw_offset_degrees":0.4901132806053081},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006234905601764057,-0.001336907605086899,-0.0016611009729024105],"end_effector_yaw_offset_degrees":0.8138312238530538}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003250157028859034,0.0018921365429961853],"position_m":[0.2892498429711409,0.0910921365429962,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00012899376929597327,-0.004479309160051739],"position_m":[0.13802899376929598,0.25172069083994825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011403923873800391,-0.0014247300299952102],"position_m":[0.34904039238738005,0.2988752699700048,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001345895636789387,-0.0030162523366540927],"position_m":[0.22495410436321062,-0.4082162523366541,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"357de5ddc5421c1e45011f6b0020c737ba6fc7fb9a75784c0125c14cccb1562b","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4475/tex_ceiling_textures_6928/tex_floor_textures_6272/tex_table_textures_634/tex_wall_textures_4796","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2367253217848600197,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2367253217848600197,"visual_seed":2367253217848600197,"scene_id":"lab_003","finished_at":"2026-09-03T00:04:10"} +{"episode_id":"ep_000032","started_at":"2026-09-03T00:05:38","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.2426585301291766,0.8385154514222073,0.71338606911949],"aabb_xy":[[0.22515859669519322,0.8210154515019727],[0.26015846356315997,0.8560154513424418]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.34798239295903993,-2.047623789707943,0.71338606911949],"aabb_xy":[[-0.41298239111495905,-2.073920034257855],[-0.28298239480312093,-2.0213275451580306]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.14095620864178127,-0.707089722910746,0.71338606911949],"aabb_xy":[[-0.15282829165328238,-0.7920897226043964],[-0.12908412563028016,-0.6220897232170957]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.4826630891062731,1.171102006283784,0.71338606911949],"aabb_xy":[[0.4626046774930328,1.1510369193746266],[0.5027215007195134,1.1911670931929415]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.4021577480917966,1.1013620577594794,0.71338606911949],"aabb_xy":[[0.39489650052138925,1.0885750474959701],[0.4094189956622041,1.114149068022989]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.1881999835788648,-2.028480821969621,0.71338606911949],"aabb_xy":[[0.1281999833274636,-2.082762147006085],[0.24819998383026595,-1.9741994969331558]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.26857307387774143,-0.47253046966779877,0.71338606911949],"aabb_xy":[[0.24357307394522348,-0.47941313788872214],[0.29357307381025927,-0.4656478014468755]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.44709260151611985,-1.5481854246530693,0.71338606911949],"aabb_xy":[[0.4292234937616643,-1.5620183326302803],[0.4649617092705753,-1.5343525166758583]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.11347320830165764,-1.7734536184223977,0.71338606911949],"aabb_xy":[[-0.17847320685873047,-1.8032061518362803],[-0.048473209744584814,-1.743701085008515]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.2024710024925953,0.10224547708230558,0.71338606911949],"aabb_xy":[[-0.219481099782646,0.08611098858403166],[-0.18546090520254468,0.1183799655805795]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.04540027692120652,1.4905676442013598,0.71338606911949],"aabb_xy":[[-0.024599726470355462,1.4552518704979287],[0.11540028031276849,1.5258834179047904]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.4806579774613207,-0.721184918436782,0.71338606911949],"aabb_xy":[[-0.560657978534441,-0.7309629647741664],[-0.4006579763882004,-0.7114068720993976]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.6547183614577965,-1.9784351257400097,0.71338606911949],"aabb_xy":[[0.6197183631471012,-1.9861501406635549],[0.689718359768492,-1.9707201108164636]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.24259534777775915,-0.7625642953550285,0.71338606911949],"aabb_xy":[[-0.28536205465717934,-0.8265642987768308],[-0.19982864089833893,-0.6985642919332259]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.38551753081883827,0.2975470995813443,0.71338606911949],"aabb_xy":[[-0.423017532003631,0.2931288768852837],[-0.3480175296340454,0.30196532227740475]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.5310653455890275,-1.90745998219752,0.71338606911949],"aabb_xy":[[0.5085653457751251,-1.9119345985680007],[0.5535653454029299,-1.9029853658270393]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.04398659880376343,-0.9243540059198643,0.71338606911949],"aabb_xy":[[-0.061533293719882365,-0.9618540074841155],[-0.0264399038876445,-0.886854004355613]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.36335610723866485,1.3397059922382146,0.71338606911949],"aabb_xy":[[0.35294454855818114,1.334360258902316],[0.37376766591914856,1.3450517255741128]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.10274301182180345,-1.6397656789777013,0.71338606911949],"aabb_xy":[[0.07159609297822032,-1.7097656776645085],[0.13388993066538657,-1.5697656802908941]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.3730700468759352,-1.2662174729647753,0.71338606911949],"aabb_xy":[[-0.3791070598766,-1.2722441740337236],[-0.3670330338752705,-1.260190771895827]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.3842586187983976,1.6895060406140714,0.71338606911949],"aabb_xy":[[0.32025861645559606,1.644565189369939],[0.4482586211411992,1.7344468918582039]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.16767636663867502,-2.0955520478445893,0.71338606911949],"aabb_xy":[[-0.20517636693084984,-2.099593523245193],[-0.1301763663465002,-2.0915105724439855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885286441185987,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9071.png","name":"9071"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9071.png","name":"9071"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7620.png","name":"7620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3833.png","name":"3833"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4508.png","name":"4508"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.008107607599,"rotation_z_degrees":186.80617607144077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011337246959140884,-0.003832288907389802,0.008812483319481777]},{"name":"camera_2","offset_m":[0.010610282849980019,0.01606847289294799,0.006758667881945693]},{"name":"camera_3","offset_m":[0.00302845216205715,-0.005080166738190761,0.004521671710053975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003801444868200706,-0.00039658997415195065,-0.0016707308055613943],"end_effector_yaw_offset_degrees":0.9209802806210321},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009544005925710515,0.0004680771325590474,-0.00034669668050567857],"end_effector_yaw_offset_degrees":0.012713226602385497},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00033647220439775934,0.0005246311156408678,-0.0004772685334931649],"end_effector_yaw_offset_degrees":-0.16674076544254346}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004113677506652998,-0.0015418389395169129],"position_m":[0.29661367750665296,0.08765816106048309,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002001496540870942,-0.002852634670154266],"position_m":[0.13990149654087095,0.2533473653298457,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005668724159403225,0.004612266254650798],"position_m":[0.34733312758405965,0.3049122662546508,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025340669231619928,-0.0028555422939792277],"position_m":[0.228834066923162,-0.4080555422939792,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"534c3d58b2c5efa3fae636bb57c0c4bf76977c462c7213f65e4197ee2b5883a8","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9071/tex_ceiling_textures_4508/tex_floor_textures_3833/tex_table_textures_7065/tex_wall_textures_7620","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6611012034936509095,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6611012034936509095,"visual_seed":6611012034936509095,"scene_id":"lab_003","finished_at":"2026-09-03T00:08:25"} +{"episode_id":"ep_000033","started_at":"2026-09-03T00:08:28","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.34111425616148733,-1.1245896876015662,0.71338606911949],"aabb_xy":[[-0.35878988675008566,-1.1422699038809687],[-0.323438625572889,-1.1069094713221632]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.06853489465805362,-1.271614951136746,0.71338606911949],"aabb_xy":[[0.05973283934908092,-1.2794262772916751],[0.07733694996702634,-1.263803624981817]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[0.011846493359642052,-2.2644117049591648,0.71338606911949],"aabb_xy":[[-0.02245041765809857,-2.2987085911691056],[0.04614340437738267,-2.230114818749223]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.14088226832881456,0.13855379224206432,0.71338606911949],"aabb_xy":[[-0.17838226814584812,0.13391558093092243],[-0.103382268511781,0.14319200355320616]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.6225508111321687,1.6023982941498143,0.71338606911949],"aabb_xy":[[-0.627185926284402,1.5985309590726655],[-0.6179156959799352,1.606265629226963]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.4683469759787314,0.6622375375338465,0.71338606911949],"aabb_xy":[[-0.5333469769358584,0.6102893256001409],[-0.4033469750216041,0.7141857494675521]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.17108826779063402,-0.9014771768519394,0.71338606911949],"aabb_xy":[[0.10708827136331214,-0.9486468006740358],[0.23508826421795595,-0.854307553029843]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.21932949149965458,-0.9977948938939927,0.71338606911949],"aabb_xy":[[-0.2348852609099199,-1.0133453271384],[-0.20377372208938938,-0.9822444606495856]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.18311938395318228,1.8016053013168158,0.71338606911949],"aabb_xy":[[-0.21351749505232584,1.7711983993151463],[-0.15272127285403866,1.8320122033184854]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.5081929244328085,0.7369628865904074,0.71338606911949],"aabb_xy":[[0.47319292530285273,0.7312176655147433],[0.543192923562764,0.7427081076660715]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.4826206391201062,-2.146861624071802,0.71338606911949],"aabb_xy":[[0.46012063930620384,-2.1513362404422827],[0.5051206389340086,-2.1423870077013216]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.06778002338513389,-1.2971732122913888,0.71338606911949],"aabb_xy":[[-0.09826427351216405,-1.3471732120728848],[-0.03729577325810374,-1.2471732125098929]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.2759304111621471,-2.3100428548798173,0.71338606911949],"aabb_xy":[[-0.3399304084644935,-2.3544092818476745],[-0.21193041385980071,-2.265676427911961]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.44267152122156417,0.9282420777482989,0.71338606911949],"aabb_xy":[[0.43183104299504926,0.91105579645765],[0.4535119994480791,0.9454283590389476]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.572804979541345,0.048060777921095976,0.71338606911949],"aabb_xy":[[-0.6628049760422167,0.002149135502637726],[-0.4828049830404732,0.09397242033955419]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.19323757721248347,-1.3598256472066972,0.71338606911949],"aabb_xy":[[-0.20193553950319879,-1.371950621514172],[-0.18453961492176818,-1.3477006728992225]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.3459398740508551,-2.1998068634655925,0.71338606911949],"aabb_xy":[[-0.42593987731486815,-2.2133668957745054],[-0.2659398707868419,-2.1862468311566787]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.2849374510603306,-0.5706615675652809,0.71338606911949],"aabb_xy":[[-0.33274361867409924,-0.6356615702723398],[-0.23713128344656192,-0.5056615648582219]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.1340366898291564,-0.7507090779747752,0.71338606911949],"aabb_xy":[[0.11653668958410703,-0.768208865814342],[0.15153669007420578,-0.7332092901352083]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.42032325896762507,1.6912895942364528,0.71338606911949],"aabb_xy":[[-0.44282325897777336,1.6771933745968495],[-0.3978232589574768,1.705385813876056]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[0.48709907459633617,-2.3909189942981426,0.71338606911949],"aabb_xy":[[0.4815174029622074,-2.403418994115918],[0.4926807462304649,-2.3784189944803673]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.11818720761334645,-0.6537016534909081,0.71338606911949],"aabb_xy":[[-0.15568720796157418,-0.6654930490719916],[-0.08068720726511866,-0.6419102579098245]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.01802256028304383,1.563220011555503,0.71338606911949],"aabb_xy":[[-0.05904050366941471,1.5132200109245455],[0.02299538310332705,1.6132200121864602]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.5715044236479889,-0.9607222161120388,0.71338606911949],"aabb_xy":[[0.5490044234044735,-0.9729268507718107],[0.5940044238915043,-0.9485175814522668]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.4998124871603087,-1.0502639783802705,0.71338606911949],"aabb_xy":[[0.40981248856583885,-1.0665145646936915],[0.5898124857547787,-1.0340133920668495]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[-0.3943850563217895,-2.446801674856951,0.71338606911949],"aabb_xy":[[-0.40373206390408467,-2.461105297074595],[-0.3850380487394942,-2.432498052639307]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.25236338048572177,-0.8644577834091349,0.71338606911949],"aabb_xy":[[-0.297641995366871,-0.9284577827573186],[-0.2070847656045725,-0.8004577840609512]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.32596306432780886,-1.1136879510580786,0.71338606911949],"aabb_xy":[[0.3034493725043516,-1.1836879516590861],[0.348476756151266,-1.043687950457071]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.5060170616759929,1.5617286194406899,0.71338606911949],"aabb_xy":[[0.4951654554271172,1.5508693287130386],[0.5168686679248684,1.5725879101683407]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[-0.17637007135440408,1.5902721158712985,0.71338606911949],"aabb_xy":[[-0.22637007301589884,1.5402736736155955],[-0.12637006969290931,1.640270558127001]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[-0.2295465661181728,0.36105980812121796,0.71338606911949],"aabb_xy":[[-0.2414793004800009,0.34867765531335865],[-0.21761383175634477,0.3734419609290774]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_31","position":[0.24847853773361073,-2.0719418676832233,0.71338606911949],"aabb_xy":[[0.2397645686836762,-2.0944418683424106],[0.25719250678354516,-2.049441867024034]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[-0.4628512434884179,1.1982730448885928,0.71338606911949],"aabb_xy":[[-0.49284290622228816,1.1682730455517922],[-0.4328595807545475,1.2282730442253933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841627151324378,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9088.png","name":"9088"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9088.png","name":"9088"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4252.png","name":"4252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8662.png","name":"8662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1842.png","name":"1842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":811.2957881944797,"rotation_z_degrees":60.09000591346285,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010577547581895198,-0.004742114283269365,-0.012219567871107225]},{"name":"camera_2","offset_m":[-0.018479926573054056,-0.005852806455470821,0.004862487005625124]},{"name":"camera_3","offset_m":[0.014450080640495477,-0.014432174271843566,0.015427285585284712]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003655755224681685,-0.0013081674184656626,0.0018234784658483871],"end_effector_yaw_offset_degrees":-0.13675199029028828},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013189798949716015,-0.0015130639825898893,0.0018048676199149388],"end_effector_yaw_offset_degrees":-0.6027386042147425},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011483833378831488,7.47764352077014e-05,0.0008135708768725056],"end_effector_yaw_offset_degrees":0.6580053843342517}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034351880200969554,0.001346557367721938],"position_m":[0.289064811979903,0.09054655736772194,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010038723714865198,0.00017159117372690397],"position_m":[0.13890387237148652,0.2563715911737269,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003818091490008664,0.0013322549750731105],"position_m":[0.3440819085099913,0.3016322549750731,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015428769392731032,0.003708653254310113],"position_m":[0.2278428769392731,-0.40149134674568987,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d35ff4c236a9a65f517948ab359e6e457bcd3a31bbfcb56dda3827cd1873e64b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9088/tex_ceiling_textures_4194/tex_floor_textures_1842/tex_table_textures_4252/tex_wall_textures_8662","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4006430819316838174,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4006430819316838174,"visual_seed":4006430819316838174,"scene_id":"lab_003","finished_at":"2026-09-03T00:11:08"} +{"episode_id":"ep_000034","started_at":"2026-09-03T00:12:35","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.09102280788163919,-2.241251949486086,0.71338606911949],"aabb_xy":[[-0.11460793134553404,-2.3062519517315176],[-0.06743768441774434,-2.176251947240654]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.2974795131264354,-0.8610037778891044,0.71338606911949],"aabb_xy":[[0.2921419374604308,-0.8860037788182442],[0.30281708879243996,-0.8360037769599646]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.16874475480646356,-1.7954017183314086,0.71338606911949],"aabb_xy":[[-0.2237447530082084,-1.835923684957846],[-0.11374475660471874,-1.7548797517049708]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.062398710095277976,0.9803406457063657,0.71338606911949],"aabb_xy":[[-0.09989870851867833,0.9671764317385351],[-0.024898711671877627,0.9935048596741963]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.6133408529762026,-2.309157871421032,0.71338606911949],"aabb_xy":[[0.5333408497183595,-2.389154379213016],[0.6933408562340454,-2.229161363629048]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.2442769336483419,-0.36138649134017964,0.71338606911949],"aabb_xy":[[-0.29036202490307333,-0.4253864885927348],[-0.1981918423936104,-0.2973864940876246]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.6170925131476,1.1905856095108023,0.71338606911949],"aabb_xy":[[-0.6262523920914767,1.1840543914672652],[-0.6079326342037235,1.1971168275543393]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.2016093598218599,1.3743693314015486,0.71338606911949],"aabb_xy":[[0.1961514141848398,1.2943693280938893],[0.20706730545887994,1.4543693347092075]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.1785325821786341,-1.9799873685623903,0.71338606911949],"aabb_xy":[[0.16890094595820448,-1.9896246813420995],[0.18816421839906372,-1.9703500557826816]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.03619231032207215,-0.7284949676979884,0.71338606911949],"aabb_xy":[[0.02534070407319655,-0.7393542584256394],[0.04704391657094775,-0.7176356769703374]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.5993348977255821,-1.0283056085449274,0.71338606911949],"aabb_xy":[[0.5343348991685092,-1.05805814195881],[0.6643348962826549,-0.9985530751310447]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.5127079750527463,-0.19208288056145806,0.71338606911949],"aabb_xy":[[0.46272502486526695,-0.2420828802040184],[0.5626909252402256,-0.1420828809188976]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.2915361578429696,0.7491992738583519,0.71338606911949],"aabb_xy":[[-0.3290361581351444,0.7451577984577484],[-0.2540361575507948,0.7532407492589557]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.4521330871482738,-2.0504217421207676,0.71338606911949],"aabb_xy":[[0.41533845402336755,-2.08732761721735],[0.4889277202731801,-2.0135158670241853]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.5733731923794858,-0.3077090586783533,0.71338606911949],"aabb_xy":[[0.5668715558714813,-0.31747688070466307],[0.5798748288874905,-0.29794123665204353]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.3427968795101981,0.7190643923058642,0.71338606911949],"aabb_xy":[[0.3215188713667258,0.654064389979791],[0.3640748876536703,0.7840643946319371]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.5125222126854557,-2.3227865744114347,0.71338606911949],"aabb_xy":[[-0.576522212959434,-2.372852674608722],[-0.4485222124114775,-2.2727204742141462]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.14233859931865156,-2.358653861473564,0.71338606911949],"aabb_xy":[[-0.156673024444815,-2.3707140770281026],[-0.1280041741924881,-2.3465936459190253]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.21240741886036052,-0.7192994185701185,0.71338606911949],"aabb_xy":[[0.1749074185121327,-0.7310908141512019],[0.24990741920858822,-0.7075080229890348]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.27661323661891213,-1.2356971738233036,0.71338606911949],"aabb_xy":[[0.25472348902997133,-1.3256971711125525],[0.29850298420785293,-1.1456971765340542]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.3462811433786747,-2.1291097892094326,0.71338606911949],"aabb_xy":[[-0.40391161226594546,-2.1891097881361428],[-0.2886506744914038,-2.0691097902827216]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.3968547996361693,-1.5917449704571265,0.71338606911949],"aabb_xy":[[0.3603589790088905,-1.628228912883884],[0.433350620263448,-1.555261028030369]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.5011237618986786,-0.6915645175060992,0.71338606911949],"aabb_xy":[[-0.5180344943350204,-0.7050367230987136],[-0.48421302946233685,-0.6780923119134845]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.6509959855181803,-2.2653085661949226,0.71338606911949],"aabb_xy":[[-0.6684959189521636,-2.2828085661151567],[-0.6334960520841969,-2.2478085662746876]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.10864047395338217,-0.5893015974466471,0.71338606911949],"aabb_xy":[[-0.15864047339357779,-0.6392695219309634],[-0.05864047451318655,-0.5393336729623308]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.4503770919243393,-0.1878600509109174,0.71338606911949],"aabb_xy":[[-0.500377092874872,-0.21940919791443877],[-0.40037709097380636,-0.15631090390739596]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.19988727506055948,-2.514397856929817,0.71338606911949],"aabb_xy":[[0.16238727524352592,-2.519036068240959],[0.23738727487759304,-2.5097596456186753]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[-0.5716163693586649,-1.7936226943927314,0.71338606911949],"aabb_xy":[[-0.6616163679531348,-1.8098732807061526],[-0.48161637076419495,-1.7773721080793106]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[-0.40813085602027377,-0.5061832082984044,0.71338606911949],"aabb_xy":[[-0.4161571266508999,-0.514934703275757],[-0.4001045853896479,-0.49743171332105174]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[0.4807138329462519,-1.2471849417241172,0.71338606911949],"aabb_xy":[[0.4007138315161247,-1.3267020967367267],[0.5607138343763791,-1.1676677867115077]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[-0.2636756162349479,-2.4876994885166153,0.71338606911949],"aabb_xy":[[-0.3276756184553549,-2.532072572641904],[-0.19967561401454087,-2.4433264043913274]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_31","position":[0.6050205341047807,-1.5786830268076837,0.71338606911949],"aabb_xy":[[0.5800205349391476,-1.5856352725130403],[0.6300205332704139,-1.5717307811023271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858155352904797,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4785.png","name":"4785"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":849.2702714252679,"rotation_z_degrees":279.7179691179684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007392107164017583,-0.01349187664151951,0.0004795004863719088]},{"name":"camera_2","offset_m":[0.010219897860181563,0.0022709268441530595,0.009092124719401996]},{"name":"camera_3","offset_m":[-0.019111549648812502,-0.01870357002486996,0.009237524857393292]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.771351797091456e-06,0.0016761791020246117,0.00035048618142644863],"end_effector_yaw_offset_degrees":0.4612391152112789},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019059151337278099,-0.0006696435151633119,0.001561550588571014],"end_effector_yaw_offset_degrees":-0.24143663438114538},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012770366180961021,0.0018666529288209064,0.00108754543335793],"end_effector_yaw_offset_degrees":0.6821737659330833}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024582831255280557,-0.002066598629656006],"position_m":[0.29004171687447194,0.08713340137034399,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003056604150957521,-0.0003232720470560946],"position_m":[0.1409566041509575,0.2558767279529439,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005989064446470984,-0.0039859134280044815],"position_m":[0.3484989064446471,0.29631408657199554,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00339350204534549,-0.00023590962204713978],"position_m":[0.2296935020453455,-0.4054359096220471,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1f5fb7645232359180861b2c970326779a9b10a2debad07a0412cce9d371be58","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3906/tex_ceiling_textures_5162/tex_floor_textures_1648/tex_table_textures_4785/tex_wall_textures_5981","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":16199362773155971,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":16199362773155971,"visual_seed":16199362773155971,"scene_id":"lab_003","finished_at":"2026-09-03T00:15:18"} +{"episode_id":"ep_000035","started_at":"2026-09-03T00:15:21","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.6068928811937014,1.3209949487427677,0.71338606911949],"aabb_xy":[[-0.6155908434844167,1.308869974435293],[-0.5981949189029862,1.3331199230502424]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.64883535924886,1.7304535772892202,0.71338606911949],"aabb_xy":[[-0.6597411353364228,1.6504535808903908],[-0.6379295831612973,1.8104535736880492]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.353560837204812,1.6881107001372038,0.71338606911949],"aabb_xy":[[0.28856083624768475,1.6361624882034982],[0.4185608381619392,1.7400589120709093]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.4387270048777725,-1.8908178164439249,0.71338606911949],"aabb_xy":[[0.38872700359393253,-1.9407966708345468],[0.48872700616161247,-1.8408389620533026]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.384185385287375,0.14129769385681668,0.71338606911949],"aabb_xy":[[-0.39122683623812265,0.13427094211902213],[-0.37714393433662746,0.14832444559461122]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.18891548009183112,-1.169330472334044,0.71338606911949],"aabb_xy":[[0.1249154778714241,-1.2137035564593324],[0.25291548231223815,-1.1249573882087558]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.2992351667034866,-2.0572042988780637,0.71338606911949],"aabb_xy":[[0.26423516839279115,-2.0649193138016093],[0.33423516501418205,-2.049489283954518]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.25050039681442104,1.5043561309607605,0.71338606911949],"aabb_xy":[[0.20040293283334742,1.4403561304509487],[0.30059786079549466,1.5683561314705723]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.5847443958458393,0.5419023119042445,0.71338606911949],"aabb_xy":[[-0.6347443944917605,0.49198276824478215],[-0.5347443971999181,0.5918218555637069]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.23215053006382164,-0.9315327846184203,0.71338606911949],"aabb_xy":[[-0.2821334802513009,-0.9815327842609806],[-0.18216757987634227,-0.8815327849758597]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.34734392486970334,-0.10076636106162518,0.71338606911949],"aabb_xy":[[-0.384378034297763,-0.13514356839533462],[-0.31030981544164354,-0.06638915372791573]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[-0.6326492466793365,0.9983352076383598,0.71338606911949],"aabb_xy":[[-0.6562343701432314,0.9333352053929281],[-0.6090641232154417,1.0633352098837916]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.36319480018851535,-1.6992386847932053,0.71338606911949],"aabb_xy":[[-0.3808276357820429,-1.7168616308088283],[-0.3455619645949877,-1.6816157387775823]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.5029380129190859,-0.19958476366296196,0.71338606911949],"aabb_xy":[[0.4925264542386021,-0.2049304969988604],[0.5133495715995695,-0.19423903032706347]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.1028796542253646,-1.6965050375695518,0.71338606911949],"aabb_xy":[[-0.15287965366556022,-1.7464729620538677],[-0.05287965478516897,-1.646537113085235]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.5649363427322989,-1.0832268348284009,0.71338606911949],"aabb_xy":[[-0.5725606108224771,-1.0908600583649446],[-0.5573120746421206,-1.0755936112918572]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.35223970259687376,-0.895701599998735,0.71338606911949],"aabb_xy":[[0.290648943372881,-0.9597015981077821],[0.41383046182086664,-0.8317016018896883]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.39304167321406136,1.349709993291464,0.71338606911949],"aabb_xy":[[0.38758372757704124,1.269709989983805],[0.39849961885108137,1.4297099965991231]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.3740321795716619,-2.019729507844019,0.71338606911949],"aabb_xy":[[-0.43803218286137,-2.0630644268479363],[-0.3100321762819538,-1.9763945888401013]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.14387680134675895,-1.4800714793283685,0.71338606911949],"aabb_xy":[[0.11010124215606598,-1.4941099745415336],[0.17765236053745193,-1.4660329841152033]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.49411259537036845,-0.3854674130555633,0.71338606911949],"aabb_xy":[[0.4041125988694967,-0.4313790554740215],[0.5841125918712402,-0.339555770637105]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.5282145376160867,-2.4578336161269756,0.71338606911949],"aabb_xy":[[0.4642145355663547,-2.497928099216284],[0.5922145396658187,-2.417739133037668]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.10091854354391239,-2.2991884108489655,0.71338606911949],"aabb_xy":[[0.0509397350335965,-2.3491884108546843],[0.15089735205422827,-2.2491884108432467]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.552909100523742,-0.14259403934122972,0.71338606911949],"aabb_xy":[[-0.5630621160778913,-0.17866358091397003],[-0.5427560849695925,-0.10652449776848935]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.6179115514137092,-1.473001346120314,0.71338606911949],"aabb_xy":[[0.5379115528263898,-1.5523169480584749],[0.6979115500010287,-1.393685744182153]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.6487105332292002,1.2210345997145877,0.71338606911949],"aabb_xy":[[-0.6661412483082066,1.2037624850507367],[-0.6312798181501936,1.2383067143784383]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.6313387510106392,-2.1770103317476766,0.71338606911949],"aabb_xy":[[0.5938387510668728,-2.1853034217825127],[0.6688387509544056,-2.1687172417128395]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[0.2820635839232236,-2.4110125013636168,0.71338606911949],"aabb_xy":[[0.24862340872720398,-2.444456127194546],[0.31550375911924317,-2.3775688755326856]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[-0.47670513358149824,-1.818739739820673,0.71338606911949],"aabb_xy":[[-0.48857721659299935,-1.9037397395143234],[-0.46483305056999713,-1.7337397401270227]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.4809718397787842,-0.5417580829342166,0.71338606911949],"aabb_xy":[[-0.5154341871769259,-0.5762519653320392],[-0.4465094923806424,-0.5072642005363938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851802442779563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9212.png","name":"9212"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/136.png","name":"136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/941.png","name":"941"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":707.6938985597588,"rotation_z_degrees":200.63842288298483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012823102636273103,0.018343872725099384,-0.019496281753149342]},{"name":"camera_2","offset_m":[0.014558707542807327,-0.0037561112737047667,-0.017422106266585184]},{"name":"camera_3","offset_m":[0.008348821850201502,0.013282181266730957,-0.018625536295240424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009926069984187392,0.0004386146874040377,-0.0014148595683653449],"end_effector_yaw_offset_degrees":0.9894028853526649},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009052427082334772,0.0015328306647990897,-0.0009606441281106131],"end_effector_yaw_offset_degrees":0.28282473219632154},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010946670651235239,0.001732234561634073,-0.0016090772215379685],"end_effector_yaw_offset_degrees":0.4267612152382281}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003838744518938243,-0.003354149158252485],"position_m":[0.28866125548106175,0.08584585084174752,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003714060936916363,-0.002941394274910123],"position_m":[0.14161406093691636,0.25325860572508985,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024389999367666706,0.0008307213547036289],"position_m":[0.3454610000632333,0.30113072135470365,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013375659467855737,-0.0007494167404148025],"position_m":[0.22496243405321442,-0.4059494167404148,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"97f6714473e25d05ae06125d851d42bef22a7cdf035eb9e973beb63c701878c1","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3760/tex_ceiling_textures_941/tex_floor_textures_136/tex_table_textures_9212/tex_wall_textures_9263","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":9120280748400341938,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":9120280748400341938,"visual_seed":9120280748400341938,"scene_id":"lab_003","finished_at":"2026-09-03T00:17:56"} +{"episode_id":"ep_000036","started_at":"2026-09-03T00:23:48","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.41153976408942217,-0.15881942803899385,0.71338606911949],"aabb_xy":[[-0.436053388186428,-0.1830840213410303],[-0.3870261399924163,-0.1345548347369574]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.28182726825449056,0.9053910961021985,0.71338606911949],"aabb_xy":[[0.27219563203406094,0.8957537833224896],[0.2914589044749202,0.9150284088819074]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.45416759518936134,-1.3589445881540467,0.71338606911949],"aabb_xy":[[0.4493240004281313,-1.3637962406330308],[0.45901118995059126,-1.3540929356750626]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.3891394950550021,-0.9622912527449743,0.71338606911949],"aabb_xy":[[-0.45413949769279555,-1.0137708514444213],[-0.3241394924172086,-0.9108116540455274]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.03660599269452758,1.7015514573650345,0.71338606911949],"aabb_xy":[[-0.049208691831604034,1.6889560611401693],[-0.024003293557451122,1.7141468535899003]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.46236472439276666,0.5952215701996431,0.71338606911949],"aabb_xy":[[-0.5123647257536538,0.5452436656242273],[-0.4123647230318794,0.6451994747750586]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.6602757945589299,1.4435831342879824,0.71338606911949],"aabb_xy":[[0.6227757937669344,1.4372152933297921],[0.6977757953509253,1.4499509752461726]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.21332940232918052,-0.7139749007409772,0.71338606911949],"aabb_xy":[[-0.22057316837542584,-0.7939748989445795],[-0.2060856362829352,-0.6339749025373748]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.03849499109143817,0.723078971339159,0.71338606911949],"aabb_xy":[[-0.011498121017753724,0.6730789706649635],[0.08848810320063005,0.7730789720133548]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.19088219893756697,-2.2217072287732327,0.71338606911949],"aabb_xy":[[-0.2069441263960846,-2.306707230585824],[-0.1748202714790493,-2.1367072269606404]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.059003195895153016,0.010961555597077677,0.71338606911949],"aabb_xy":[[-0.07333762102131647,-0.0010986599574611677],[-0.04466877076898956,0.02302177115161652]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.43266403318726004,0.4250458653375335,0.71338606911949],"aabb_xy":[[-0.44529082047445634,0.4154997916359607],[-0.42003724590006364,0.4345919390391065]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.02522966680823413,0.4986500651160566,0.71338606911949],"aabb_xy":[[-0.0428625024017617,0.4810271191004336],[-0.0075968312147065556,0.5162730111316796]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.03956104560452345,-0.8311586139844582,0.71338606911949],"aabb_xy":[[-0.044460337911086945,-0.8588355332870269],[-0.03466175329795995,-0.8034816946818893]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.3662236192780419,-1.377957971350594,0.71338606911949],"aabb_xy":[[0.34843011234312554,-1.3957577169463917],[0.3840171262129584,-1.3601582257547964]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.6161223346472431,-0.2231332861846016,0.71338606911949],"aabb_xy":[[-0.6660997515124966,-0.27313328767385014],[-0.5661449177819894,-0.17313328469535305]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.6056899571243987,0.9775682946746005,0.71338606911949],"aabb_xy":[[-0.6696899564185669,0.9135821543057465],[-0.5416899578302304,1.041554435043455]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.6181921676478124,-2.3122741592265466,0.71338606911949],"aabb_xy":[[-0.6731921658495571,-2.3527961258529837],[-0.5631921694460674,-2.2717521926001085]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.553299987976902,0.7089232652885387,0.71338606911949],"aabb_xy":[[0.4632999856428831,0.631440910703426],[0.6432999903109212,0.7864056198736513]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.32479041013271437,-0.2637639246276131,0.71338606911949],"aabb_xy":[[-0.3622904104248892,-0.26780540002821673],[-0.28729040984053955,-0.2597224492270095]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.3061148289094806,-2.094028629315994,0.71338606911949],"aabb_xy":[[0.24211482864900977,-2.139037428668922],[0.37011482916995136,-2.049019829963066]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.10134257534192426,-1.3781198098321337,0.71338606911949],"aabb_xy":[[-0.110760049911787,-1.3875359869698527],[-0.09192510077206151,-1.3687036326944146]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.30224913547682475,-1.4987804433158238,0.71338606911949],"aabb_xy":[[-0.38224913345760975,-1.5063819842776758],[-0.22224913749603967,-1.4911789023539719]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885259963174537,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4740.png","name":"4740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4875.png","name":"4875"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5604.png","name":"5604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9181.png","name":"9181"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":751.4309616056097,"rotation_z_degrees":330.3967143829767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008496778888697577,0.017572258710981743,-0.018216822355453806]},{"name":"camera_2","offset_m":[-0.018370069062813462,-0.0072802766836422925,0.0012352109866440412]},{"name":"camera_3","offset_m":[-0.013932277690648816,0.019984058012038324,0.016314110987097747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016166758976808322,0.000428291454192529,-0.0015384426542156913],"end_effector_yaw_offset_degrees":0.6656189573665474},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00043449454908362677,0.0008569385606199934,0.00010507457141030766],"end_effector_yaw_offset_degrees":0.6511165602741786},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000842466257345567,-0.0017471530327712378,0.0004756492609132284],"end_effector_yaw_offset_degrees":-0.9787119605581462}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019428577408970825,0.002049369618198558],"position_m":[0.29444285774089707,0.09124936961819856,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000681119567456985,0.004240226506415643],"position_m":[0.13721888043254302,0.26044022650641563,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035641875875110926,-0.003904490897783262],"position_m":[0.3514641875875111,0.29639550910221674,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003571621596083193,0.0021430191646492156],"position_m":[0.22987162159608318,-0.4030569808353508,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1888d248a1ab0a8030df98b945f58bf8d0228ed74293e9bd366e593db7e3643c","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3056/tex_ceiling_textures_9181/tex_floor_textures_5604/tex_table_textures_4740/tex_wall_textures_4875","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1998138884366653705,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1998138884366653705,"visual_seed":1998138884366653705,"scene_id":"lab_003","finished_at":"2026-09-03T00:26:21"} +{"episode_id":"ep_000037","started_at":"2026-09-03T00:26:23","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.0577089908163827,-0.3600697450655259,0.71338606911949],"aabb_xy":[[-0.0626082831229462,-0.38774666436809463],[-0.052809698509819196,-0.3323928257629571]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.0912603415100186,-1.8851742784625507,0.71338606911949],"aabb_xy":[[0.08422003157648163,-1.9651742778622228],[0.09830065144355563,-1.80517427906288]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.6527722519637077,-1.0992667472351023,0.71338606911949],"aabb_xy":[[-0.687069162981448,-1.1335636334450434],[-0.6184753409459669,-1.0649698610251608]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[-0.5218443429753314,-0.4562926109063188,0.71338606911949],"aabb_xy":[[-0.5268003631602127,-0.4787926111084405],[-0.5168883227904504,-0.4337926107041973]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.5130593400989882,-1.5833265013745819,0.71338606911949],"aabb_xy":[[0.4430593374624018,-1.6034313663704471],[0.5830593427355745,-1.5632216363787161]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.007591555214665591,-2.1357903575935544,0.71338606911949],"aabb_xy":[[-0.038738474058248706,-2.2057903562803616],[0.023555363628917525,-2.0657903589067472]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.49893957025142144,-1.1297154182529499,0.71338606911949],"aabb_xy":[[0.4089395735158113,-1.1828988815702444],[0.5889395669870316,-1.0765319549356553]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.35360617081445683,-0.19009572443174783,0.71338606911949],"aabb_xy":[[-0.36401772949494043,-0.19544145776764626],[-0.343194612133973,-0.18474999109584933]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.3099227296191709,1.5239175650370798,0.71338606911949],"aabb_xy":[[0.2724227294472989,1.4912168296541721],[0.3474227297910428,1.5566183004199865]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.6393035460222374,-1.3632953075746317,0.71338606911949],"aabb_xy":[[0.5932184547675059,-1.4272953048271868],[0.6853886372769689,-1.2992953103220766]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.634718870521131,-0.9593042345927785,0.71338606911949],"aabb_xy":[[-0.6846919360536465,-1.0093042344053116],[-0.5847458049886156,-0.9093042347802458]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.18433914976671484,-2.0490125401649903,0.71338606911949],"aabb_xy":[[0.1717123624795185,-2.0585586138665635],[0.1969659370539112,-2.0394664664634172]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.06049680134461044,1.217686349276851,0.71338606911949],"aabb_xy":[[-0.07566897062624378,1.2025174923486477],[-0.04532463206297709,1.2328552062050544]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.6229766838385866,-1.4977871884277905,0.71338606911949],"aabb_xy":[[0.6157154362681792,-1.5105741986913],[0.6302379314089941,-1.485000178164281]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.44847578133789645,-0.9816532889779885,0.71338606911949],"aabb_xy":[[-0.49835847821559276,-1.0316532882242635],[-0.39859308446020036,-0.931653289731714]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.4586193368209037,0.7843377805729754,0.71338606911949],"aabb_xy":[[0.4211193365287289,0.7802963051723718],[0.49611933711307854,0.788379255973579]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.40319593303764445,-0.7039651976752679,0.71338606911949],"aabb_xy":[[0.39439387772867174,-0.711776523830197],[0.41199798834661716,-0.6961538715203388]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.26572600929207013,0.3165070282440059,0.71338606911949],"aabb_xy":[[-0.32072600891381603,0.26152333545653317],[-0.21072600967032434,0.3714907210314786]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.48080711204253856,0.9885292043604448,0.71338606911949],"aabb_xy":[[0.4168071113390693,0.9425108218875239],[0.5448071127460079,1.0345475868333658]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.12836041480363936,0.5475462236775162,0.71338606911949],"aabb_xy":[[-0.1628227622017811,0.5130523412796932],[-0.09389806740549751,0.5820401060753386]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.39451110274624135,-1.7756616004999028,0.71338606911949],"aabb_xy":[[0.3832660471756235,-1.786903398223998],[0.4057561583168592,-1.7644198027758073]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.3062601621623858,0.9139606196593384,0.71338606911949],"aabb_xy":[[-0.3397393294234267,0.8804815062882314],[-0.27278099490134483,0.9474397330304454]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.3089094056203601,1.6874915490581368,0.71338606911949],"aabb_xy":[[-0.33140940613240066,1.6649996906927382],[-0.28640940510831947,1.709983407423535]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.3339388691326566,0.5355749587804324,0.71338606911949],"aabb_xy":[[0.3114388696089491,0.5130790113298115],[0.3564388686563639,0.558070906231053]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.5291233943047217,1.117710451830721,0.71338606911949],"aabb_xy":[[-0.5941233943390244,1.071009775150394],[-0.46412339427041893,1.1644111285110486]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[-0.13614171052295299,-0.2674011344973679,0.71338606911949],"aabb_xy":[[-0.158050392662304,-0.28930180131745864],[-0.11423302838360191,-0.24550046767727718]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.13540296259663986,0.11963260980177948,0.71338606911949],"aabb_xy":[[-0.16999404545068508,0.05463260951674843],[-0.10081187974259466,0.18463261008681053]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.30268287005195993,-0.7130111948021134,0.71338606911949],"aabb_xy":[[0.29468938025667796,-0.721009326742589],[0.310676359847242,-0.7050130628616378]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_28","position":[0.6499858105491365,-0.4391329979350447,0.71338606911949],"aabb_xy":[[0.6419494758478516,-0.4471711172394614],[0.6580221452504212,-0.43109487863062784]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[0.15555819142232674,1.508726779100383,0.71338606911949],"aabb_xy":[[0.10056498008518999,1.45372677876159],[0.21055140275946352,1.5637267794391774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6846534300873144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9507.png","name":"9507"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9507.png","name":"9507"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9496.png","name":"9496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1228.png","name":"1228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3664.png","name":"3664"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":632.8796013663025,"rotation_z_degrees":116.06399872663208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00031786485555635943,-0.015714239415539604,-0.006020590912347443]},{"name":"camera_2","offset_m":[0.019354584833936792,-0.004974610695096188,-0.0058336141091288336]},{"name":"camera_3","offset_m":[-0.004134971674894846,-0.007882759881687651,0.0062834457163068735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012307356718070754,-0.0005196869182886043,0.0003013347070819736],"end_effector_yaw_offset_degrees":-0.9486519057611174},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000989312959332962,-0.0007603304486934351,-0.0019392797221609599],"end_effector_yaw_offset_degrees":-0.006927686693522839},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004959390319611416,0.0014475480359111676,-0.00039457747535904674],"end_effector_yaw_offset_degrees":0.8409341829519883}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004823711986245153,0.0012938392701577726],"position_m":[0.28767628801375483,0.09049383927015778,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001961068183623539,0.0040484934438760395],"position_m":[0.13593893181637645,0.260248493443876,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015960694046487068,-0.0021058162227210087],"position_m":[0.3463039305953513,0.298194183777279,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011904921577908859,0.0004826974679013529],"position_m":[0.2261809507842209,-0.40471730253209864,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc6f550d17d09f74f5a3684953e2981e165629439d88d886107ff6a5b1c6699e","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9507/tex_ceiling_textures_3664/tex_floor_textures_6868/tex_table_textures_9496/tex_wall_textures_1228","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4099942671847617787,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4099942671847617787,"visual_seed":4099942671847617787,"scene_id":"lab_003","finished_at":"2026-09-03T00:28:59"} +{"episode_id":"ep_000038","started_at":"2026-09-03T00:29:02","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.7113610366058478,1.650320520650903,0.71338606911949],"aabb_xy":[[0.7032333484125347,1.6414069122401953],[0.7194887247991612,1.6592341290616108]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.23246958169089554,-2.124562571489102,0.71338606911949],"aabb_xy":[[-0.2964695781182175,-2.1717321953111983],[-0.16846958526357367,-2.0773929476670054]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.18026807766858755,1.7950119163164024,0.71338606911949],"aabb_xy":[[-0.20276807719229492,1.7725159688657817],[-0.15776807814488011,1.8175078637670232]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.06586350293731447,-0.6132701910286085,0.71338606911949],"aabb_xy":[[-0.11584773864549168,-0.6632701898421041],[-0.015879267229137226,-0.5632701922151129]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.4534353102841828,-0.7865038704666005,0.71338606911949],"aabb_xy":[[0.3734353128805894,-0.8664964416647833],[0.5334353076877763,-0.7065112992684177]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.08738355894040006,0.7069299788479695,0.71338606911949],"aabb_xy":[[0.03790313772644127,0.6429299809351177],[0.13686398015435886,0.7709299767608213]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.33824910458844953,0.7225681570981211,0.71338606911949],"aabb_xy":[[-0.3757491045322159,0.7142750670632844],[-0.3007491046446831,0.7308612471329575]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.6316391421457035,1.7149389798001295,0.71338606911949],"aabb_xy":[[-0.6602884745061196,1.6862934205230535],[-0.6029898097852872,1.7435845390772051]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.49858245154339054,-1.5592585369442375,0.71338606911949],"aabb_xy":[[0.47608603010952644,-1.5817585367509852],[0.5210788729772546,-1.5367585371374903]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.14208582912115364,-1.9636680841196936,0.71338606911949],"aabb_xy":[[0.13021374610965253,-2.048668083813344],[0.15395791213265475,-1.8786680844260433]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.555674179190045,1.4224309413603184,0.71338606911949],"aabb_xy":[[0.5405113062131081,1.4072654840652],[0.5708370521669822,1.4375963986554374]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.6459835672657728,-2.334372447070268,0.71338606911949],"aabb_xy":[[0.5909913166302619,-2.389372448813581],[0.7009758179012838,-2.2793724453269553]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.4844790976452365,-1.3444017897303584,0.71338606911949],"aabb_xy":[[-0.5073948105302865,-1.3673060868667821],[-0.4615633847601867,-1.3214974925939351]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.05387632668569564,-1.5759736398998436,0.71338606911949],"aabb_xy":[[0.04903273192446567,-1.5808252923788277],[0.058719921446925616,-1.5711219874208595]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.6187773744948366,0.6900019120178529,0.71338606911949],"aabb_xy":[[-0.6285333640040105,0.6802393779586184],[-0.6090213849856627,0.6997644460770873]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.021276421179963867,-1.8207547610749235,0.71338606911949],"aabb_xy":[[-0.04272358022802679,-1.872543712598848],[0.08527642258795452,-1.7689658095509986]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.5771276654735689,-0.10912084924443555,0.71338606911949],"aabb_xy":[[-0.5922299669345867,-0.12422237087549734],[-0.5620253640125505,-0.0940193276133737]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.28466564209040396,-1.1972478416816412,0.71338606911949],"aabb_xy":[[-0.3496656406474768,-1.2270003750955238],[-0.21966564353333112,-1.1674953082677586]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.40915200624909653,1.6970091392279563,0.71338606911949],"aabb_xy":[[0.3541565284284371,1.6420091377940493],[0.46414748406975587,1.7520091406618632]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.036601248244126916,-1.5144998313910696,0.71338606911949],"aabb_xy":[[-0.0008987532715047999,-1.5257266044072149],[0.07410124975975863,-1.5032730583749248]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[-0.2981552813135096,1.1095709471829451,0.71338606911949],"aabb_xy":[[-0.3351893907415693,1.0751937398492357],[-0.2611211718854498,1.1439481545166545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904838113253667,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6671.png","name":"6671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2911.png","name":"2911"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.7933931656553,"rotation_z_degrees":110.48298783147315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003927334689683978,0.01916156292193785,-0.014452862476504503]},{"name":"camera_2","offset_m":[-0.004946356211641292,0.0018173504349864762,-0.008505567479245647]},{"name":"camera_3","offset_m":[-0.0025934328145889793,0.01789028460576725,0.004514491627117957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.974709245161724e-05,-7.323014389278796e-05,0.0015755001379019438],"end_effector_yaw_offset_degrees":-0.0973554039839637},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000924597563525675,-1.7725887118253975e-05,0.0019188527842425593],"end_effector_yaw_offset_degrees":0.33940679678663876},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004995269159674019,-0.0009485076990339749,-0.0007954567707401008],"end_effector_yaw_offset_degrees":0.12229952332832439}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013810922563586951,0.0026154862178498625],"position_m":[0.29388109225635867,0.09181548621784986,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005532547677051993,-0.001827640768045499],"position_m":[0.1373467452322948,0.2543723592319545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002440994624365981,0.0029242252521774004],"position_m":[0.35034099462436596,0.3032242252521774,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001244299688675764,-0.003616991514364288],"position_m":[0.22505570031132424,-0.4088169915143643,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b7977ad172848d1ecd0619ea9abb5d156c08726b8fc3205791c808c2b869b62","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5043/tex_ceiling_textures_2911/tex_floor_textures_3682/tex_table_textures_243/tex_wall_textures_6671","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3076048825781885626,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3076048825781885626,"visual_seed":3076048825781885626,"scene_id":"lab_003","finished_at":"2026-09-03T00:31:43"} +{"episode_id":"ep_000039","started_at":"2026-09-03T00:31:49","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.03528466389096507,-2.5100278623294154,0.71338606911949],"aabb_xy":[[0.0008221858778772947,-2.516691539512338],[0.06974714190405285,-2.5033641851464927]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.5724420745463535,-2.2542162382640587,0.71338606911949],"aabb_xy":[[-0.6374420756522968,-2.279181611332187],[-0.5074420734404103,-2.2292508651959304]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.15142061676073937,1.3605883713899396,0.71338606911949],"aabb_xy":[[-0.17392061677088766,1.3464921517503363],[-0.12892061675059108,1.3746845910295429]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.4954843378011329,0.28233782632210414,0.71338606911949],"aabb_xy":[[0.4354843375497317,0.22805650128563948],[0.555484338052534,0.3366191513585688]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.09854657247446352,-0.7223060019793885,0.71338606911949],"aabb_xy":[[-0.12354657202620199,-0.7324484858445233],[-0.07354657292272503,-0.7121635181142538]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.49470591127134256,0.44834829951146826,0.71338606911949],"aabb_xy":[[-0.5587016086664391,0.3843483012107596],[-0.430710213876246,0.512348297812177]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.13889558038173233,-2.1811966494369677,0.71338606911949],"aabb_xy":[[-0.18888869249092424,-2.2311966501111637],[-0.08890246827254043,-2.1311966487627725]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.5074509075277894,0.1027409751850672,0.71338606911949],"aabb_xy":[[-0.5572676869926243,0.05274097670076382],[-0.4576341280629548,0.15274097366937056]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.13240714060146996,0.6327783022215816,0.71338606911949],"aabb_xy":[[-0.14427922361297107,0.5477783025279312],[-0.12053505758996885,0.717778301915232]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.511962524216768,-0.6624193336652826,0.71338606911949],"aabb_xy":[[-0.591962522873654,-0.6769241925895455],[-0.431962525559882,-0.6479144747410199]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.526907253083091,-2.121141777524377,0.71338606911949],"aabb_xy":[[-0.541550658637124,-2.1358004971811613],[-0.5122638475290581,-2.106483057867593]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.4681490811366912,0.974653330202297,0.71338606911949],"aabb_xy":[[-0.5152784601385267,0.910653329157895],[-0.4210197021348554,1.038653331246699]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.5424479546202507,-1.8232477758746395,0.71338606911949],"aabb_xy":[[0.5249480211862674,-1.8407477757948738],[0.5599478880542341,-1.8057477759544047]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.6274836158546981,-0.16747124317153306,0.71338606911949],"aabb_xy":[[0.605018845883293,-0.18997124405039353],[0.6499483858261033,-0.14497124229267253]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.30545667515109187,1.4414355215702792,0.71338606911949],"aabb_xy":[[-0.32736535729044286,1.419534854750188],[-0.2835479930117408,1.4633361883903695]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.5801573560585405,1.222447337682846,0.71338606911949],"aabb_xy":[[0.5301573547747004,1.1724684832922236],[0.6301573573423803,1.2724261920734679]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.3964756459480266,0.77511742128481,0.71338606911949],"aabb_xy":[[-0.44644871148054216,0.7251174214722771],[-0.3465025804155112,0.825117421097343]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.16730834961570806,1.513447471043318,0.71338606911949],"aabb_xy":[[0.08730834635169493,1.4998874387344046],[0.2473083528797212,1.5270075033522312]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.39384045659823097,1.621578247852835,0.71338606911949],"aabb_xy":[[0.3763404573201441,1.6042401477864892],[0.41134045587631785,1.638916347919181]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.5096609548946104,-0.8922892830559856,0.71338606911949],"aabb_xy":[[-0.5596451906027876,-0.9422892818694811],[-0.45967671918643316,-0.8422892842424899]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.4257037107024326,-2.2876170626963974,0.71338606911949],"aabb_xy":[[0.35570370910015314,-2.301049855898055],[0.4957037123047121,-2.27418426949474]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.6899745784694451,0.512162128435274,0.71338606911949],"aabb_xy":[[0.6555122310713032,0.4776682460374511],[0.7244369258675868,0.5466560108330965]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[0.5293958333777133,-0.23009741120082117,0.71338606911949],"aabb_xy":[[0.5196398438685395,-0.2398599452600556],[0.5391518228868872,-0.22033487714158673]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.5433101245223175,1.513177314929242,0.71338606911949],"aabb_xy":[[0.4793101242483393,1.4631112147319538],[0.6073101247962958,1.5632434151265298]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[0.36555053228837053,-1.8448951525939088,0.71338606911949],"aabb_xy":[[0.28555053488477705,-1.9248877237920914],[0.4455505296919639,-1.7649025813957258]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.12532848300159083,-1.4854421062245953,0.71338606911949],"aabb_xy":[[-0.21032848169366547,-1.517427969619474],[-0.04032848430951619,-1.4534562428297162]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[-0.37570729393132735,-2.50746590832909,0.71338606911949],"aabb_xy":[[-0.44070729181297513,-2.5585895720356313],[-0.3107072960496795,-2.4563422446225496]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.5742016008002149,-0.4827103020953345,0.71338606911949],"aabb_xy":[[-0.609201599993033,-0.4936773480929971],[-0.5392016016073965,-0.47174325609767187]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.5630555849883265,-1.3750189709487555,0.71338606911949],"aabb_xy":[[0.559141711792904,-1.3837679863553123],[0.5669694581837489,-1.3662699555421987]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_29","position":[0.22783839092893177,-0.7316918454656394,0.71338606911949],"aabb_xy":[[0.19033839235331093,-0.7444281411291973],[0.2653383895045525,-0.7189555498020814]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_30","position":[0.3951422582094666,0.48594787328987366,0.71338606911949],"aabb_xy":[[0.3905071430572332,0.48208053821272495],[0.39977737336169994,0.48981520836702225]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[0.6126741862100249,0.10044292242836761,0.71338606911949],"aabb_xy":[[0.590501659233374,0.07826725527224443],[0.6348467131866757,0.12261858958449078]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_32","position":[0.1092043868985848,-1.59636267157087,0.71338606911949],"aabb_xy":[[0.04920438705201802,-1.6531812937639088],[0.1692043867451516,-1.5395440493778314]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903051834739553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3352.png","name":"3352"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3352.png","name":"3352"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7715.png","name":"7715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8343.png","name":"8343"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2054.png","name":"2054"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.2093955858205,"rotation_z_degrees":302.8525135864371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007305753248936581,-0.01128276713318261,-0.0012081385366113258]},{"name":"camera_2","offset_m":[0.0003061369266239844,-0.016123930647242646,0.012111529751557246]},{"name":"camera_3","offset_m":[0.01651529386627287,0.005085483679283968,0.011280996202827066]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026401512701312727,0.0015433305326792318,0.0008214993097050982],"end_effector_yaw_offset_degrees":0.16385367507821114},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009273138552959195,-0.0006928226570681764,-0.0016512917439828324],"end_effector_yaw_offset_degrees":-0.6256493562961569},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015806501103796742,-0.0016239364086200947,-0.0002662668758891141],"end_effector_yaw_offset_degrees":0.6200856567856885}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00418111948406846,0.00041037033117252795],"position_m":[0.29668111948406845,0.08961037033117253,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003233548911580733,-0.004318484181615816],"position_m":[0.13466645108841926,0.2518815158183842,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003197815588789495,0.0009619067763659249],"position_m":[0.3510978155887895,0.30126190677636594,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018605294222203096,-0.00432158548698152],"position_m":[0.2244394705777797,-0.40952158548698153,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a055fca13468f8df9f99cd44f55f759b2bc60204c6057d1a507e9686f1f39562","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3352/tex_ceiling_textures_2054/tex_floor_textures_1872/tex_table_textures_7715/tex_wall_textures_8343","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":56511728354235511,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":56511728354235511,"visual_seed":56511728354235511,"scene_id":"lab_003","finished_at":"2026-09-03T00:34:44"} +{"episode_id":"ep_000040","started_at":"2026-09-03T00:36:14","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.29797149465641126,-0.7977944114774815,0.71338606911949],"aabb_xy":[[0.23297149365591074,-0.8485807766321565],[0.3629714956569118,-0.7470080463228066]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.3104897345938285,-0.6919942552760752,0.71338606911949],"aabb_xy":[[-0.3213413408427041,-0.7028535460037261],[-0.2996381283449529,-0.681134964548424]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.5438423857577845,-2.3166240518993533,0.71338606911949],"aabb_xy":[[0.4798423843497938,-2.3684130034232775],[0.6078423871657751,-2.264835100375428]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.2226656867676064,-0.364720881857735,0.71338606911949],"aabb_xy":[[-0.24517937859106362,-0.4347208824587425],[-0.20015199494414923,-0.29472088125672746]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.42472136724312737,-1.0175078574617147,0.71338606911949],"aabb_xy":[[0.3647213666471112,-1.0723203300069382],[0.48472136783914355,-0.9626953849164912]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.5904517101946718,1.0014061281151005,0.71338606911949],"aabb_xy":[[0.5254517075568783,0.9499265294156536],[0.6554517128324653,1.0528857268145475]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.4928635579464604,0.9151780659461575,0.71338606911949],"aabb_xy":[[-0.5041086135170783,0.9039362682220622],[-0.4816185023758425,0.9264198636702528]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.639909903119714,-1.48793271355464,0.71338606911949],"aabb_xy":[[0.6335978035833756,-1.493699652807859],[0.6462220026560523,-1.4821657743014212]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.11502168718935346,-0.32295308617023233,0.71338606911949],"aabb_xy":[[-0.1525216856127538,-0.3361173001380629],[-0.07752168876595311,-0.30978887220240164]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.4229303239799456,-1.233537047483657,0.71338606911949],"aabb_xy":[[-0.4333418826604293,-1.238882780819555],[-0.41251876529946185,-1.2281913141477583]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.5685831586438308,-2.4974217598449533,0.71338606911949],"aabb_xy":[[0.5604695039704537,-2.5055275762989826],[0.5766968133172079,-2.489315943390924]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.40390376986206555,-0.3835971291788711,0.71338606911949],"aabb_xy":[[0.3735056587629219,-0.4140040311805406],[0.4343018809612091,-0.35319022717720155]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.07569895879238131,-0.5865259092231296,0.71338606911949],"aabb_xy":[[-0.07977711669943104,-0.590606889471393],[-0.07162080088533156,-0.5824449289748663]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[0.04925018382609225,-1.840202908027317,0.71338606911949],"aabb_xy":[[-0.030743639752465968,-1.9202029106201588],[0.12924400740465047,-1.7602029054344757]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.6359068781750555,-1.2326054910053574,0.71338606911949],"aabb_xy":[[-0.6658985409089259,-1.262605490342158],[-0.6059152154411852,-1.202605491668557]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.23611329013095017,1.4002396168667892,0.71338606911949],"aabb_xy":[[0.18209769384905014,1.336239613974532],[0.2901288864128502,1.4642396197590464]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.590512494068116,-0.9458768577127614,0.71338606911949],"aabb_xy":[[-0.6404857880713763,-0.9958768582673088],[-0.5405392000648555,-0.8958768571582141]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.14756674062519437,-1.4222839464603685,0.71338606911949],"aabb_xy":[[0.09257126280453495,-1.4772839478942752],[0.20256221844585373,-1.3672839450264613]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.4451114781842911,-1.4453392595209966,0.71338606911949],"aabb_xy":[[-0.45526449373844036,-1.4814088010937367],[-0.4349584626301416,-1.409269717948256]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.3596978726740165,0.9415348665382268,0.71338606911949],"aabb_xy":[[-0.4236978730515501,0.8917895996874146],[-0.29569787229648287,0.9912801333890391]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.6228321212778678,1.7615823736677112,0.71338606911949],"aabb_xy":[[0.6136722423339912,1.7550511556241741],[0.6319920002217444,1.7681135917112483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866795037947541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1171.png","name":"1171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5380.png","name":"5380"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":749.1724448842532,"rotation_z_degrees":225.87857090713828,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008019413530240507,-0.0031280838811615745,-0.013334724966112887]},{"name":"camera_2","offset_m":[-0.01863147535325953,0.016280882834001097,0.004000720218311979]},{"name":"camera_3","offset_m":[0.018418050006851202,-0.0018505068469352147,-0.017854185335611283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001176135786298011,0.000624769548171734,-0.0014111171997110723],"end_effector_yaw_offset_degrees":0.4338047100614142},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010988033637219074,0.0010929063112348901,-5.995716039485367e-05],"end_effector_yaw_offset_degrees":0.3539036575168111},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009893642897496435,0.0019481498108401586,-0.00148149598892925],"end_effector_yaw_offset_degrees":0.9747049096660745}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012152458999915516,0.0029707415431285784],"position_m":[0.2912847541000084,0.09217074154312858,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003654333879514713,0.0018685645507432918],"position_m":[0.13424566612048527,0.2580685645507433,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000524011425278287,-0.0018364850529682631],"position_m":[0.3484240114252783,0.29846351494703177,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011187249964752979,0.0014757776328928251],"position_m":[0.2274187249964753,-0.4037242223671072,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"950232195a415dbe60b0e0699c911cb8146ca5f8723a6960fd8adc138b0bd539","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_894/tex_ceiling_textures_5380/tex_floor_textures_2603/tex_table_textures_1406/tex_wall_textures_1171","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8850427776458645318,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8850427776458645318,"visual_seed":8850427776458645318,"scene_id":"lab_003","finished_at":"2026-09-03T00:39:12"} +{"episode_id":"ep_000041","started_at":"2026-09-03T00:39:17","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.13484680347498568,1.2199144623855989,0.71338606911949],"aabb_xy":[[-0.1848468051364804,1.169916020129896],[-0.0848468018134909,1.2699129046413014]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.5450573880955157,-2.0119005036608995,0.71338606911949],"aabb_xy":[[-0.6066481473195086,-2.0759005017699463],[-0.4834666288715229,-1.9479005055518526]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.1216688012513708,-2.130849656946529,0.71338606911949],"aabb_xy":[[0.1177549280559483,-2.139598672353086],[0.12558267444679333,-2.1221006415399724]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.29231192459384525,-0.8935671769872333,0.71338606911949],"aabb_xy":[[0.2573119262831498,-0.901282191910779],[0.3273119229045407,-0.8858521620636877]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.4049756695383501,-0.38129080220000766,0.71338606911949],"aabb_xy":[[-0.43845483679939107,-0.4147699155711147],[-0.3714965022773092,-0.34781168882890073]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.19501081260874986,-0.5017875311447701,0.71338606911949],"aabb_xy":[[-0.2600108111658227,-0.5315400645586528],[-0.13001081405167703,-0.47203499773088753]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.022643682240683805,1.373841928704795,0.71338606911949],"aabb_xy":[[-0.037815851522317145,1.3586730717765916],[-0.007471512959050467,1.3890107856329983]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.43616595769568867,1.435475631626002,0.71338606911949],"aabb_xy":[[0.38104075206609794,1.3754756301847146],[0.4912911633252795,1.495475633067289]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.2439185797558484,1.7864612480209616,0.71338606911949],"aabb_xy":[[-0.32391858301986154,1.7729012157120483],[-0.16391857649183525,1.800021280329875]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.31025846916790134,-1.4016280499919205,0.71338606911949],"aabb_xy":[[0.28834978702855024,-1.4235287168120108],[0.33216715130725233,-1.3797273831718293]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.5316658724392759,-1.6462486685511006,0.71338606911949],"aabb_xy":[[-0.5956658728168095,-1.6959939354019127],[-0.46766587206174226,-1.5965034017002881]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.3301657252960007,-1.1138224742573637,0.71338606911949],"aabb_xy":[[-0.3941657285857088,-1.157157393261281],[-0.26616572200629257,-1.0704875552534459]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.27247964114243917,-0.9310075814047232,0.71338606911949],"aabb_xy":[[-0.3146640553032699,-0.9950075816819345],[-0.23029522698160843,-0.8670075811275121]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.09290911339959995,-2.4716671637943954,0.71338606911949],"aabb_xy":[[-0.11058474398819829,-2.4893473800737977],[-0.07523348281100162,-2.4539869475149922]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.3489203780503598,-2.4694486703965746,0.71338606911949],"aabb_xy":[[0.32674785107370885,-2.4916243375526976],[0.37109290502701053,-2.4472730032404515]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.42919650968322987,-1.381066101931554,0.71338606911949],"aabb_xy":[[-0.44808089345174007,-1.3999520267119068],[-0.41031212591471966,-1.3621801771512012]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.19642118613337195,-2.0371235217388524,0.71338606911949],"aabb_xy":[[-0.20126478089460195,-2.0419751742178365],[-0.191577591372142,-2.0322718692598682]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.2957222971994279,-2.175089826731179,0.71338606911949],"aabb_xy":[[0.27792879026451145,-2.1928895723269766],[0.3135158041343443,-2.1572900811353812]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.5138752546789842,0.9634460998939072,0.71338606911949],"aabb_xy":[[0.42387525608451426,0.9471955135804863],[0.6038752532734541,0.9796966862073283]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.19710440711345695,0.9838340602664872,0.71338606911949],"aabb_xy":[[-0.26110440945625846,0.9388932090223545],[-0.13310440477065535,1.0287749115106193]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[-0.2272340958804972,-0.6647246047353368,0.71338606911949],"aabb_xy":[[-0.2912340981009042,-0.709097688860625],[-0.16323409366009017,-0.6203515206100484]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886245377989102,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2712.png","name":"2712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1143.png","name":"1143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6078.png","name":"6078"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":791.221782298931,"rotation_z_degrees":18.293319491309745,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00043007723887643345,0.013781554922482928,0.003786258030423425]},{"name":"camera_2","offset_m":[-0.0069454404161349,-0.008301600831900745,0.009679113684650006]},{"name":"camera_3","offset_m":[-0.01838388698410216,-0.013926602625584966,-0.0024284200627734294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001717409554040132,-0.0018371075424237877,0.0011271428693545612],"end_effector_yaw_offset_degrees":0.4967404724414437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014368131950824397,-0.0013742030892158756,0.0009962220492078936],"end_effector_yaw_offset_degrees":-0.5017604792859296},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005966309243712904,0.0016266586283251211,-0.0012315357284509642],"end_effector_yaw_offset_degrees":0.04171559194532737}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009567521988146374,-0.004352523540984987],"position_m":[0.29154324780118535,0.08484747645901501,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00439462317333398,-0.001429753016667098],"position_m":[0.13350537682666602,0.2547702469833329,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014938012577536417,0.0006236775853370223],"position_m":[0.34939380125775366,0.30092367758533706,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027471852030583866,0.0003083386565839643],"position_m":[0.2235528147969416,-0.40489166134341603,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d176319f609fe7d2df7f65136aeb6fedf1c38a2bd6584d0924231e37141f204a","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7207/tex_ceiling_textures_6078/tex_floor_textures_3318/tex_table_textures_2712/tex_wall_textures_1143","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":42331001354461328,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":42331001354461328,"visual_seed":42331001354461328,"scene_id":"lab_003","finished_at":"2026-09-03T00:42:08"} +{"episode_id":"ep_000042","started_at":"2026-09-03T00:43:37","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.45716760740796447,1.14959638851284,0.71338606911949],"aabb_xy":[[-0.4807527308718593,1.0845963862674082],[-0.4335824839440696,1.2145963907582717]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.25126507472016535,1.7017897467432932,0.71338606911949],"aabb_xy":[[0.2341629967617972,1.6846829412120234],[0.2683671526785335,1.718896552274563]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.05201306522390037,1.6779314151550255,0.71338606911949],"aabb_xy":[[-0.01298693577660015,1.6271450500003506],[0.11701306622440089,1.7287177803097005]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.03989395688289188,-2.0540362233653187,0.71338606911949],"aabb_xy":[[-0.02410604170368058,-2.101043186764828],[0.10389395546946434,-2.0070292599658104]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.28002696978142216,-1.3616946869600963,0.71338606911949],"aabb_xy":[[0.2739899567807575,-1.3677213880290446],[0.28606398278208695,-1.3556679858911485]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.24953315568987078,1.1190897050971946,0.71338606911949],"aabb_xy":[[0.2343609864082374,1.1039208481689913],[0.2647053249715041,1.134258562025398]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.2733099724000154,1.578051768528193,0.71338606911949],"aabb_xy":[[0.21831772176450448,1.5230517667848804],[0.32830222303552636,1.633051770271506]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.2711260834368647,-1.3523035624137105,0.71338606911949],"aabb_xy":[[-0.32110903362434395,-1.4023035620562707],[-0.2211431332493853,-1.30230356277115]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.5800357428703142,-1.5401064144056602,0.71338606911949],"aabb_xy":[[0.5575357428601659,-1.5542026340452635],[0.6025357428804625,-1.526010194766057]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.5987970813354131,-1.0692934408053805,0.71338606911949],"aabb_xy":[[0.5602513885102122,-1.1078392118615694],[0.6373427741606142,-1.030747669749192]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.45700786797149395,-1.800234209502665,0.71338606911949],"aabb_xy":[[-0.4920078671014496,-1.805979430578329],[-0.4220078688415383,-1.7944889884270008]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.5444196772717719,-0.5627919842617439,0.71338606911949],"aabb_xy":[[-0.5871863841511922,-0.6267919876835464],[-0.5016529703923518,-0.4987919808399415]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.4320059201395452,1.1226116479887307,0.71338606911949],"aabb_xy":[[0.36700591750175177,1.0711320492892835],[0.49700592277733874,1.1740912466881774]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.46824277465491954,1.3042187228388147,0.71338606911949],"aabb_xy":[[-0.4873550820128984,1.2850839439615727],[-0.44913046729694067,1.3233535017160567]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.40270041455190686,1.009874266149449,0.71338606911949],"aabb_xy":[[-0.42037604514050514,0.9921940498700462],[-0.38502478396330847,1.0275544824288516]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.03259804056232163,-1.7538675367884768,0.71338606911949],"aabb_xy":[[0.025557730628784636,-1.8338675361881487],[0.03963835049585862,-1.673867537388806]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.4365696724515475,1.7082233300554877,0.71338606911949],"aabb_xy":[[-0.454202508045075,1.6906003840398645],[-0.41893683685801986,1.7258462760711104]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.6762490258396743,0.6514303605583551,0.71338606911949],"aabb_xy":[[0.6387490258959079,0.6431372705235184],[0.7137490257834407,0.6597234505931916]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.5869883441574218,0.09938156343157045,0.71338606911949],"aabb_xy":[[-0.6369671526677377,0.04938156342585165],[-0.537009535647106,0.14938156343728926]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.47853539767210296,-1.9226879147904852,0.71338606911949],"aabb_xy":[[-0.5089335087712464,-1.9530948167921545],[-0.4481372865729593,-1.8922810127888154]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.040267803515020906,-1.0429479396705803,0.71338606911949],"aabb_xy":[[-0.014732196106724937,-1.0979316324580533],[0.09526780313676675,-0.9879642468831078]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.5960200856789365,-0.9977813355468821,0.71338606911949],"aabb_xy":[[-0.6600200888975744,-1.0445044474458904],[-0.5320200824602986,-0.9510582236478738]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.08012927976125117,-2.4039237626098644,0.71338606911949],"aabb_xy":[[-0.14412927893102112,-2.450690449728827],[-0.01612928059148123,-2.357157075490902]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.3662066097059775,-1.1017644167168863,0.71338606911949],"aabb_xy":[[0.3022066094319993,-1.1518305169141743],[0.43020660997995575,-1.0516983165195983]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.3080061286194767,1.7426885041868663,0.71338606911949],"aabb_xy":[[-0.33797368552930235,1.7126885038889805],[-0.278038571709651,1.772688504484752]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866738708993142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6178.png","name":"6178"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":585.3116599802541,"rotation_z_degrees":168.13750000374586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017086724211562637,0.00977287482325689,0.0030000323435156497]},{"name":"camera_2","offset_m":[0.015149211275370795,-0.005131378415288936,-0.014830813520478565]},{"name":"camera_3","offset_m":[0.010598239955350596,0.0011893052359947323,0.010925712209182193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019408440051464698,-0.0006464587948977721,-0.0018410116343465007],"end_effector_yaw_offset_degrees":0.633542865828358},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002707169312090598,0.0017953715609802063,0.00012270417194704206],"end_effector_yaw_offset_degrees":0.8499520513046113},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015200614481816863,0.0019411915680236334,-0.0009064725805661596],"end_effector_yaw_offset_degrees":0.45054452203055995}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007928200986610113,-0.002234221157501909],"position_m":[0.291707179901339,0.08696577884249809,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001015002721204238,0.002638307911399869],"position_m":[0.13891500272120424,0.25883830791139983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00411963165861573,0.0010431321474777535],"position_m":[0.34378036834138426,0.30134313214747777,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001772998419667722,-0.004387721126714287],"position_m":[0.22807299841966772,-0.40958772112671427,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0bc08fdf050536a6061ea58aa5ec4fe84335ece31497f07d07288305cada447a","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5811/tex_ceiling_textures_2401/tex_floor_textures_7304/tex_table_textures_6178/tex_wall_textures_1525","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1784220571243443754,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1784220571243443754,"visual_seed":1784220571243443754,"scene_id":"lab_003","finished_at":"2026-09-03T00:46:16"} +{"episode_id":"ep_000043","started_at":"2026-09-03T00:46:19","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.12191360237700033,-1.3771457204201243,0.71338606911949],"aabb_xy":[[-0.1768873244133332,-1.4321457199843575],[-0.06693988034066746,-1.322145720855891]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.2646150960115813,-0.9055387445471854,0.71338606911949],"aabb_xy":[[0.2006150987259327,-0.9470454635000293],[0.32861509329723,-0.8640320255943413]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[0.6318751235521232,-0.07394055236444697,0.71338606911949],"aabb_xy":[[0.5908571801657522,-0.12394055299540431],[0.6728930669384939,-0.02394055173348965]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.5325185255178154,-0.8073652578574662,0.71338606911949],"aabb_xy":[[-0.5570321496148214,-0.8316298511595027],[-0.5080049014208097,-0.7831006645554298]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.6011654777232649,-1.6424545377622217,0.71338606911949],"aabb_xy":[[0.5786654774797495,-1.654659172421994],[0.6236654779667803,-1.63024990310245]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.6533710557337418,-0.3456124157698639,0.71338606911949],"aabb_xy":[[0.6033710544499017,-0.39559127016048595],[0.7033710570175816,-0.29563356137924174]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.38590717734515106,-0.49440743510741525,0.71338606911949],"aabb_xy":[[-0.4359071777057171,-0.544387422317018],[-0.33590717698458494,-0.4444274478978122]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.6648514754089394,-1.742943204424174,0.71338606911949],"aabb_xy":[[0.6198588886904889,-1.7879432036986227],[0.7098440621273897,-1.6979432051497252]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.24908861843030156,0.8405395101093798,0.71338606911949],"aabb_xy":[[-0.30671908731757236,0.780539511182669],[-0.19145814954303067,0.9005395090360901]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.6078040812201861,1.1096327038953242,0.71338606911949],"aabb_xy":[[0.5703040810483141,1.0769319685124168],[0.645304081392058,1.1423334392782312]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.18842382262799562,1.1903065060105043,0.71338606911949],"aabb_xy":[[-0.20629293038245108,1.1764735980332932],[-0.1705547148735401,1.2041394139877153]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.6299287516670653,-2.0720276304400445,0.71338606911949],"aabb_xy":[[0.6049287521153268,-2.0821701143051787],[0.6549287512188038,-2.0618851465749093]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.554172264157464,1.5339518471534848,0.71338606911949],"aabb_xy":[[0.5476706276494594,1.5241840251271752],[0.5606739006654686,1.5437196691797948]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.437240577641401,-2.2213626543732246,0.71338606911949],"aabb_xy":[[0.4291128894480878,-2.2302762627839323],[0.4453682658347142,-2.212449045962517]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.6878479544829975,-0.7169557323708433,0.71338606911949],"aabb_xy":[[-0.6931804691376104,-0.722280060616079],[-0.6825154398283846,-0.7116314041256079]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.3783212518621615,-1.9865524499369265,0.71338606911949],"aabb_xy":[[-0.39025398622398955,-1.9989346027447856],[-0.3663885175003334,-1.9741702971290669]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.5873217012576027,-1.121142065284925,0.71338606911949],"aabb_xy":[[-0.6248217012013693,-1.1294351553197615],[-0.5498217013138365,-1.1128489752500883]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.3935269423060067,-1.0803072579060575,0.71338606911949],"aabb_xy":[[-0.4173631599466119,-1.1703072587145442],[-0.3696907246654017,-0.9903072570975713]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.2446581930794809,1.5825956339537401,0.71338606911949],"aabb_xy":[[0.2320314057922845,1.5730495602521672],[0.25728498036667724,1.592141707655313]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.499681976779236,-0.7027370597057994,0.71338606911949],"aabb_xy":[[0.49146743166355195,-0.7114136500034405],[0.5078965218949199,-0.6940604694081578]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.25430487544280916,-1.256514166705439,0.71338606911949],"aabb_xy":[[-0.2886211526174271,-1.3065141666786166],[-0.21998859826819123,-1.2065141667322612]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.4704292266078016,0.49011445396133,0.71338606911949],"aabb_xy":[[0.44684410314390677,0.42511445171589823],[0.4940143500716965,0.5551144562067618]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.41761083741284666,-0.05120790692668198,0.71338606911949],"aabb_xy":[[-0.4544054705377529,-0.08811378202326425],[-0.38081620428794033,-0.014302031830099697]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.008398958828648051,-1.7640383739393706,0.71338606911949],"aabb_xy":[[-0.01709692111936334,-1.7761633482468455],[0.0002990034620672395,-1.751913399631896]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.304636290214203,1.0976878851001195,0.71338606911949],"aabb_xy":[[0.27033937919646234,1.0633909988901782],[0.3389332012319436,1.1319847713100608]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.6610298930570221,-0.9335839632617637,0.71338606911949],"aabb_xy":[[-0.6948054522477151,-0.9476224584749287],[-0.6272543338663291,-0.9195454680485986]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.5399195567294658,-0.3152080351360458,0.71338606911949],"aabb_xy":[[-0.5542539818556292,-0.3272682506905846],[-0.5255851316033023,-0.3031478195815069]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.2826028656491656,-2.5304640490568615,0.71338606911949],"aabb_xy":[[0.2667183723838404,-2.5448169893556853],[0.2984873589144907,-2.5161111087580377]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.1618768959018727,-0.6324499134051513,0.71338606911949],"aabb_xy":[[-0.22587689616234352,-0.6774587127580792],[-0.09787689564140191,-0.5874411140522232]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[0.6004693372841032,-2.262809707300671,0.71338606911949],"aabb_xy":[[0.5503718733030296,-2.326809707810483],[0.6505668012651769,-2.1988097067908594]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_30","position":[0.5230152008763023,1.7483645737604117,0.71338606911949],"aabb_xy":[[0.4880152025656068,1.7406495588368658],[0.5580151991869977,1.756079588683957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913472926505372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3920.png","name":"3920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2361.png","name":"2361"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3649.png","name":"3649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4385.png","name":"4385"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":804.7288135469531,"rotation_z_degrees":11.329382156715472,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010852629776440158,-0.011211127771635408,-0.014556638880282483]},{"name":"camera_2","offset_m":[0.005161052210724507,-0.00893993457216531,0.008555902350597014]},{"name":"camera_3","offset_m":[-0.010537105548604285,0.01933449685402987,0.010124535607887938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009861827361565666,-0.0006419035467546306,0.0016060838656985904],"end_effector_yaw_offset_degrees":0.1877248687940012},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016371872811785436,0.00010415322786136482,-0.0008407184116961549],"end_effector_yaw_offset_degrees":0.008571212210806367},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012821413651130738,-0.0016702031590199676,-0.0019456276436517355],"end_effector_yaw_offset_degrees":-0.493614626446202}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004718561853861298,0.0013290408239248078],"position_m":[0.2972185618538613,0.09052904082392481,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0045625705141123084,-0.001922506275827718],"position_m":[0.1333374294858877,0.25427749372417224,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004010222487978206,0.001674735491953355],"position_m":[0.3519102224879782,0.30197473549195336,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001009018737623892,-9.187723467397619e-05],"position_m":[0.22730901873762388,-0.40529187723467397,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b3448d3b02a3d53422afc4830840d3950fb1841e8e72a8196c853bf62b76a623","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9101/tex_ceiling_textures_4385/tex_floor_textures_3649/tex_table_textures_3920/tex_wall_textures_2361","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6552782025934350873,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6552782025934350873,"visual_seed":6552782025934350873,"scene_id":"lab_003","finished_at":"2026-09-03T00:48:54"} +{"episode_id":"ep_000044","started_at":"2026-09-03T00:48:57","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.05118903923269158,1.5609604144057783,0.71338606911949],"aabb_xy":[[-0.061756518890790583,1.5504153842927697],[-0.04062155957459256,1.5715054445187868]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.2788671173655935,-2.3537081772610966,0.71338606911949],"aabb_xy":[[-0.3157176653025811,-2.3912081780841303],[-0.2420165694286059,-2.316208176438063]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.4855407514907266,1.4734178588914841,0.71338606911949],"aabb_xy":[[0.43544328750965294,1.4094178583816723],[0.5356382154718002,1.537417859401296]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.3300238879987818,0.8108761050786786,0.71338606911949],"aabb_xy":[[0.26602388565598023,0.765935253834546],[0.39402389034158336,0.855816956322811]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.29406120786603185,0.43832360773316115,0.71338606911949],"aabb_xy":[[0.28602487316474695,0.4302854884287443],[0.30209754256731663,0.44636172703757787]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[-0.13703880156019477,-1.342070554877712,0.71338606911949],"aabb_xy":[[-0.21703880021708077,-1.3565754138019748],[-0.05703880290330876,-1.3275656959534494]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.4094588912002084,-0.9952683266964901,0.71338606911949],"aabb_xy":[[0.40183462311003026,-1.0029015502330338],[0.41708315929038675,-0.9876351031599464]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.14991992818670097,-2.129208404635322,0.71338606911949],"aabb_xy":[[0.08591992496806311,-2.1759315165343303],[0.21391993140533883,-2.0824852927363136]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.19048281565044833,-1.531293849317761,0.71338606911949],"aabb_xy":[[0.14923400462053357,-1.5862938488299783],[0.23173162668036304,-1.4762938498055433]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.39937095450152604,1.6854489431954804,0.71338606911949],"aabb_xy":[[0.3952550043894533,1.681333388162635],[0.40348690461359865,1.689564498228326]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.22591686669793254,-0.6655873999721824,0.71338606911949],"aabb_xy":[[0.1609168666636298,-0.7122880766525096],[0.29091686673223527,-0.618886723291855]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.17460393149923292,-0.7116911826465464,0.71338606911949],"aabb_xy":[[-0.2346039323600457,-0.7631176126530327],[-0.1146039306384201,-0.6602647526400599]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.27356985284584834,-1.1820648642840328,0.71338606911949],"aabb_xy":[[0.25106985303194596,-1.1865394806545135],[0.2960698526597507,-1.177590247913552]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[0.5504405097516738,0.39819931898362526,0.71338606911949],"aabb_xy":[[0.5328076741581461,0.38057637296800223],[0.5680733453452013,0.4158222649992482]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.12807550124031153,1.6895795658911932,0.71338606911949],"aabb_xy":[[0.07810243570779608,1.6395795660786607],[0.17804856677282702,1.7395795657037265]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.06141545445307539,0.9291340187342203,0.71338606911949],"aabb_xy":[[-0.06745246745374012,0.9231073176652723],[-0.05537844145241067,0.9351607198031687]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.042900277808638254,1.351552664097126,0.71338606911949],"aabb_xy":[[0.020400278284930847,1.329056716646505],[0.06540027733234564,1.3740486115477466]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.24795240906365368,1.6279267728444702,0.71338606911949],"aabb_xy":[[-0.255196175109899,1.5479267746408676],[-0.24070864301740835,1.7079267710480723]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4666631631039515,1.1760060453513796,0.71338606911949],"aabb_xy":[[0.4026631610542195,1.1359115622620717],[0.5306631651536835,1.2161005284406876]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.051115696071311834,-0.9039096454032356,0.71338606911949],"aabb_xy":[[0.0011225839621199568,-0.9539096460774313],[0.10110880818050375,-0.8539096447290401]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.44913667154819237,1.3117710092697572,0.71338606911949],"aabb_xy":[[-0.4866366713652258,1.3071327979586154],[-0.4116366717311587,1.316409220580899]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.21344391794788853,1.2974896540473368,0.71338606911949],"aabb_xy":[[0.14344391531130213,1.2773847890514711],[0.2834439205844748,1.3175945190432021]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.43429546291088805,-1.3298800872620598,0.71338606911949],"aabb_xy":[[-0.488311059192788,-1.393880090154317],[-0.380279866628988,-1.2658800843698026]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.02676176137575037,-1.1231491567991685,0.71338606911949],"aabb_xy":[[0.00426533994188627,-1.145649156605916],[0.04925818280961447,-1.100649156992421]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[-0.39623543864296595,-0.9935870985046114,0.71338606911949],"aabb_xy":[[-0.4538659075302367,-1.0535870974313217],[-0.33860496975569504,-0.9335870995779005]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.5494239082311054,-0.9297806620622562,0.71338606911949],"aabb_xy":[[-0.5574672681570606,-1.0147806631576226],[-0.5413805483051503,-0.8447806609668896]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[0.4307893318878777,-1.4686210455436357,0.71338606911949],"aabb_xy":[[0.3507893297251152,-1.5485762291697793],[0.5107893340506402,-1.388665861917492]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.5829436007003501,1.7777123344826529,0.71338606911949],"aabb_xy":[[-0.647943599257423,1.74795980106877],[-0.5179436021432773,1.8074648678965353]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_28","position":[-0.032043433584939995,-2.0847724852315364,0.71338606911949],"aabb_xy":[[-0.06954343437693544,-2.0911403261897266],[0.005456567207055452,-2.078404644273346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849988989598224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8588.png","name":"8588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8588.png","name":"8588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2375.png","name":"2375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2670.png","name":"2670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7966.png","name":"7966"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":671.947326674745,"rotation_z_degrees":135.11087903424297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01062854625946387,0.0025771085317573585,0.01908937070874073]},{"name":"camera_2","offset_m":[0.012371943109982516,0.014414546193599487,0.01946823574399437]},{"name":"camera_3","offset_m":[-0.0020735389290971844,0.004598515857128373,0.017810032283495144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005170108536521703,-0.00013115244677031502,-0.00027291243013858506],"end_effector_yaw_offset_degrees":-0.04370543122745141},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008160053096114596,0.0008527947415998462,0.0018917235886225744],"end_effector_yaw_offset_degrees":-0.10567603623546629},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[9.896857195970145e-05,-0.0014161744151989964,-0.0016530520776208016],"end_effector_yaw_offset_degrees":-0.38188689568464573}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018112538783490338,0.002302371368884547],"position_m":[0.294311253878349,0.09150237136888455,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004898254701769065,-0.003743245407947028],"position_m":[0.13300174529823092,0.25245675459205297,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008380441344282806,-0.004251841827729102],"position_m":[0.3470619558655717,0.2960481581722709,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014685385298094447,-0.00198562259233554],"position_m":[0.22776853852980944,-0.40718562259233554,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e4ed1a48d7251737b4e68ae44c8bd0eb46ef80acd7d6a85046744aee3a7bce8","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8588/tex_ceiling_textures_7966/tex_floor_textures_2670/tex_table_textures_2375/tex_wall_textures_8499","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3118421712276666922,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3118421712276666922,"visual_seed":3118421712276666922,"scene_id":"lab_003","finished_at":"2026-09-03T00:51:33"} +{"episode_id":"ep_000045","started_at":"2026-09-03T00:51:36","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.49311067688391663,-0.7694524507465479,0.71338606911949],"aabb_xy":[[0.4685970527869108,-0.7937170440485843],[0.5176243009809225,-0.7451878574445114]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.6677645420413084,-0.9231185255128296,0.71338606911949],"aabb_xy":[[-0.6770581602784589,-0.9606185240009634],[-0.6584709238041577,-0.8856185270246956]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.5023514341096592,1.4834695917888046,0.71338606911949],"aabb_xy":[[-0.5242411816985999,1.3934695944995557],[-0.48046168652071836,1.573469589078054]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.628085620978281,-1.494652722240477,0.71338606911949],"aabb_xy":[[0.5480856235746875,-1.5746452934386597],[0.7080856183818743,-1.414660151042294]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.08543047856129637,1.4663571762911123,0.71338606911949],"aabb_xy":[[-0.14942617595639296,1.4023571779904036],[-0.021434781166199776,1.530357174591821]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.36897160091605186,1.3782737037898563,0.71338606911949],"aabb_xy":[[-0.4389716027247973,1.3569199350256689],[-0.2989715991073064,1.3996274725540436]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.5661486353062191,1.1663112250644465,0.71338606911949],"aabb_xy":[[0.5021486338982283,1.1145222735405218],[0.6301486367142096,1.2181001765883712]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.7013200275464544,0.5713074054489451,0.71338606911949],"aabb_xy":[[0.695007928010116,0.5655404661957264],[0.7076321270827928,0.577074344702164]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.569377532528963,-2.418086313814954,0.71338606911949],"aabb_xy":[[0.5043775339718901,-2.4478388472288364],[0.6343775310860358,-2.388333780401071]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.5868092106909457,-0.23075044662639987,0.71338606911949],"aabb_xy":[[0.5693092114128588,-0.2480885466927458],[0.6043092099690326,-0.2134123465600539]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.3817461501140442,-1.2362342883159319,0.71338606911949],"aabb_xy":[[-0.4100758600625844,-1.240695030509649],[-0.35341644016550394,-1.2317735461222148]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.3014573059568795,-1.3642614407215932,0.71338606911949],"aabb_xy":[[0.2789573054448389,-1.3867532990869915],[0.32395730646892007,-1.3417695823561948]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.6448263533444598,-1.1617216523545943,0.71338606911949],"aabb_xy":[[-0.6948263529207946,-1.2117022313067003],[-0.5948263537681252,-1.1117410734024884]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.09280621208600726,1.707595013000081,0.71338606911949],"aabb_xy":[[-0.1568062153046451,1.6608719011010726],[-0.028806208867369412,1.7543181248990893]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.43111458837427735,-1.8634582071001606,0.71338606911949],"aabb_xy":[[-0.46861458854614924,-1.8961589424830676],[-0.39361458820240536,-1.8307574717172532]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.07512380659869966,1.673538513001135,0.71338606911949],"aabb_xy":[[0.06376207194541349,1.662170046594847],[0.0864855412519858,1.6849069794074232]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.07049094915165954,0.2790459932435265,0.71338606911949],"aabb_xy":[[-0.10048261188552987,0.249045993906726],[-0.040499286417789215,0.30904599258032706]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.40082289499573237,0.2368488312671202,0.71338606911949],"aabb_xy":[[-0.41397414096702184,0.21184883151043368],[-0.3876716490244431,0.26184883102380674]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.11162399504374809,-1.1340941977796641,0.71338606911949],"aabb_xy":[[-0.16159706057626358,-1.184094197592197],[-0.06165092951123265,-1.0840941979671312]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.33190935324305937,0.4476160997208156,0.71338606911949],"aabb_xy":[[-0.3428151293306221,0.36761610332198646],[-0.32100357715549666,0.5276160961196448]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.6009569215834507,0.24131170766360377,0.71338606911949],"aabb_xy":[[0.536956919240649,0.19637085641947127],[0.6649569239262522,0.28625255890773627]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.39863124130437066,-1.517730026723322,0.71338606911949],"aabb_xy":[[0.39121878576298214,-1.52358123714495],[0.4060436968457591,-1.511878816301694]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[0.6578903696954133,-1.0665850923190388,0.71338606911949],"aabb_xy":[[0.6452635824082168,-1.0761311660206117],[0.6705171569826095,-1.0570390186174659]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.5225158544148212,0.5078858756729372,0.71338606911949],"aabb_xy":[[0.4725329042273417,0.4578858760303767],[0.5724988046023003,0.5578858753154975]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.08620592002648997,0.7434207345763175,0.71338606911949],"aabb_xy":[[0.048705919361911244,0.7277336765760953],[0.12370592069106864,0.7591077925765397]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.3726093273667106,0.7500971601096156,0.71338606911949],"aabb_xy":[[0.363895358316776,0.7275971594504272],[0.381323296416645,0.7725971607688037]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.6137657959926668,-0.6719757082915898,0.71338606911949],"aabb_xy":[[0.5813040951107392,-0.7021085404064923],[0.6462274968745941,-0.6418428761766871]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[-0.32040984259044664,-2.1442150517940326,0.71338606911949],"aabb_xy":[[-0.33741993988049723,-2.1603495402923065],[-0.30339974530039593,-2.1280805632957587]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_28","position":[-0.2318986266543045,1.514232856360206,0.71338606911949],"aabb_xy":[[-0.2568986259262668,1.4978874927640438],[-0.20689862738234222,1.5305782199563684]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.28318488649600176,-1.7649316196922382,0.71338606911949],"aabb_xy":[[-0.32068488643976817,-1.7732247097270748],[-0.24568488655223536,-1.7566385296574016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837341922931676,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5708.png","name":"5708"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1557.png","name":"1557"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3033.png","name":"3033"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/978.png","name":"978"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.0352119618057,"rotation_z_degrees":40.70639550649908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01263863586543396,5.455520743012643e-05,-0.01489734785247197]},{"name":"camera_2","offset_m":[0.00131129921475652,-0.015360057193433554,-0.003741840046761317]},{"name":"camera_3","offset_m":[-0.0013035812290373497,0.0008631243838964318,-0.011733117840398566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000270750745340441,2.2664815693539554e-05,0.0017347887794059956],"end_effector_yaw_offset_degrees":0.9070153046590168},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017194747484340868,0.0018201940367642212,-0.0005805553408614],"end_effector_yaw_offset_degrees":-0.5437734346276617},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013926637552523925,-0.0002851141125180226,0.0006575991720475676],"end_effector_yaw_offset_degrees":-0.2996650995857699}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0040580161591958945,-0.0013976830229417993],"position_m":[0.29655801615919586,0.0878023169770582,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000696327475076676,-0.0031531203256372833],"position_m":[0.13859632747507666,0.2530468796743627,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004684410098536777,-0.0031676910264339542],"position_m":[0.3432155899014632,0.2971323089735661,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019018657598051346,0.0007354672449902001],"position_m":[0.22820186575980514,-0.4044645327550098,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a18b49263d15ffb47890993acbbf1b0b2188f1bdb9c00f0de914f20859b6db79","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8193/tex_ceiling_textures_978/tex_floor_textures_3033/tex_table_textures_5708/tex_wall_textures_1557","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8544570236659140204,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8544570236659140204,"visual_seed":8544570236659140204,"scene_id":"lab_003","finished_at":"2026-09-03T00:54:15"} +{"episode_id":"ep_000046","started_at":"2026-09-03T00:54:19","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.32381989127777855,-1.1349590952009214,0.71338606911949],"aabb_xy":[[0.3129141151902158,-1.2149590915997506],[0.3347256673653412,-1.0549590988020923]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[0.39413947184665465,-0.7806683955514786,0.71338606911949],"aabb_xy":[[0.35289066081673987,-0.835668395063696],[0.43538828287656933,-0.725668396039261]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.2897641047601558,-0.18739293976601923,0.71338606911949],"aabb_xy":[[-0.3272641048657487,-0.19421510161900035],[-0.2522641046545628,-0.1805707779130381]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.21988963245478704,-1.5056156756092174,0.71338606911949],"aabb_xy":[[-0.25488963158474265,-1.5113608966848815],[-0.18488963332483133,-1.4998704545335533]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.23761537939149469,-1.5416269884599132,0.71338606911949],"aabb_xy":[[0.20417520419547508,-1.5750706142908433],[0.2710555545875143,-1.5081833626289831]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.09831675690833153,-2.1290948653812327,0.71338606911949],"aabb_xy":[[0.0343167536186234,-2.17242978438515],[0.16231676019803962,-2.0857599463773147]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.5609035583866682,-0.366597062562374,0.71338606911949],"aabb_xy":[[-0.6509035620635861,-0.4280294691394783],[-0.47090355470974976,-0.30516465598526965]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.2780667040052035,0.7593638842927648,0.71338606911949],"aabb_xy":[[0.231981612750472,0.6953638870402097],[0.3241517952599349,0.8233638815453199]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.6026836790860031,0.05768241054005108,0.71338606911949],"aabb_xy":[[-0.6666836761981089,0.008650040745640457],[-0.5386836819738975,0.10671478033446169]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[0.29242140710525666,-2.40222487011592,0.71338606911949],"aabb_xy":[[0.20869918160517414,-2.492224873650616],[0.37614363260533906,-2.312224866581224]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.11418885460479478,1.0822669065391017,0.71338606911949],"aabb_xy":[[0.02418885518642387,1.048891409694912],[0.20418885402316567,1.1156424033832915]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.6264001380835105,-0.6109971609260372,0.71338606911949],"aabb_xy":[[0.5921032270657698,-0.6452940471359784],[0.6606970491012509,-0.5767002747160958]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.6476347003675267,0.5629203034758983,0.71338606911949],"aabb_xy":[[0.6126347020568312,0.5552052885523525],[0.6826346986782221,0.5706353183994438]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.30331764662598837,-2.0044645569248996,0.71338606911949],"aabb_xy":[[0.2854485388715329,-2.0182974649021106],[0.32118675438044386,-1.9906316489476885]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.11749955429401504,-0.8564046730586024,0.71338606911949],"aabb_xy":[[0.06749955471768034,-0.9063852520107084],[0.16749955387034976,-0.8064240941064965]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.018625085504674455,0.8959279844958816,0.71338606911949],"aabb_xy":[[-0.08862508889623642,0.8606122107924508],[0.05137491788688752,0.9312437581993125]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.3280869480758246,1.7181871736246017,0.71338606911949],"aabb_xy":[[0.2480869511127854,1.641111531980828],[0.4080869450388637,1.795262815268375]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.5314536634825389,1.6084984738004562,0.71338606911949],"aabb_xy":[[-0.5473381567478639,1.5941455335016321],[-0.5155691702172136,1.6228514140992802]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.31734177398059393,1.233104771962331,0.71338606911949],"aabb_xy":[[0.30922811930721683,1.2249989555083018],[0.32545542865397104,1.24121058841636]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.43544450873897317,0.9198763469115678,0.71338606911949],"aabb_xy":[[-0.47044450700909307,0.9128022192165796],[-0.40044451046885327,0.9269504746065559]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.41435016425007376,-1.8440353725758962,0.71338606911949],"aabb_xy":[[0.3965566573151573,-1.8618351181716937],[0.4321436711849902,-1.8262356269800983]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.541762406471815,1.180409188761458,0.71338606911949],"aabb_xy":[[-0.5917357004750754,1.1304091882069105],[-0.4917891124685545,1.2304091893160052]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.09742525633901056,0.6232207528485372,0.71338606911949],"aabb_xy":[[-0.1614252586818121,0.5782799016044046],[-0.033425253996208985,0.6681616040926696]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.04278596313588823,-1.1128543527672428,0.71338606911949],"aabb_xy":[[0.0059913300109819545,-1.149760227863825],[0.0795805962607945,-1.0759484776706605]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.49740495355631764,0.22409943555602352,0.71338606911949],"aabb_xy":[[0.4599049551329173,0.21093522158819286],[0.534904951979718,0.23726364952385412]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[0.6109820000775374,1.1536520762648803,0.71338606911949],"aabb_xy":[[0.5509820002309707,1.0968334540718416],[0.6709819999241042,1.210470698457919]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.4158393267612217,0.7639263113595263,0.71338606911949],"aabb_xy":[[0.3983393274831348,0.7465882112931803],[0.4333393260393085,0.7812644114258722]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.49619669381680587,0.9488362445832497,0.71338606911949],"aabb_xy":[[0.49085911815080135,0.9238362436541099],[0.5015342694828104,0.9738362455123895]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894042050442186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7147.png","name":"7147"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4416.png","name":"4416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5078.png","name":"5078"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":514.061996646685,"rotation_z_degrees":244.6032730189428,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032654513964006787,-0.0187291521627388,-0.009815867043183197]},{"name":"camera_2","offset_m":[-0.015313541038920474,-0.013997218159498987,-0.006262731037361743]},{"name":"camera_3","offset_m":[0.004250077099226687,-0.019017478766562547,0.0006300346249254081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001246490706863885,0.0018568616838227489,-0.0012635921022881105],"end_effector_yaw_offset_degrees":-0.13262471331403902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00046637321786682567,-0.00095584810004443,-0.0003487326161736592],"end_effector_yaw_offset_degrees":-0.7842297646118894},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-6.487555941044748e-05,-0.0007471171951569332,0.0006474083350015494],"end_effector_yaw_offset_degrees":-0.7800360192449116}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036623385692972953,0.00035819221680100446],"position_m":[0.2961623385692973,0.089558192216801,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019961789898974938,0.0016392363664353834],"position_m":[0.1359038210101025,0.25783923636643535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002976131357932504,-0.0006485789786708409],"position_m":[0.3508761313579325,0.2996514210213292,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002957717160835884,0.002005422037075334],"position_m":[0.22925771716083587,-0.4031945779629247,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e2ceac40118d38511a8e19298b24005af50032ac1108aa0febfd57fc2a06c2b","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7793/tex_ceiling_textures_5223/tex_floor_textures_5078/tex_table_textures_7147/tex_wall_textures_4416","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1460771649730987724,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1460771649730987724,"visual_seed":1460771649730987724,"scene_id":"lab_003","finished_at":"2026-09-03T00:56:54"} +{"episode_id":"ep_000047","started_at":"2026-09-03T00:59:43","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.5840305453124117,-1.1940122557788837,0.71338606911949],"aabb_xy":[[-0.6123602552609521,-1.1984729979726008],[-0.5557008353638716,-1.1895515135851666]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.5041268109736092,-0.28447068200953174,0.71338606911949],"aabb_xy":[[-0.5120500912123574,-0.3069706822475351],[-0.4962035307348608,-0.2619706817715284]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.47790939832685253,0.3477606739276804,0.71338606911949],"aabb_xy":[[0.4279093973077174,0.31129445818985246],[0.5279093993459879,0.3842268896655084]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.15202796432009869,1.7197708513951162,0.71338606911949],"aabb_xy":[[0.12874612212196732,1.634770850097888],[0.17530980651823,1.804770852692344]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.45117119908555114,1.4939664167423437,0.71338606911949],"aabb_xy":[[0.43829929558461095,1.4139664163285077],[0.46404310258649123,1.57396641715618]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.6045385694689602,1.3175326855496472,0.71338606911949],"aabb_xy":[[-0.6845385708990874,1.2380155305370375],[-0.524538568038833,1.3970498405622565]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.11936089385861737,-1.8641506933710548,0.71338606911949],"aabb_xy":[[0.10779191311168079,-1.8891506934879865],[0.13092987460555394,-1.839150693254123]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.09009988844256256,1.5020862546691887,0.71338606911949],"aabb_xy":[[-0.1027266757297589,1.4925401809676155],[-0.0774731011553662,1.5116323283707613]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.097222120960333,-2.4831436006687366,0.71338606911949],"aabb_xy":[[-0.10521610953803638,-2.4911436807638268],[-0.0892281323826296,-2.4751435205736465]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.469599534387954,-0.22522741028896842,0.71338606911949],"aabb_xy":[[0.40459953175016045,-0.2767070089884154],[0.5345995370257475,-0.1737478115895215]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.021908345856623268,1.1745960999961178,0.71338606911949],"aabb_xy":[[-0.06690834732285213,1.1295962431346374],[0.023091655609605584,1.2195959568575987]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.5819053278413875,1.3614046476649473,0.71338606911949],"aabb_xy":[[0.5319322623088721,1.3114046478524146],[0.6318783933739031,1.4114046474774804]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.6126130336603761,-0.3482778036987515,0.71338606911949],"aabb_xy":[[0.6085348757533263,-0.35235878394701475],[0.6166911915674257,-0.34419682345048813]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.3803147874395332,-0.862957323968665,0.71338606911949],"aabb_xy":[[0.3003147871659262,-0.9359068717943816],[0.46031478771314016,-0.7900077761429481]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.5472129454181971,0.25177819620104014,0.71338606911949],"aabb_xy":[[-0.5560150007271698,0.2439668700461111],[-0.5384108901092244,0.2595895223559692]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.08379845795840213,-1.163660576068195,0.71338606911949],"aabb_xy":[[-0.1298835492131336,-1.2276605733207502],[-0.037713366703670655,-1.09966057881564]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.10488208888020545,0.5979054279305194,0.71338606911949],"aabb_xy":[[-0.11463807838937932,0.5881428938712848],[-0.09512609937103154,0.6076679619897537]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.1548302316597313,-1.4097363253956843,0.71338606911949],"aabb_xy":[[-0.2148302321675842,-1.4665830590816054],[-0.09483023115187837,-1.3528895917097628]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.42800594408005005,1.0214573539379517,0.71338606911949],"aabb_xy":[[-0.45300594401256794,1.0145746857170284],[-0.40300594414753216,1.028340022158875]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.21461549131580027,-1.9622634155378942,0.71338606911949],"aabb_xy":[[-0.2227291459891773,-1.970369231991923],[-0.2065018366424231,-1.9541575990838649]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.06135032973872423,-1.9774125301637744,0.71338606911949],"aabb_xy":[[-0.08589654536147495,-2.0076614267128114],[-0.03680411411597351,-1.9471636336147378]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.574113851244573,-2.1277265438926496,0.71338606911949],"aabb_xy":[[-0.5811541611781101,-2.207726543292321],[-0.5670735413110362,-2.047726544492978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835374059271686,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6832.png","name":"6832"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4318.png","name":"4318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1978.png","name":"1978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5248.png","name":"5248"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":767.2197511472064,"rotation_z_degrees":203.90127661666452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009827829287954146,0.013507077026906868,-0.010079754208881755]},{"name":"camera_2","offset_m":[0.004977279389057659,0.00025037147499764115,0.00790740728665346]},{"name":"camera_3","offset_m":[-0.0022906546678344054,0.011103031280162011,0.013135830659076173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017871961665740766,0.0016498926649319702,0.0013855482433596912],"end_effector_yaw_offset_degrees":-0.8667198621939882},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008835325539803267,0.0012077307506627106,8.001957139992756e-05],"end_effector_yaw_offset_degrees":-0.30768710645416597},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017673478028573325,-0.0004284074607672746,-6.723280969077056e-05],"end_effector_yaw_offset_degrees":-0.2518770107760824}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003577583857175497,-0.001601016427052251],"position_m":[0.2960775838571755,0.08759898357294775,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002520791056678018,-0.0016103485536321195],"position_m":[0.140420791056678,0.25458965144636786,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031673423108232236,-0.001423551143097904],"position_m":[0.34473265768917677,0.2988764488569021,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031003285285343164,-0.004413111553535408],"position_m":[0.2231996714714657,-0.4096131115535354,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8e7037536ea8d24081a1f9ddc83dea338d8307ec6d30f2f20af99ca1f3a61d33","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5587/tex_ceiling_textures_5248/tex_floor_textures_1978/tex_table_textures_6832/tex_wall_textures_4318","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4683652665448266317,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4683652665448266317,"visual_seed":4683652665448266317,"scene_id":"lab_003","finished_at":"2026-09-03T01:02:19"} +{"episode_id":"ep_000048","started_at":"2026-09-03T01:02:22","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.15188637917977466,0.6128915376143032,0.71338606911949],"aabb_xy":[[-0.1893863795280024,0.6011001420332196],[-0.1143863788315469,0.6246829331953867]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.3521249466483091,-0.5487532775527062,0.71338606911949],"aabb_xy":[[-0.38891957977321534,-0.5856591526492884],[-0.3153303135234028,-0.5118474024561238]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.3714673201436706,-1.2698657509306317,0.71338606911949],"aabb_xy":[[-0.40896731856707097,-1.2830299648984622],[-0.33396732172027027,-1.2567015369628007]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.3324211282227989,-2.1707660076492394,0.71338606911949],"aabb_xy":[[0.242421128804428,-2.204141504493429],[0.4224211276411698,-2.1373905108050497]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.4419863609313197,-0.951943385775416,0.71338606911949],"aabb_xy":[[-0.49198635957724085,-1.0018629294348784],[-0.39198636228539846,-0.9020238421159535]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.22849417746630785,1.2869685209560497,0.71338606911949],"aabb_xy":[[0.16690341824231505,1.2229685228470029],[0.29008493669030067,1.3509685190650966]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.3214111282821055,1.069281195144098,0.71338606911949],"aabb_xy":[[0.30707670315594204,1.057220979589559],[0.33574555340826895,1.0813414106986368]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.41462516491170964,-1.2193192251455172,0.71338606911949],"aabb_xy":[[0.35062516779960395,-1.268351594939928],[0.47862516202381533,-1.1702868553511068]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.43836351170301846,-0.4560493770822025,0.71338606911949],"aabb_xy":[[0.3583635084451755,-0.5360458848741865],[0.5183635149608614,-0.3760528692902185]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.19359642122880372,-0.13634431781128908,0.71338606911949],"aabb_xy":[[-0.20915219063906904,-0.15189475105569628],[-0.17804065181853848,-0.12079388456688189]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.07616052738642676,1.2108944099897787,0.71338606911949],"aabb_xy":[[0.07070258174940668,1.1308944066821194],[0.08161847302344681,1.2908944132974376]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.3599775415033076,0.7542822968437566,0.71338606911949],"aabb_xy":[[-0.36601455450397236,0.7482555957748084],[-0.3539405285026429,0.7603089979127049]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.12089220126560563,-0.6989313600794889,0.71338606911949],"aabb_xy":[[0.10998642517804291,-0.778931356478318],[0.13179797735316834,-0.6189313636806597]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.6418770783437253,-1.195776135303421,0.71338606911949],"aabb_xy":[[0.6043770771589324,-1.2001943579994814],[0.679377079528518,-1.1913579126073603]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.22861418499674857,-2.285334202095039,0.71338606911949],"aabb_xy":[[-0.2538350218565882,-2.310557952947925],[-0.20339334813690887,-2.2601104512421513]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.5328173387375337,1.0379276319100277,0.71338606911949],"aabb_xy":[[0.5210491519428763,0.9529276320048061],[0.5445855255321913,1.1229276318152492]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.22364871638705497,-0.6170242523821092,0.71338606911949],"aabb_xy":[[0.20601588079352734,-0.6346471983977322],[0.2412815519805825,-0.5994013063664863]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.23956582650038444,-1.1969852461462622,0.71338606911949],"aabb_xy":[[-0.2741569093544296,-1.2619852464312933],[-0.20497474364633922,-1.1319852458612312]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.38396041773973544,0.04601261860923467,0.71338606911949],"aabb_xy":[[-0.3933778923095982,0.03659644147151564],[-0.3745429431698727,0.055428795746953696]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.5857707575024348,1.088884128782623,0.71338606911949],"aabb_xy":[[-0.5958524645810082,1.008884130890508],[-0.5756890504238612,1.1688841266747374]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.4338611619870671,1.077422786872646,0.71338606911949],"aabb_xy":[[-0.46949031788702683,1.041790120115793],[-0.39823200608710735,1.113055453629499]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.5984353332779437,-2.344300780622021,0.71338606911949],"aabb_xy":[[-0.6534353328996897,-2.399284473409494],[-0.543435333656198,-2.2893170878345486]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.28718500284395376,0.5037390462359954,0.71338606911949],"aabb_xy":[[-0.3371638113542697,0.4537390462302766],[-0.23720619433363793,0.5537390462417142]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.12151604833140794,-1.9844301425441375,0.71338606911949],"aabb_xy":[[-0.13909435052035476,-2.0020046321182425],[-0.10393774614246107,-1.9668556529700325]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[0.30543023922029655,0.5407542259664346,0.71338606911949],"aabb_xy":[[0.24143023895982577,0.49574542661350657],[0.36943023948076736,0.5857630253193625]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.28764190291370423,0.6785097249887895,0.71338606911949],"aabb_xy":[[-0.29322357454783293,0.666009725171014],[-0.2820602312795754,0.691009724806565]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[0.4609220731268351,-2.5585345006103215,0.71338606911949],"aabb_xy":[[0.4434221396928517,-2.5760345005305556],[0.47842200656081846,-2.5410345006900865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902734689365136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3694.png","name":"3694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3694.png","name":"3694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4342.png","name":"4342"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2135.png","name":"2135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4876.png","name":"4876"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7068.png","name":"7068"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":688.0958798498043,"rotation_z_degrees":214.48276258319527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01893631739524246,0.004631117556562422,-0.0132079538705453]},{"name":"camera_2","offset_m":[0.012735461279137866,-0.009051076235323384,0.010355805843870334]},{"name":"camera_3","offset_m":[0.0024056032892519202,0.0005121171213624542,-0.010485632807907397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012038729343573783,-3.7316218595426394e-05,0.0018901765484213057],"end_effector_yaw_offset_degrees":-0.7449408263494095},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001018483532283065,0.0017251191307824571,0.0009600109219443068],"end_effector_yaw_offset_degrees":-0.7296751543437894},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005756965824492595,-0.0019467010620583035,-0.0008401218677640755],"end_effector_yaw_offset_degrees":0.548320415594318}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004878432113265195,0.00045929925487013176],"position_m":[0.2973784321132652,0.08965929925487014,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00229919905293269,0.001561869265962153],"position_m":[0.1356008009470673,0.2577618692659621,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002475980721189581,0.002373241549440094],"position_m":[0.3503759807211896,0.3026732415494401,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021722919728894927,-0.003932988049166284],"position_m":[0.22651722919728895,-0.4091329880491663,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7325313f62a9635e40753eda8c11c7103b3a0da5c9d76fcad98325be520054bf","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3694/tex_ceiling_textures_7068/tex_floor_textures_4876/tex_table_textures_4342/tex_wall_textures_2135","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3838369803149099168,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3838369803149099168,"visual_seed":3838369803149099168,"scene_id":"lab_003","finished_at":"2026-09-03T01:05:02"} +{"episode_id":"ep_000049","started_at":"2026-09-03T01:06:28","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.44352895091253974,-1.5550428705245207,0.71338606911949],"aabb_xy":[[0.4258533203239414,-1.5727230868039233],[0.4612045815011381,-1.5373626542451178]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.5062799507863567,0.8859981360066738,0.71338606911949],"aabb_xy":[[-0.5213822522473746,0.8708966143756117],[-0.4911776493253384,0.9010996576377354]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.4524716658764859,0.2574185509724116,0.71338606911949],"aabb_xy":[[-0.4899716670612787,0.25300032827635105],[-0.4149716646916931,0.2618367736684721]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.2764406253565296,-1.1650414836118848,0.71338606911949],"aabb_xy":[[0.2561563226331307,-1.1853241087545934],[0.29672492807992823,-1.1447588584691757]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.38532433997305243,-0.7833499067612903,0.71338606911949],"aabb_xy":[[-0.39719642298455354,-0.8683499064549407],[-0.3734522569615513,-0.69834990706764]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.18415948573865348,0.5035869137583808,0.71338606911949],"aabb_xy":[[-0.21915948486860912,0.4978416926827167],[-0.1491594866086978,0.5093321348340449]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.2222956270822642,-0.34596846595568875,0.71338606911949],"aabb_xy":[[-0.29229562921369373,-0.36873043158138435],[-0.15229562495083465,-0.32320650032999304]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.43141057176738923,1.0321675556719385,0.71338606911949],"aabb_xy":[[-0.4351138330965281,1.0284655373632205],[-0.42770731043825044,1.035869573980656]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.5326520500799847,-1.2503135319486076,0.71338606911949],"aabb_xy":[[0.5239540877892694,-1.2624385062560823],[0.5413500123707,-1.238188557641133]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.3707837780784751,-1.710318903052587,0.71338606911949],"aabb_xy":[[-0.39600461493831474,-1.7355426539054735],[-0.3455629412186354,-1.6850951521997]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.19137644949067145,1.5940046700970627,0.71338606911949],"aabb_xy":[[0.1337459806034006,1.5340046711703519],[0.24900691837794228,1.654004669023773]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.08193599582278532,-0.6905490081211196,0.71338606911949],"aabb_xy":[[0.06282368846480647,-0.7096837869983617],[0.1010483031807642,-0.6714142292438776]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.36893154037630405,0.5663913805370333,0.71338606911949],"aabb_xy":[[-0.393931540308822,0.5595087123161101],[-0.3439315404437862,0.5732740487579567]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.3951998099513081,-1.7730591732215764,0.71338606911949],"aabb_xy":[[0.3701998103995696,-1.7832016570867113],[0.4201998095030466,-1.7629166893564419]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.22823962481189985,-0.8028822452858482,0.71338606911949],"aabb_xy":[[0.20195080049145916,-0.8291536789404992],[0.25452844913234046,-0.7766108116311967]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.28727590286027294,-2.1159998259661554,0.71338606911949],"aabb_xy":[[0.20727589960242998,-2.1959963337581394],[0.3672759061181159,-2.0360033181741715]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.5049890795641777,-1.50803144927296,0.71338606911949],"aabb_xy":[[-0.5849829031427359,-1.5880314518658019],[-0.4249952559856195,-1.4280314466801187]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.20343427910930684,0.9169490030136203,0.71338606911949],"aabb_xy":[[-0.24093427768492762,0.9042127073500622],[-0.165934280533686,0.9296852986771781]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.5223162561836239,-1.3116492252585683,0.71338606911949],"aabb_xy":[[0.5160041566472855,-1.3174161645117874],[0.5286283557199623,-1.3058822860053496]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.41091345817908376,0.8105440478621682,0.71338606911949],"aabb_xy":[[-0.4446890173697768,0.796505552649003],[-0.37713789898839084,0.8245825430753331]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.04647617712165386,-0.8516063156601634,0.71338606911949],"aabb_xy":[[-0.12647617408469303,-0.9286819573039368],[0.033523819841385305,-0.7745306740163899]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.17235898842228814,1.6578617324721567,0.71338606911949],"aabb_xy":[[-0.21337693180865902,1.6078617318411996],[-0.13134104503591726,1.7078617331031143]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.580192971443048,-2.193924186690838,0.71338606911949],"aabb_xy":[[-0.6698800477511635,-2.2839241869452884],[-0.4905058951349326,-2.1039241864363873]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[0.04074824635486052,1.0302595775652215,0.71338606911949],"aabb_xy":[[0.029842470267297805,0.9502595811663921],[0.05165402244242323,1.1102595739640504]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.13352066936844476,-1.5553960029672473,0.71338606911949],"aabb_xy":[[-0.1685206692644636,-1.5637702384791874],[-0.09852066947242587,-1.5470217674553073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867326251753856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7566.png","name":"7566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3293.png","name":"3293"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7107.png","name":"7107"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":649.7452462675459,"rotation_z_degrees":97.05972599157634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014783591184244254,0.0020758593467988147,0.001562576976987716]},{"name":"camera_2","offset_m":[0.014022805460399381,0.011993811603937862,-0.002055028610462875]},{"name":"camera_3","offset_m":[0.014313376696017833,0.017877058783285344,-0.00993054734298072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007186377587508077,-0.0015111432653074069,0.0008987694431809115],"end_effector_yaw_offset_degrees":0.4829514886915236},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[4.873836049391596e-05,2.366853992658447e-05,0.0008263687094104371],"end_effector_yaw_offset_degrees":-0.21331127223696122},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001990650714776848,0.001992164392646846,0.0010995237224927581],"end_effector_yaw_offset_degrees":-0.560049077741217}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00011367822053273604,-0.0028148769042042],"position_m":[0.2923863217794673,0.0863851230957958,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008506237108332638,0.001644043727321568],"position_m":[0.13875062371083327,0.25784404372732156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018726045490287746,-0.004523726725904664],"position_m":[0.34977260454902875,0.29577627327409534,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00489524813397356,-0.0005381142827301164],"position_m":[0.22140475186602643,-0.4057381142827301,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0fe4d300b6b9895a8e9db32394f4b8bb79eed6a08e8cb78007bcecb8b6075150","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4196/tex_ceiling_textures_7107/tex_floor_textures_3293/tex_table_textures_2126/tex_wall_textures_7566","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7318883342848245756,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7318883342848245756,"visual_seed":7318883342848245756,"scene_id":"lab_003","finished_at":"2026-09-03T01:09:00"} +{"episode_id":"ep_000050","started_at":"2026-09-03T01:10:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.565211676336337,-0.9996166731513154,0.71338606911949],"aabb_xy":[[-0.619227272618237,-1.0636166760435726],[-0.511196080054437,-0.9356166702590583]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.616455496449184,-0.2531091052779866,0.71338606911949],"aabb_xy":[[0.5789554963435909,-0.25993126713096765],[0.6539554965547768,-0.24628694342500543]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.2757672306558287,0.8197246435039527,0.71338606911949],"aabb_xy":[[-0.3179516448166594,0.7557246432267415],[-0.2335828164949979,0.8837246437811639]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.2608668020203152,-1.3681584381899214,0.71338606911949],"aabb_xy":[[-0.3408667989833543,-1.445234079833695],[-0.18086680505727598,-1.291082796546148]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[-0.5765190820192138,-1.3223089393616136,0.71338606911949],"aabb_xy":[[-0.6264964988844672,-1.372308940850862],[-0.5265416651539601,-1.2723089378723649]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.5570075051925405,-0.8828661194541223,0.71338606911949],"aabb_xy":[[0.5220075052965216,-0.8912403549660622],[0.5920075050885594,-0.8744918839421824]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.546264402927205,1.1699151009812132,0.71338606911949],"aabb_xy":[[0.4822644037574351,1.1231484138622507],[0.610264402096975,1.2166817881001757]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.21858218748536562,-2.0947781698793575,0.71338606911949],"aabb_xy":[[0.13858218889804616,-2.174093771817518],[0.298582186072685,-2.015462567941196]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.07780830277635153,-1.6798267093219925,0.71338606911949],"aabb_xy":[[-0.11212457995096949,-1.7298267092951705],[-0.04349202560173361,-1.629826709348815]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.1731511893254415,0.7260962978592835,0.71338606911949],"aabb_xy":[[0.1236707681114827,0.6620962999464318],[0.22263161053940028,0.7900962957721355]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.46766823092596915,1.136512428300101,0.71338606911949],"aabb_xy":[[-0.4912533543898641,1.0715124260546691],[-0.4440831074620744,1.2015124305455327]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[0.39835433619768734,1.3954199217059102,0.71338606911949],"aabb_xy":[[0.33435433582015367,1.3456746548550977],[0.4623543365752209,1.4451651885567223]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.2711226777142429,-2.379863002125415,0.71338606911949],"aabb_xy":[[0.23612267852142466,-2.3908300481230764],[0.3061226769070612,-2.3688959561277514]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.33900343351542306,-0.5245649606909,0.71338606911949],"aabb_xy":[[0.27400343348112033,-0.5712656373712272],[0.4040034335497258,-0.47786428401057257]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.5969384185639823,-1.7846949165271324,0.71338606911949],"aabb_xy":[[0.5793055829704548,-1.8023178625427554],[0.6145712541575099,-1.7670719705115094]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.28531569635779735,1.537806252243969,0.71338606911949],"aabb_xy":[[-0.34531569695381353,1.4829937796987458],[-0.22531569576178118,1.5926187247891928]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.19497182551092318,-0.7019937822741467,0.71338606911949],"aabb_xy":[[-0.24497182717241792,-0.7519922245298493],[-0.1449718238494284,-0.6519953400184438]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.37656320356108597,-0.4218046353452194,0.71338606911949],"aabb_xy":[[0.372859942231947,-0.4255066536539372],[0.3802664648902248,-0.4181026170365015]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.6657213012833572,1.1699865246862853,0.71338606911949],"aabb_xy":[[0.653849218271856,1.084986524992635],[0.6775933842948583,1.2549865243799356]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[0.24889985952905846,-1.30054828531339,0.71338606911949],"aabb_xy":[[0.18489985623935035,-1.3438832043173075],[0.3128998628187666,-1.2572133663094722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832638438621523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6312.png","name":"6312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6312.png","name":"6312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9108.png","name":"9108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1235.png","name":"1235"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9728.png","name":"9728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":686.7711638121204,"rotation_z_degrees":359.84907102580456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004319964282138541,0.019987105103957677,-0.002027119676962022]},{"name":"camera_2","offset_m":[-0.0021314729869089943,-0.01417451038241703,-0.011117825343051849]},{"name":"camera_3","offset_m":[0.005083659018517914,-0.01011231531165329,0.01098524485091069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016526858051769296,-0.0017658645026410787,-0.0015032940129058167],"end_effector_yaw_offset_degrees":0.8010623225216607},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002462372339651058,-0.0006790276692118496,0.00023073016982370648],"end_effector_yaw_offset_degrees":-0.8280351551510696},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007935929360190657,-0.0009964549969861656,-0.0017809778623580081],"end_effector_yaw_offset_degrees":-0.019700101999102326}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033377158401707288,0.004108542340261313],"position_m":[0.2958377158401707,0.09330854234026131,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00408058285557861,0.0006148423309813855],"position_m":[0.1338194171444214,0.2568148423309814,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030824520368532672,-0.0028802723162137155],"position_m":[0.34481754796314673,0.2974197276837863,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018779328879282519,-0.0035806135292997853],"position_m":[0.22442206711207174,-0.4087806135292998,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"449340923af8e4966a0b43a6be391060ec0680c872ecbe92044ff518563860cf","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6312/tex_ceiling_textures_4131/tex_floor_textures_9728/tex_table_textures_9108/tex_wall_textures_1235","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":893953107449570383,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":893953107449570383,"visual_seed":893953107449570383,"scene_id":"lab_003","finished_at":"2026-09-03T01:12:59"} +{"episode_id":"ep_000051","started_at":"2026-09-03T01:15:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5785652825662394,0.08505222866498485,0.71338606911949],"aabb_xy":[[-0.6485652859578013,0.04973645496155398],[-0.5085652791746773,0.1203680023684157]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.2490538762805649,0.12910140382559288,0.71338606911949],"aabb_xy":[[-0.2840538776320466,0.10874166786877205],[-0.21405387492908315,0.1494611397824137]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.08175710755730381,0.5292214722243713,0.71338606911949],"aabb_xy":[[-0.1457528049524004,0.46522147392366264],[-0.01776141016220721,0.59322147052508]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.19332411289766638,-2.4652739494713503,0.71338606911949],"aabb_xy":[[-0.22832411116778625,-2.4723480771663384],[-0.15832411462754645,-2.458199821776362]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.6679250530831222,-1.220649468877001,0.71338606911949],"aabb_xy":[[0.6598887183818373,-1.2286875881814179],[0.675961387784407,-1.2126113495725843]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.012268139283676316,-1.0219322466332919,0.71338606911949],"aabb_xy":[[-0.0772681419214698,-1.0734118453327388],[0.05273186335411717,-0.9704526479338449]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.3634783667712173,1.0194339172860265,0.71338606911949],"aabb_xy":[[-0.40097836726857555,1.015465233737908],[-0.32597836627385907,1.023402600834145]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.5091669077096442,0.3299205468629536,0.71338606911949],"aabb_xy":[[-0.5891669079832511,0.2569709990372369],[-0.4291669074360372,0.40287009468867035]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.30006171955775507,1.2584532692235375,0.71338606911949],"aabb_xy":[[0.2200678959791969,1.1784532666306962],[0.38005554313631335,1.3384532718163793]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.5618351481542525,-0.8367926869939968,0.71338606911949],"aabb_xy":[[0.5368351489886193,-0.8437449326993534],[0.5868351473198855,-0.8298404412886402]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.014675184842773081,-2.06619154232978,0.71338606911949],"aabb_xy":[[-0.07967518272442088,-2.117315206036321],[0.05032481303887472,-2.015067878623239]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.4844080756559167,-0.2703485031034778,0.71338606911949],"aabb_xy":[[-0.48854393198861695,-0.3078485025478348],[-0.48027221932321656,-0.2328485036591208]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.6541161926638892,-1.5974178315206116,0.71338606911949],"aabb_xy":[[0.6389440233822559,-1.612586688448815],[0.6692883619455225,-1.5822489745924082]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.3805727187398962,0.6104237535926478,0.71338606911949],"aabb_xy":[[0.36794593145269977,0.6008776798910749],[0.39319950602709247,0.6199698272942207]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.15045183737677348,-0.4196830036314454,0.71338606911949],"aabb_xy":[[-0.15540785756165468,-0.44218300383356707],[-0.14549581719189228,-0.39718300342932383]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.4057097995398746,-2.144285843455115,0.71338606911949],"aabb_xy":[[0.3682097993680027,-2.176986578838022],[0.44320979971174657,-2.1115851080722075]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.2689929948064067,-2.0111621376406537,0.71338606911949],"aabb_xy":[[0.2049929928940643,-2.0670732868986645],[0.332992996718749,-1.9552509883826437]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.2218303054243279,0.6611855033326663,0.71338606911949],"aabb_xy":[[0.15683030442382742,0.6103991381779913],[0.28683030642482843,0.7119718684873412]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.3754078163285334,-1.4138054455948554,0.71338606911949],"aabb_xy":[[-0.4354078171893461,-1.4652318756013414],[-0.3154078154677205,-1.3623790155883686]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.4198268647498886,0.8881411187337576,0.71338606911949],"aabb_xy":[[0.35982686424203564,0.8312943850478363],[0.4798268652577415,0.9449878524196789]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872752947945596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4267.png","name":"4267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6363.png","name":"6363"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1958.png","name":"1958"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":544.5910402656392,"rotation_z_degrees":172.3090218721287,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007413646567138304,-0.0027863759117509705,0.01633343493866962]},{"name":"camera_2","offset_m":[0.006945037043584356,-0.0024716765875289586,0.016804746875432295]},{"name":"camera_3","offset_m":[-0.016126207117321645,-0.007438837701621664,-0.0016891699878222206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014365684434077936,0.0016702502872700566,0.0017722651859769373],"end_effector_yaw_offset_degrees":-0.2090517980822264},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000839853029994694,-0.00018177011649300203,0.00018821788673723753],"end_effector_yaw_offset_degrees":0.8387434543870416},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011718185941295613,-0.00010658995753388078,-0.0017280986048345177],"end_effector_yaw_offset_degrees":0.6096803803824451}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001190383614543579,0.0029392987480894766],"position_m":[0.29261903836145436,0.09213929874808947,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001917195974563004,0.0039627610527062105],"position_m":[0.139817195974563,0.2601627610527062,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018928908899310624,-0.003308266212781361],"position_m":[0.34979289088993104,0.29699173378721866,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010040789848558707,0.0005829007786972836],"position_m":[0.22529592101514412,-0.40461709922130273,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c2d062766c85bfc8a8313fd27647bbd8df2747972983e4b73e61308691471d72","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0084.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6655/tex_ceiling_textures_1958/tex_floor_textures_1700/tex_table_textures_4267/tex_wall_textures_6363","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2305605872942082513,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2305605872942082513,"visual_seed":2305605872942082513,"scene_id":"lab_003","finished_at":"2026-09-03T01:18:33"} +{"episode_id":"ep_000052","started_at":"2026-09-03T01:18:35","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.41895547156093665,1.1499874535311476,0.71338606911949],"aabb_xy":[[-0.4364554706953037,1.1401078264935596],[-0.40145547242656937,1.1598670805687352]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.5999563180754286,-0.28781773263095856,0.71338606911949],"aabb_xy":[[0.5359563158550215,-0.33219081675624684],[0.6639563202958355,-0.24344464850567027]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.5953729877921772,0.04358218797814173,0.71338606911949],"aabb_xy":[[-0.6653729904287635,0.02347732298227622],[-0.5253729851555908,0.06368705297400723]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.6223325638105723,1.4223041846160007,0.71338606911949],"aabb_xy":[[-0.6304462184839494,1.4141983681619716],[-0.6142189091371952,1.4304100010700298]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.5401461877694937,0.6572667266135439,0.71338606911949],"aabb_xy":[[0.46014618978870864,0.6496651856516918],[0.6201461857502787,0.6648682675753957]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.6486876462392845,-1.5144334491137155,0.71338606911949],"aabb_xy":[[-0.6594606201606523,-1.5494334473327545],[-0.6379146723179168,-1.4794334508946765]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.23462281498429882,0.5409492516894954,0.71338606911949],"aabb_xy":[[-0.2986228156877682,0.49493086921657437],[-0.1706228142808295,0.5869676341624164]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.49146965261707076,1.2212241132621449,0.71338606911949],"aabb_xy":[[0.4414922357518171,1.171224111772896],[0.5414470694823242,1.2712241147513932]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.16060318081805514,-2.437791088641689,0.71338606911949],"aabb_xy":[[-0.21070064479912876,-2.5017910891515007],[-0.11050571683698152,-2.373791088131877]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.42377042144465216,-1.6892894729414056,0.71338606911949],"aabb_xy":[[-0.4278863715567248,-1.693405027974251],[-0.4196544713325795,-1.6851739179085599]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.34130349528675097,-2.1845849210396606,0.71338606911949],"aabb_xy":[[-0.4013034951333177,-2.241403543232699],[-0.2813034954401841,-2.1277662988466215]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.5322941889715438,-1.9511193546440406,0.71338606911949],"aabb_xy":[[0.46729419041447096,-1.9808718880579232],[0.5972941875286166,-1.921366821230158]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.23121228341453048,-2.4121634219087538,0.71338606911949],"aabb_xy":[[0.16721228412036224,-2.476149562277608],[0.2952122827086987,-2.3481772815398996]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.49632005845469496,1.0153108743217838,0.71338606911949],"aabb_xy":[[0.4875180031457222,1.0074995481668545],[0.5051221137636676,1.0231222004767127]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.5774868334509615,0.4248524516599028,0.71338606911949],"aabb_xy":[[0.5599085312620147,0.4072779620857979],[0.5950651356399084,0.4424269412340077]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.5328410557836348,-2.399704389463276,0.71338606911949],"aabb_xy":[[-0.5828410571445221,-2.4496822940386913],[-0.48284105442274766,-2.34972648488786]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.511241347785848,-0.6883044286257363,0.71338606911949],"aabb_xy":[[0.431241347315632,-0.6966151362400846],[0.5912413482560639,-0.6799937210113879]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.35368463539409956,-0.7471872664682329,0.71338606911949],"aabb_xy":[[-0.4236846387856615,-0.7825030401716636],[-0.2836846320025375,-0.7118714927648019]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.251190900827036,-2.1757294245411263,0.71338606911949],"aabb_xy":[[0.20338473321326733,-2.2407294272481852],[0.29899706844080465,-2.1107294218340673]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.3814206244137527,0.8135399216703245,0.71338606911949],"aabb_xy":[[-0.41006995677416885,0.7848943623932487],[-0.3527712920533364,0.8421854809474003]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.08785248995152906,0.2525943770958823,0.71338606911949],"aabb_xy":[[-0.10673687372003926,0.2337084523155295],[-0.06896810618301885,0.27148030187623506]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.6219307199406714,-0.8673359520380168,0.71338606911949],"aabb_xy":[[0.5419307196670644,-0.9402854998637336],[0.7019307202142784,-0.7943864042123001]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.37807847133214456,1.3340446841327838,0.71338606911949],"aabb_xy":[[0.36106837404209385,1.3179101956345098],[0.39508856862219516,1.3501791726310577]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.29122939468195597,1.224844050943286,0.71338606911949],"aabb_xy":[[0.2852628557412202,1.218882906283922],[0.29719593362269175,1.2308051956026502]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.5672477690978901,-1.0169415967526392,0.71338606911949],"aabb_xy":[[-0.5823500705589079,-1.0320431183837004],[-0.5521454676368717,-1.001840075121577]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.1498412045142724,-2.026417795213872,0.71338606911949],"aabb_xy":[[-0.15776448475302074,-2.0489177954518754],[-0.14191792427552408,-2.0039177949758686]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.5696976732637582,-0.44354540125419195,0.71338606911949],"aabb_xy":[[0.5056976761516525,-0.49257777104860256],[0.6336976703758639,-0.39451303145978134]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.4799118384428107,-1.2521235060630522,0.71338606911949],"aabb_xy":[[0.4647489654658737,-1.267288963358171],[0.49507471141974785,-1.2369580487679335]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.025102190104492772,1.3426042731662293,0.71338606911949],"aabb_xy":[[-0.009360287908595003,1.3359405959833064],[0.059564668117580544,1.3492679503491518]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_29","position":[-0.5093580642948227,-1.7925217187030196,0.71338606911949],"aabb_xy":[[-0.5693580648908388,-1.8473341912482433],[-0.4493580636988065,-1.7377092461577963]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[-0.21976994147466494,-1.1418991196511812,0.71338606911949],"aabb_xy":[[-0.2747699396764097,-1.1824210862776188],[-0.1647699432729201,-1.1013771530247436]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[-0.6842889722398172,0.4208053120600548,0.71338606911949],"aabb_xy":[[-0.6907906087478218,0.411037490033745],[-0.6777873357318126,0.43057313408636455]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_32","position":[0.2704204037684368,-0.6499730335071046,0.71338606911949],"aabb_xy":[[0.2588514230215002,-0.6749730336240364],[0.28198938451537336,-0.624973033390173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687321794645024,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9898.png","name":"9898"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9898.png","name":"9898"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2997.png","name":"2997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4362.png","name":"4362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3645.png","name":"3645"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.0806169028672,"rotation_z_degrees":17.744460163034255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00805297198010686,-0.006535379182788752,0.011393978071767907]},{"name":"camera_2","offset_m":[0.0048141565615713,-0.011334189120116385,-0.007571115721778866]},{"name":"camera_3","offset_m":[-0.008031715021512427,0.01757447815450144,-0.017550954505891104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009112152956409362,0.0013768932343934917,-0.0016985254873130105],"end_effector_yaw_offset_degrees":0.41883120451006706},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00043555029027644615,0.0003737999997081732,0.0006969877816135899],"end_effector_yaw_offset_degrees":0.08760732536540594},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001251868485353273,0.0011668621221504064,-0.000528174756448001],"end_effector_yaw_offset_degrees":0.09688563438316411}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028491410601127866,-0.0008319923171099721],"position_m":[0.2953491410601128,0.08836800768289003,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002623784869329529,0.001482948195675687],"position_m":[0.13816237848693294,0.25768294819567567,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038451056093789203,-0.00010756630250342153],"position_m":[0.3440548943906211,0.3001924336974966,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004457440141603388,-0.0018456809999835835],"position_m":[0.23075744014160338,-0.40704568099998356,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8251ee6c3078e6afe98f1ca12b684eed318ca9c65882e607b67100a4b8eb3db3","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9898/tex_ceiling_textures_3645/tex_floor_textures_162/tex_table_textures_2997/tex_wall_textures_4362","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1950931634968704152,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1950931634968704152,"visual_seed":1950931634968704152,"scene_id":"lab_003","finished_at":"2026-09-03T01:21:14"} +{"episode_id":"ep_000053","started_at":"2026-09-03T01:22:41","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.6136174161428749,1.6550153716919387,0.71338606911949],"aabb_xy":[[-0.6306275134329256,1.6388808831936645],[-0.5966073188528243,1.6711498601902124]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.6567949404147599,1.113140776965297,0.71338606911949],"aabb_xy":[[-0.6686670234262609,1.0281407772716467],[-0.6449228574032587,1.1981407766589474]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.3082386453277286,-0.5282400600030166,0.71338606911949],"aabb_xy":[[0.26110926632589293,-0.5922400610474184],[0.35536802432956427,-0.46424005895861453]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.5760318830533668,-1.323852398698212,0.71338606911949],"aabb_xy":[[0.5120361856582701,-1.3878523969989205],[0.6400275804484633,-1.2598524003975031]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.4607153268773856,-0.5701741281163097,0.71338606911949],"aabb_xy":[[0.42338405035214305,-0.604827182911162],[0.49804660340262824,-0.5355210733214575]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.08275524533421341,1.7162320451728852,0.71338606911949],"aabb_xy":[[0.07346162709706283,1.6787320466847513],[0.09204886357136399,1.753732043661019]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.6648399051383462,1.5421394688516723,0.71338606911949],"aabb_xy":[[0.6187548138836148,1.4781394715991172],[0.7109249963930777,1.6061394661042274]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.3482058285430969,1.1140691748392046,0.71338606911949],"aabb_xy":[[-0.3982006614710385,1.064069175943961],[-0.2982109956151553,1.1640691737344482]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.2585633921013205,-2.4497318315920644,0.71338606911949],"aabb_xy":[[0.2210633921575541,-2.4580249216269006],[0.2960633920450869,-2.4414387415572274]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.1357640835021976,-2.535501853472402,0.71338606911949],"aabb_xy":[[0.1074343735536574,-2.539962595666119],[0.16409379345073785,-2.531041111278685]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.107599025361233,-1.0099684987846835,0.71338606911949],"aabb_xy":[[-0.19259902405330764,-1.0419543621795624],[-0.022599026669158362,-0.9779826353898047]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.44327616600772357,1.7064058308724461,0.71338606911949],"aabb_xy":[[0.39329321582024424,1.6564058312298855],[0.4932591161952029,1.7564058305150063]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.3440094885229603,-2.430074391817033,0.71338606911949],"aabb_xy":[[-0.34745016476301754,-2.4339358247913974],[-0.3405688122829032,-2.4262129588426684]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.6588973818830232,-1.7896225243005004,0.71338606911949],"aabb_xy":[[-0.6763973810173903,-1.7995021513380882],[-0.641397382748656,-1.7797428972629126]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.5521851935375064,-2.4378860910533335,0.71338606911949],"aabb_xy":[[0.47218519246438606,-2.447664137390718],[0.6321851946106267,-2.428108044715949]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.29435759055612226,-1.0160384335880375,0.71338606911949],"aabb_xy":[[-0.33185759090434996,-1.027829829169121],[-0.25685759020789445,-1.004247038006954]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.2395134661391054,1.6957962852925728,0.71338606911949],"aabb_xy":[[0.1745134651386049,1.6450099201378976],[0.3045134671396059,1.7465826504472475]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[0.35672643249932023,0.8821192681628647,0.71338606911949],"aabb_xy":[[0.3331413090354254,0.8171192659174329],[0.3803115559632151,0.9471192704082965]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.4708174860659071,0.43853693541647587,0.71338606911949],"aabb_xy":[[-0.5545397115659896,0.34853693188178],[-0.38709526056582466,0.5285369389511718]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.6271931331021705,-1.311193247179415,0.71338606911949],"aabb_xy":[[-0.664693132919204,-1.3158314584905568],[-0.5896931332851368,-1.3065550358682732]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.5313404578887317,-0.37740685420179876,0.71338606911949],"aabb_xy":[[0.4413404592942618,-0.3936574405152198],[0.6213404564832017,-0.36115626788837774]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.5661708250775077,-0.7473749255175879,0.71338606911949],"aabb_xy":[[0.5442621429381567,-0.7692755923376786],[0.5880795072168588,-0.7254742586974972]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.2678007125674021,-1.7729642396680598,0.71338606911949],"aabb_xy":[[-0.302800710837522,-1.7800383673630478],[-0.23280071429728222,-1.7658901119730714]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.3863788608869389,0.7959870190076486,0.71338606911949],"aabb_xy":[[-0.4513788587685868,0.7448633553011077],[-0.32137886300529117,0.8471106827141895]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.10785886080006546,-1.160901588420822,0.71338606911949],"aabb_xy":[[-0.11417096033640388,-1.166668527674041],[-0.10154676126372701,-1.1551346491676031]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.4346873026121041,-1.3787229474153866,0.71338606911949],"aabb_xy":[[0.4022256017301765,-1.4088557795302892],[0.46714900349403143,-1.348590115300484]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[0.49141200893988457,0.42007754991601187,0.71338606911949],"aabb_xy":[[0.42741200659708306,0.3751366986718793],[0.5554120112826861,0.4650184011601443]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.5061342687377917,-0.04825641382691126,0.71338606911949],"aabb_xy":[[0.4948892131671738,-0.05949821155100654],[0.5173793243084095,-0.03701461610281598]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.4237545501515494,-0.9135093463280768,0.71338606911949],"aabb_xy":[[0.4149524948425767,-0.9213206724830059],[0.4325566054605221,-0.9056980201731477]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[0.24824236749301798,-1.3889994407216653,0.71338606911949],"aabb_xy":[[0.2107423690696176,-1.4021636546894956],[0.28574236591641833,-1.3758352267538345]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905409449997135,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3825.png","name":"3825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7999.png","name":"7999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5034.png","name":"5034"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.4677874585477,"rotation_z_degrees":217.82256876166343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011945860123177972,0.01782355086050604,0.0006645222462300232]},{"name":"camera_2","offset_m":[-0.01103528833178967,0.007917757028814903,-0.0036538517380187673]},{"name":"camera_3","offset_m":[-0.0022718546167456583,0.009082997037831948,0.013069413090639536]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016180163479098911,0.0004949822332305661,-0.0016483904793665976],"end_effector_yaw_offset_degrees":-0.19951896382659373},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015284574893026455,-0.00029041361140044286,-0.001544125427130501],"end_effector_yaw_offset_degrees":-0.46481309694299644},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006363349358698375,-0.0011696716312035327,0.0015248547074245286],"end_effector_yaw_offset_degrees":0.5640268582441681}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029541067980557332,0.003960640426231823],"position_m":[0.2954541067980557,0.09316064042623183,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001726553164866319,-0.003446322878757167],"position_m":[0.13772734468351336,0.2527536771212428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027101730033134612,0.0025032307770924116],"position_m":[0.35061017300331343,0.3028032307770924,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003158950452718635,-0.004932711221218881],"position_m":[0.22314104954728137,-0.41013271122121886,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"708870b66675d552b82d3f5cd3dfd9cc9940a7724b97c23a76a27ff73e7809ba","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5445/tex_ceiling_textures_5034/tex_floor_textures_556/tex_table_textures_3825/tex_wall_textures_7999","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2835562486029792362,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2835562486029792362,"visual_seed":2835562486029792362,"scene_id":"lab_003","finished_at":"2026-09-03T01:25:21"} +{"episode_id":"ep_000054","started_at":"2026-09-03T01:28:14","dimensions":{"distractor":{"count":35,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.1463582653059179,1.5277947713054352,0.71338606911949],"aabb_xy":[[-0.1696401075040492,1.4427947700082069],[-0.12307642310778653,1.612794772602663]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.035709382756649144,-1.9743945716558688,0.71338606911949],"aabb_xy":[[-0.11570938418677634,-2.0539117266684785],[0.04429061867347806,-1.8948774166432591]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.5452462152605251,-2.2624487061426466,0.71338606911949],"aabb_xy":[[0.49524621489995896,-2.312428693352249],[0.595246215621091,-2.212468718933043]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.4358424230928477,0.9712324987648322,0.71338606911949],"aabb_xy":[[0.4008424247821523,0.9635174838412867],[0.4708424214035432,0.978947513688378]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.23723906455564409,-2.0662388203778406,0.71338606911949],"aabb_xy":[[-0.2872390662171388,-2.116237262633543],[-0.18723906289414927,-2.0162403781221374]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.3591680623291014,-2.0145169968430734,0.71338606911949],"aabb_xy":[[-0.37433093530603856,-2.029682454138192],[-0.3440051893521644,-1.9993515395479546]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.35725026085815004,-1.952564268738798,0.71338606911949],"aabb_xy":[[0.3416944914478848,-1.9681147019832057],[0.3728060302684153,-1.9370138354943913]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.5466743403843242,-1.3362623876710047,0.71338606911949],"aabb_xy":[[0.5370427041638945,-1.3458997004507134],[0.5563059766047538,-1.3266250748912956]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.14073609997309844,1.3459282849705168,0.71338606911949],"aabb_xy":[[-0.1957283506086094,1.2909282832272042],[-0.08574384933758748,1.4009282867138297]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.5507359162544974,-1.9469379530296136,0.71338606911949],"aabb_xy":[[0.4957427049173606,-2.001937953368407],[0.6057291275916341,-1.89193795269082]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.5377957426751662,-2.213105893871992,0.71338606911949],"aabb_xy":[[-0.5877957436256989,-2.2446550408755135],[-0.48779574172463325,-2.1815567468684707]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.6901839040552729,-2.223225269137424,0.71338606911949],"aabb_xy":[[0.6590369852116896,-2.2932252678242313],[0.7213308228988559,-2.153225270450617]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.5793590701926534,-1.6279483416786742,0.71338606911949],"aabb_xy":[[0.5341877523444845,-1.691948338823213],[0.6245303880408224,-1.5639483445341362]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.37972709744238475,0.6588261875674775,0.71338606911949],"aabb_xy":[[0.34472709917226485,0.6517520598724893],[0.41472709571250466,0.6659003152624656]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.6051790707223104,0.7363208706298479,0.71338606911949],"aabb_xy":[[0.5801790707897926,0.7294382024089247],[0.6301790706548284,0.7432035388507713]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.2668282190650366,-2.0712421439590676,0.71338606911949],"aabb_xy":[[0.2559224429774739,-2.1512421403578967],[0.27773399515259933,-1.9912421475602384]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.6372646953427648,-0.4991688577166786,0.71338606911949],"aabb_xy":[[-0.6481163015916404,-0.5100281484443296],[-0.6264130890938892,-0.48830956698902767]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.2649355610666719,1.1220418195578943,0.71338606911949],"aabb_xy":[[-0.29837573626269137,1.0885981937269638],[-0.2314953858706522,1.155485445388824]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.6640872371359461,-0.9286265277353323,0.71338606911949],"aabb_xy":[[0.6290872357844642,-0.9489862636921532],[0.6990872384874277,-0.9082667917785116]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.15572043161444793,-1.7749299859375427,0.71338606911949],"aabb_xy":[[0.11717473878924689,-1.8134757569937312],[0.19426612443964897,-1.7363842148813537]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[-0.18761035983972907,-1.8161190557811007,0.71338606911949],"aabb_xy":[[-0.19565371976568427,-1.901119056876467],[-0.17956699991377392,-1.7311190546857342]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.45031022821137856,0.6515560797023277,0.71338606911949],"aabb_xy":[[-0.5143102285889121,0.6018108128515153],[-0.3863102278338449,0.7013013465531398]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.616955036960303,-1.0290509538467836,0.71338606911949],"aabb_xy":[[0.5944902669888977,-1.051550954725644],[0.639419806931708,-1.006550952967923]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.004703169097135973,-1.2515910640002765,0.71338606911949],"aabb_xy":[[-0.04970317056336483,-1.2965909208617572],[0.04029683236909288,-1.2065912071387959]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[-0.4150695958664847,-0.8464041750785811,0.71338606911949],"aabb_xy":[[-0.4283005414011659,-0.8596315941005804],[-0.4018386503318033,-0.8331767560565816]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.27980681603224233,1.3389046700075862,0.71338606911949],"aabb_xy":[[-0.31572032045723203,1.3029911617908319],[-0.24389331160725264,1.374818178224341]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.27301530857014,-0.7825709577269082,0.71338606911949],"aabb_xy":[[-0.33701530773990995,-0.8293376448458707],[-0.20901530940037008,-0.7358042706079457]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[0.377718129769838,1.3617185428821572,0.71338606911949],"aabb_xy":[[0.34938841982129776,1.3572578006884402],[0.4060478397183782,1.3661792850758743]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.42928158200418,1.7420122733157961,0.71338606911949],"aabb_xy":[[0.39481910399109216,1.7353485961328734],[0.4637440600172677,1.7486759504987188]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_29","position":[0.2726478952454381,0.9765897107982577,0.71338606911949],"aabb_xy":[[0.22656280399070658,0.9125897135457026],[0.3187329865001695,1.0405897080508129]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[-0.6046378324255259,0.3683285269766312,0.71338606911949],"aabb_xy":[[-0.6596378306272708,0.3278065603501936],[-0.5496378342237811,0.4088504936030688]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[-0.2357627191120102,-0.3291773410960963,0.71338606911949],"aabb_xy":[[-0.3157565426905684,-0.4091773436889379],[-0.155768895533452,-0.24917733850325474]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_32","position":[0.30465445962155435,1.418915568805653,0.71338606911949],"aabb_xy":[[0.29218710151181876,1.4064502441723294],[0.31712181773129006,1.4313808934389765]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_33","position":[-0.29408114603334606,-0.07660011039534442,0.71338606911949],"aabb_xy":[[-0.35908114418926507,-0.1028963549452566],[-0.22908114787742695,-0.050303865845432214]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_34","position":[0.29763572678312833,-1.5552282808844524,0.71338606911949],"aabb_xy":[[0.24763572576399312,-1.5916944966222806],[0.34763572780226365,-1.5187620651466247]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868695501023546,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9121.png","name":"9121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9121.png","name":"9121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2888.png","name":"2888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5875.png","name":"5875"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.6188670443024,"rotation_z_degrees":111.50257272141839,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013041373510793913,0.01296522185135934,0.016353885606867447]},{"name":"camera_2","offset_m":[0.00304557001809019,0.006114915234899872,-0.01339000801193715]},{"name":"camera_3","offset_m":[-0.0073353635867997365,0.0002985942122379799,-0.0021625150181508387]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016273672093723313,-0.0006905653587717486,0.001779522542620726],"end_effector_yaw_offset_degrees":0.32149388627729936},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014200382751204986,0.0018774174418810258,1.7716167000583153e-05],"end_effector_yaw_offset_degrees":0.9283195693033046},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000596460751375458,0.001028082160373808,0.00095774296756452],"end_effector_yaw_offset_degrees":-0.3275931102494287}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010059694548161116,-0.0001575421790366528],"position_m":[0.2935059694548161,0.08904245782096334,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[1.4404847532777446e-05,-0.0038646159247264656],"position_m":[0.13791440484753278,0.2523353840752735,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007530062191269202,-0.0018737553783270701],"position_m":[0.3486530062191269,0.29842624462167294,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001542585143543689,-0.0018846798464747716],"position_m":[0.2278425851435437,-0.4070846798464748,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1bded98049e07a1aaf787e1a4e294ca57d8e6c827349ce89c55026f317b02bc6","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9121/tex_ceiling_textures_5875/tex_floor_textures_2888/tex_table_textures_4192/tex_wall_textures_7962","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3001308345550549017,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3001308345550549017,"visual_seed":3001308345550549017,"scene_id":"lab_003","finished_at":"2026-09-03T01:30:47"} +{"episode_id":"ep_000055","started_at":"2026-09-03T01:30:50","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.05221441380527503,-1.4763417484961887,0.71338606911949],"aabb_xy":[[-0.057551989471279597,-1.5013417494253287],[-0.04687683813927046,-1.4513417475670491]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.606004889002694,-1.372074064852857,0.71338606911949],"aabb_xy":[[-0.6194514156367374,-1.3855439165059482],[-0.5925583623686508,-1.358604213199766]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.3444334451720105,-2.036654565677778,0.71338606911949],"aabb_xy":[[-0.3677152873701418,-2.1216545669750055],[-0.3211516029738791,-1.9516545643805496]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.5730110076143053,0.2249049350986363,0.71338606911949],"aabb_xy":[[0.5680549874294243,0.20240493489651473],[0.5779670277991866,0.24740493530075797]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.262129586019376,-1.737119989306724,0.71338606911949],"aabb_xy":[[-0.30067527884457707,-1.7756657603629125],[-0.223583893194175,-1.698574218250535]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.516361971514649,0.4898237601957436,0.71338606911949],"aabb_xy":[[-0.5289646706517255,0.4772283639708781],[-0.5037592723775726,0.5024191564206091]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.18761211368164732,1.6605799032210933,0.71338606911949],"aabb_xy":[[0.1376390481491319,1.6105799034085608],[0.23758517921416283,1.7105799030336266]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.44825398550038853,0.26514411829790374,0.71338606911949],"aabb_xy":[[-0.5182539881369748,0.24503925330203824],[-0.3782539828638021,0.28524898329376924]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.23131837684713408,1.6399849827044624,0.71338606911949],"aabb_xy":[[-0.29631837948492756,1.5885053840050154],[-0.16631837420934062,1.6914645814039093]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.31128209366291126,-2.404950155603181,0.71338606911949],"aabb_xy":[[0.221282096927301,-2.458133618920475],[0.4012820903985214,-2.351766692285886]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.5048129020591958,0.8515098452903445,0.71338606911949],"aabb_xy":[[0.4872662071430769,0.8140098437260933],[0.5223595969753148,0.8890098468545958]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.09893112527932446,-0.6608651976076834,0.71338606911949],"aabb_xy":[[0.01893112826507648,-0.6809997492810945],[0.17893112229357244,-0.640730645934272]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.295133783737512,-1.468782918736448,0.71338606911949],"aabb_xy":[[-0.2988370450666509,-1.4724849370451658],[-0.2914305224083731,-1.4650809004277299]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.06471657149176324,1.1728038082981902,0.71338606911949],"aabb_xy":[[-0.114533350956598,1.1228038098138868],[-0.014899792026928482,1.2228038067824936]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.3968403454609337,1.4857962352026077,0.71338606911949],"aabb_xy":[[0.35407363858151353,1.4217962317808055],[0.4396070523403539,1.5497962386244104]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.31847957713546404,-1.9761143562455161,0.71338606911949],"aabb_xy":[[0.3056076736345239,-2.056114356659352],[0.3313514806364042,-1.89611435583168]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.1796112388508576,-1.7564587123680129,0.71338606911949],"aabb_xy":[[0.0996112414472642,-1.8364512835661955],[0.25961123625445104,-1.6764661411698298]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.09107362682432218,0.8777803679840233,0.71338606911949],"aabb_xy":[[0.05544447092436243,0.8421477012271702],[0.12670278272428193,0.9134130347408761]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.35527836715301053,-0.1471420484110637,0.71338606911949],"aabb_xy":[[-0.43527837041702366,-0.16070208071997705],[-0.2752783638889974,-0.13358201610215037]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.5102541117836774,0.4973983347704878,0.71338606911949],"aabb_xy":[[0.4727541114915026,0.4933568593698842],[0.5477541120758522,0.5014398101710915]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.520134060884988,-2.110374266912219,0.71338606911949],"aabb_xy":[[0.4858371498672473,-2.1446711531221605],[0.5544309719027285,-2.076077380702278]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.4855612055257026,1.3114235078051975,0.71338606911949],"aabb_xy":[[0.4384318265238668,1.2474235067607953],[0.5326905845275381,1.3754235088495992]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.21951645432663225,1.0318391555735378,0.71338606911949],"aabb_xy":[[0.15551645406616144,0.9868303562206097],[0.28351645458710306,1.0768479549264656]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.4486713243978273,-1.7299026066863776,0.71338606911949],"aabb_xy":[[0.4236713248460888,-1.7400450905515124],[0.4736713239495658,-1.719760122821243]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.33292459063248087,-0.4916990216818089,0.71338606911949],"aabb_xy":[[-0.35203689799045973,-0.5108338005590509],[-0.313812283274502,-0.4725642428045668]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[0.06921630131121559,-2.4567713354436225,0.71338606911949],"aabb_xy":[[0.05836469506233999,-2.4676306261712737],[0.08006790756009119,-2.4459120447159712]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[0.3406548346068141,0.3860565746456097,0.71338606911949],"aabb_xy":[[0.3254826653251808,0.3708877177174063],[0.35582700388844746,0.401225431573813]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[0.49662432002873214,-0.7610048528859794,0.71338606911949],"aabb_xy":[[0.4591243192367367,-0.7673726938441695],[0.5341243208207276,-0.7546370119277893]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.6195464873727715,-0.9965677349122979,0.71338606911949],"aabb_xy":[[-0.6269589429141599,-1.0024189453339258],[-0.6121340318313829,-0.99071652449067]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[0.4793033249743912,0.6894361269024487,0.71338606911949],"aabb_xy":[[0.4618033915404078,0.6719361269822142],[0.4968032584083745,0.7069361268226833]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_30","position":[-0.017833753617588877,1.7060426859475784,0.71338606911949],"aabb_xy":[[-0.06782858654553048,1.6560426870523348],[0.032161079310352725,1.7560426848428219]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_31","position":[-0.6558165748705794,1.7949660717483744,0.71338606911949],"aabb_xy":[[-0.6933165752188071,1.7831746761672904],[-0.6183165745223516,1.8067574673294575]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[0.28465643980292477,-2.219933828743712,0.71338606911949],"aabb_xy":[[0.26437213707952595,-2.2402164538864207],[0.30494074252632347,-2.1996512036010025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887225766019439,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1440.png","name":"1440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1440.png","name":"1440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/249.png","name":"249"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/412.png","name":"412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":816.1314829353632,"rotation_z_degrees":151.8823157677948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006137832537129632,0.01606977011483963,0.009574708555318955]},{"name":"camera_2","offset_m":[0.01380835242712999,-0.0016649787727817701,0.0012726494664681946]},{"name":"camera_3","offset_m":[-0.00849630228212804,-0.003602871418392401,-0.015262583640046925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.730898007224677e-05,-0.00028797736283769026,0.00010854882872339544],"end_effector_yaw_offset_degrees":-0.054244182399725505},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016536355633930363,-0.0015773795970098466,0.0013043288430197343],"end_effector_yaw_offset_degrees":-0.8879305495329612},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00024393430697146638,0.0013389875309528475,0.0013857337435796589],"end_effector_yaw_offset_degrees":0.6637087426007431}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00027689400101987057,-0.0047053776151746085],"position_m":[0.2922231059989801,0.0844946223848254,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017608733558250045,-0.0012013684651313306],"position_m":[0.136139126644175,0.2549986315348687,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000386988921434509,0.0031138651820098685],"position_m":[0.3482869889214345,0.30341386518200986,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009660391046882721,-0.0024798328368626213],"position_m":[0.22533396089531174,-0.4076798328368626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29ca7514e6daeedec4f77b6f862ae43f0d68b4ded7604e96136ad2e31b434fed","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1440/tex_ceiling_textures_2922/tex_floor_textures_412/tex_table_textures_2309/tex_wall_textures_249","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4730485129125327710,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4730485129125327710,"visual_seed":4730485129125327710,"scene_id":"lab_003","finished_at":"2026-09-03T01:33:31"} +{"episode_id":"ep_000056","started_at":"2026-09-03T01:33:34","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.14178590633486854,-0.4279591222214325,0.71338606911949],"aabb_xy":[[-0.2057859096245766,-0.47129404122535],[-0.07778590304516038,-0.3846242032175148]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.3751239151749224,-0.9764138452826165,0.71338606911949],"aabb_xy":[[0.35262749374105823,-0.9989138450893638],[0.39762033660878643,-0.9539138454758689]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.4203769464817309,-1.1955072526185755,0.71338606911949],"aabb_xy":[[-0.43114992040309874,-1.2305072508376147],[-0.4096039725603632,-1.1605072543995367]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.21428374037762898,-0.7014319173532293,0.71338606911949],"aabb_xy":[[-0.22298170266834433,-0.7135568916607041],[-0.20558577808691375,-0.6893069430457547]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.24775386581463754,-1.7259100617447873,0.71338606911949],"aabb_xy":[[0.18275386793298976,-1.7770337254513282],[0.31275386369628533,-1.6747863980382465]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.36788704445500153,-0.39670699748943905,0.71338606911949],"aabb_xy":[[0.33342456644191365,-0.4033706746723618],[0.4023495224680892,-0.3900433203065162]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.22619448431464462,0.6982668390556435,0.71338606911949],"aabb_xy":[[0.21562700465654558,0.6877218089426349],[0.2367619639727436,0.708811869168652]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.6065726632189388,-1.5909354180123483,0.71338606911949],"aabb_xy":[[0.5715726640261204,-1.6019024640100106],[0.6415726624117569,-1.5799683720146855]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.16264246235276536,-2.5062895018094187,0.71338606911949],"aabb_xy":[[-0.24264246094008476,-2.585605103747579],[-0.08264246376544591,-2.4269738998712573]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.25902380713531037,-0.7649286846324133,0.71338606911949],"aabb_xy":[[0.19402380857823753,-0.7946812180462959],[0.3240238056923832,-0.7351761512185306]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.1879372757664819,0.3090578125641348,0.71338606911949],"aabb_xy":[[-0.22543727611470962,0.2972664169830513],[-0.1504372754182541,0.3208492081452184]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.5000717156664001,0.6932713694155823,0.71338606911949],"aabb_xy":[[-0.5088737709753727,0.6854600432606531],[-0.4912696603574273,0.7010826955705113]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.5698992116232647,0.7015527966414221,0.71338606911949],"aabb_xy":[[-0.5773116671646533,0.695701586219794],[-0.5624867560818764,0.70740400706305]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.28059802030094244,1.3468031262420457,0.71338606911949],"aabb_xy":[[-0.34459802252134947,1.3024300421167576],[-0.21659801808053541,1.3911762103673342]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.5921804155748269,-0.5174281657469981,0.71338606911949],"aabb_xy":[[0.528180415314356,-0.5624369650999261],[0.6561804158352976,-0.4724193663940702]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.013327516302056197,-1.2184482850724239,0.71338606911949],"aabb_xy":[[-0.03832751557401847,-1.2347936486685862],[0.01167248296990608,-1.2021029214762615]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.03880624023270429,-1.7787309144491077,0.71338606911949],"aabb_xy":[[-0.04119376119742291,-1.8582480694617172],[0.11880624166283149,-1.6992137594364982]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.4028796144489505,-0.40251933107655713,0.71338606911949],"aabb_xy":[[-0.4866018399490329,-0.492519334611253],[-0.31915738894886797,-0.3125193275418611]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.5292862856306944,0.8458675911574991,0.71338606911949],"aabb_xy":[[-0.5517862851544018,0.8233716437068781],[-0.506786286106987,0.8683635386081197]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.363312856564729,-2.4781146721395197,0.71338606911949],"aabb_xy":[[-0.42731285386707535,-2.5224810991073765],[-0.29931285926238255,-2.433748245171663]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.5914418181012908,0.2768618851910585,0.71338606911949],"aabb_xy":[[-0.671435641679849,0.1968618825982169],[-0.5114479945227326,0.35686188778390004]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.36298266219752806,-1.4988420692855717,0.71338606911949],"aabb_xy":[[0.3451891552626116,-1.5166418148813696],[0.3807761691324445,-1.4810423236897743]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.2470243866916228,-0.1721195650011138,0.71338606911949],"aabb_xy":[[-0.283819019816529,-0.20902544009769608],[-0.2102297535667165,-0.13521368990453153]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[0.46216545900864925,-2.4818122393627933,0.71338606911949],"aabb_xy":[[0.44929355550770905,-2.561812239776629],[0.47503736250958933,-2.4018122389489567]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.19789926823399284,0.9280752091128233,0.71338606911949],"aabb_xy":[[0.18873938929011622,0.9215439910692861],[0.2070591471778694,0.9346064271563602]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.04419248754239247,-2.232923048923145,0.71338606911949],"aabb_xy":[[0.029029614565455386,-2.248088506218264],[0.059355360519329554,-2.2177575916280263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876773909587757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2548.png","name":"2548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3962.png","name":"3962"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9966.png","name":"9966"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/489.png","name":"489"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":708.9510982779098,"rotation_z_degrees":46.29603033262759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010176921081281449,-0.017680476947191263,-0.005043421961614119]},{"name":"camera_2","offset_m":[-0.005551513417052961,-0.018100352179929394,-0.007065577054897156]},{"name":"camera_3","offset_m":[0.0062547544009820925,-0.01552559511571432,-0.010465894631224666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009552254540296503,0.001744580695847361,6.133116851300387e-05],"end_effector_yaw_offset_degrees":0.2053884846339138},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001950097614267011,-0.0006821610007790118,0.0018629099052839765],"end_effector_yaw_offset_degrees":-0.34613931697624123},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001776342967576082,0.00024233552286079436,-0.0004801207060217197],"end_effector_yaw_offset_degrees":0.562772789726244}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012252073234834205,0.0030049802587696706],"position_m":[0.2937252073234834,0.09220498025876968,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034700779525545103,-0.004419542432339634],"position_m":[0.14137007795255452,0.2517804575676604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016378870939575477,-0.001849020445262133],"position_m":[0.34953788709395756,0.29845097955473787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000592307195774822,-0.003951482629098766],"position_m":[0.22689230719577483,-0.4091514826290988,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"418c1811e6cc8067ebef8f3e8aa084192c9cb3bfdee3709627063b39afb83828","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5589/tex_ceiling_textures_489/tex_floor_textures_9966/tex_table_textures_2548/tex_wall_textures_3962","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7318043843637771159,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7318043843637771159,"visual_seed":7318043843637771159,"scene_id":"lab_003","finished_at":"2026-09-03T01:36:12"} +{"episode_id":"ep_000057","started_at":"2026-09-03T01:36:17","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.27129925380129594,0.6237890976474181,0.71338606911949],"aabb_xy":[[0.21129925354989476,0.5695077726109533],[0.3312992540526971,0.6780704226838826]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.4736134011713873,-0.025034583508278807,0.71338606911949],"aabb_xy":[[-0.4854854841828884,-0.11003458320192916],[-0.46174131815988617,0.059965416185371545]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.3739769875603146,0.4415251730294534,0.71338606911949],"aabb_xy":[[-0.40843933495845636,0.4070312906316306],[-0.33951464016217275,0.476019055427276]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.4491915328523117,0.946774223211071,0.71338606911949],"aabb_xy":[[0.38419153174636844,0.9218088501429428],[0.514191533958255,0.9717395962791994]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.6673166390261276,-2.141745275476229,0.71338606911949],"aabb_xy":[[0.6609028253829425,-2.148155095723897],[0.6737304526693124,-2.1353354552285606]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.5091591176675658,0.7334127716369059,0.71338606911949],"aabb_xy":[[0.42915911623743863,0.6538956166242964],[0.589159119097693,0.8129299266495154]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.6325259835448245,1.629180725718491,0.71338606911949],"aabb_xy":[[0.5525259849575049,1.5498651237803298],[0.7125259821321438,1.7084963276566516]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.05265996441410192,-2.1268936418510407,0.71338606911949],"aabb_xy":[[-0.06967006170415257,-2.1430281303493146],[-0.035649867124051264,-2.1107591533527668]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.5702024680276281,0.8835427977848291,0.71338606911949],"aabb_xy":[[-0.5806140267081117,0.8781970644489305],[-0.5597909093471443,0.8888885311207275]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.6211435321514678,0.3920434574537164,0.71338606911949],"aabb_xy":[[0.6151769932107319,0.3860823127943523],[0.6271100710922034,0.39800460211308036]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.5700751194913862,-0.0347523026926595,0.71338606911949],"aabb_xy":[[0.5050751168535927,-0.08623190139210646],[0.6350751221291797,0.016727296006787455]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.24887636746519437,0.7970037414120497,0.71338606911949],"aabb_xy":[[-0.3388763711421125,0.7355713348349453],[-0.15887636378827616,0.8584361479891539]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.14478505423335197,-2.2154529402147976,0.71338606911949],"aabb_xy":[[-0.16728505404725436,-2.2199275565852785],[-0.12228505441944959,-2.2109783238443175]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.7017966584450608,-1.1556654267925988,0.71338606911949],"aabb_xy":[[0.6909561802185459,-1.1728517080832477],[0.7126371366715757,-1.1384791455019498]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.3840030932036116,-1.8596336068462311,0.71338606911949],"aabb_xy":[[0.32000309129126925,-1.9155447561042418],[0.44800309511595393,-1.803722457588221]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.15351979045612596,1.625119241705875,0.71338606911949],"aabb_xy":[[0.07351979329655067,1.613571640748058],[0.23351978761570125,1.6366668426636921]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.598900189073034,0.22099950777745558,0.71338606911949],"aabb_xy":[[-0.6332164662476519,0.17099950780427783],[-0.5645839118984161,0.2709995077506333]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.5240634162713488,-0.2673174181549287,0.71338606911949],"aabb_xy":[[-0.5740634158476836,-0.3172979971070347],[-0.4740634166950142,-0.21733683920282282]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.18032127881184312,-1.0771940796435948,0.71338606911949],"aabb_xy":[[-0.19292397794891958,-1.0897894758684605],[-0.16771857967476667,-1.0645986834187295]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.028563846317592012,-0.9787254264287917,0.71338606911949],"aabb_xy":[[-0.016607471530576963,-1.04272542357333],[0.073735164165761,-0.9147254292842534]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.06571811726006493,-1.9288202147424438,0.71338606911949],"aabb_xy":[[0.037068784899648696,-1.9574657740195194],[0.09436744962048114,-1.9001746554653678]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.6617211688477382,1.3993978277421677,0.71338606911949],"aabb_xy":[[-0.6698488570410516,1.39048421933146],[-0.6535934806544251,1.4083114361528755]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.5932759778462295,1.2139325835734032,0.71338606911949],"aabb_xy":[[-0.611145085600685,1.2000996755961921],[-0.575406870091774,1.2277654915506142]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.43136361438913284,-0.8474108801627951,0.71338606911949],"aabb_xy":[[-0.45386361439928113,-0.8615070998023983],[-0.40886361437898455,-0.8333146605231917]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[-0.04727888035150163,1.372574649189855,0.71338606911949],"aabb_xy":[[-0.11227887823314944,1.321450985483314],[0.017721117530146168,1.4236983128963958]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.1187612167683525,0.8511828425844086,0.71338606911949],"aabb_xy":[[0.10121452185223356,0.8136828410201572],[0.13630791168447143,0.8886828441486597]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[-0.2137886726236241,1.5506480574930692,0.71338606911949],"aabb_xy":[[-0.22308229086077466,1.513148059004935],[-0.2044950543864735,1.588148055981203]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[0.1319332240600668,-2.133832777367697,0.71338606911949],"aabb_xy":[[0.094433225484446,-2.1465690730312543],[0.1694332226356876,-2.1210964817041384]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[-0.42178112458739697,-2.437324908297532,0.71338606911949],"aabb_xy":[[-0.4392811237217641,-2.4472045353351195],[-0.40428112545302974,-2.427445281259944]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_29","position":[-0.5095114719991265,-2.5021479335999572,0.71338606911949],"aabb_xy":[[-0.5132147333282653,-2.505849951908675],[-0.5058082106699875,-2.4984459152912395]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.4640455046578986,1.6863716059695064,0.71338606911949],"aabb_xy":[[-0.4865591964813558,1.6163716053684987],[-0.44153181283444143,1.7563716065705137]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[-0.44515216624222753,-2.1075863379470787,0.71338606911949],"aabb_xy":[[-0.5091521695319355,-2.150921256950996],[-0.38115216295251936,-2.0642514189431607]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_32","position":[0.21804604282200057,-1.80194466371779,0.71338606911949],"aabb_xy":[[0.2093480805312853,-1.8140696380252652],[0.2267440051127159,-1.7898196894103158]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.6489020250885165,-0.2822292354699827,0.71338606911949],"aabb_xy":[[-0.6800489439320996,-0.35222923415678986],[-0.6177551062449333,-0.2122292367831755]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_34","position":[-0.4594404109468576,1.1984974205809662,0.71338606911949],"aabb_xy":[[-0.5093231078245539,1.1484974213346915],[-0.40955771406916147,1.248497419827241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844643448305094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4850.png","name":"4850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9527.png","name":"9527"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/937.png","name":"937"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.2803818591316,"rotation_z_degrees":93.97236774143079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01300006482198639,0.009725081196427347,-0.002336008667719335]},{"name":"camera_2","offset_m":[-0.013416352675014714,-0.0029043804778578694,0.006689981935248373]},{"name":"camera_3","offset_m":[0.006345465056558693,0.017059048306780632,-0.00734605115971783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012020789615581266,-0.0008250415529159976,-0.00023706068513316058],"end_effector_yaw_offset_degrees":-0.3203607314128898},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018538093764899621,-0.00038422760488964467,0.0016274550855030464],"end_effector_yaw_offset_degrees":0.8415930916191796},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000354333546955553,-0.0015226106644695829,-0.0014132728342788798],"end_effector_yaw_offset_degrees":-0.26049056196890796}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039041391728406186,-0.002625469543521104],"position_m":[0.2885958608271594,0.0865745304564789,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019787172726725803,-0.001533787414925145],"position_m":[0.13987871727267256,0.2546662125850748,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004827506268039464,0.004057591688502217],"position_m":[0.3430724937319605,0.30435759168850224,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015692203759393787,-0.0033195024202243937],"position_m":[0.22473077962406063,-0.4085195024202244,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"78b25d4c26dde8ecec7f43ae34ef9b968bc9006d7946236ef6aad079e1484ec9","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4850/tex_ceiling_textures_937/tex_floor_textures_5953/tex_table_textures_9527/tex_wall_textures_4995","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4760066973576073738,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4760066973576073738,"visual_seed":4760066973576073738,"scene_id":"lab_003","finished_at":"2026-09-03T01:38:59"} +{"episode_id":"ep_000058","started_at":"2026-09-03T01:40:26","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.5429540171803937,-1.5296433112170154,0.71338606911949],"aabb_xy":[[0.5044083243551928,-1.568189082273204],[0.5814997100055949,-1.4910975401608266]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[-0.44668471569549134,0.6806860791968572,0.71338606911949],"aabb_xy":[[-0.4753340480559075,0.6520405199197814],[-0.41803538333507506,0.709331638473933]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.23183957448713777,-0.9648177161956009,0.71338606911949],"aabb_xy":[[0.2257449465990195,-0.9733871107472696],[0.23793420237525614,-0.9562483216439321]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.08182704890375958,-1.6755953016159504,0.71338606911949],"aabb_xy":[[-0.09873778134010135,-1.6890675072085646],[-0.06491631646741779,-1.6621230960233353]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.525630160782169,-2.118502166150323,0.71338606911949],"aabb_xy":[[0.4881301595973761,-2.1229203888463832],[0.5631301619669616,-2.114083943454262]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.383459264516125,1.0358410083815013,0.71338606911949],"aabb_xy":[[-0.4434592647675261,0.9815596833450364],[-0.32345926426472377,1.0901223334179657]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.5739115543481104,1.1938607538362738,0.71338606911949],"aabb_xy":[[0.5564115550700236,1.1765226537699278],[0.5914115536261974,1.2111988539026197]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.2769729394054142,-1.9654543508149036,0.71338606911949],"aabb_xy":[[-0.35697293636845334,-2.042529992458677],[-0.196972942442375,-1.8883787091711302]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.23937749075920461,-1.7639363275913709,0.71338606911949],"aabb_xy":[[-0.25687749100425394,-1.7814361154309375],[-0.22187749051415523,-1.7464365397518038]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.4830177526851531,-0.9948899038396397,0.71338606911949],"aabb_xy":[[0.42142699346116036,-1.0588899019486866],[0.5446085119091459,-0.9308899057305927]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.6689817981744202,-2.393176504394055,0.71338606911949],"aabb_xy":[[-0.6805507789213567,-2.418176504510987],[-0.6574128174274836,-2.3681765042771237]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.2100339756548854,-0.22368805144983606,0.71338606911949],"aabb_xy":[[-0.27403397894459347,-0.2670229704537536],[-0.1460339723651773,-0.1803531324459184]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.10740779107352749,-1.7359414699213154,0.71338606911949],"aabb_xy":[[0.0374077876819655,-1.771257243624746],[0.17740779446508945,-1.7006256962178843]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.4052658766376569,-0.5176871402410326,0.71338606911949],"aabb_xy":[[0.370803529239515,-0.5521810226388552],[0.4397282240357986,-0.4831932578432098]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.04592542428793467,-1.943576785952899,0.71338606911949],"aabb_xy":[[-0.05779750729943578,-2.0285767856465498],[-0.03405334127643356,-1.8585767862592488]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.4831788883105024,1.3670838029398604,0.71338606911949],"aabb_xy":[[0.4738318807282072,1.3527801807222166],[0.49252589589279766,1.3813874251575047]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.21501074915407986,1.2440013647894523,0.71338606911949],"aabb_xy":[[-0.2220510590876169,1.1640013653897812],[-0.20797043922054292,1.324001364189124]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.10385253482549628,1.5393391939489924,0.71338606911949],"aabb_xy":[[0.06635253416091756,1.52365213594877],[0.14135253549007495,1.5550262519492144]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.5680437497662261,-1.1455753776598774,0.71338606911949],"aabb_xy":[[-0.6092925607961406,-1.2005753771720946],[-0.5267949387363111,-1.0905753781476597]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.19031662126223614,0.31344689744764676,0.71338606911949],"aabb_xy":[[-0.1990305903121706,0.2909468967884584],[-0.18160265221230162,0.33594689810683487]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.22152735664434653,-0.5404908679470672,0.71338606911949],"aabb_xy":[[-0.2288096730210101,-0.6304908715565761],[-0.2142450402676828,-0.4504908643375582]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.5052532728059633,0.3470205263955468,0.71338606911949],"aabb_xy":[[-0.5692532748556953,0.30692604330623885],[-0.44125327075623133,0.3871150094848548]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.056656731500597024,-0.7408162980274455,0.71338606911949],"aabb_xy":[[0.05061971849993231,-0.7468429990963938],[0.06269374450126176,-0.7347895969584974]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.402009273104588,1.599649675257813,0.71338606911949],"aabb_xy":[[-0.43950927389658345,1.5932818342996231],[-0.36450927231259256,1.6060175162160035]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.6003410023567441,0.8362090749620346,0.71338606911949],"aabb_xy":[[0.5915389470477713,0.8283977488071055],[0.6091430576657167,0.8440204011169636]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.26668923022503027,1.8236955006180202,0.71338606911949],"aabb_xy":[[-0.3041892305172051,1.8196540252174167],[-0.22918922993285545,1.8277369760186237]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.508785763814368,-1.9252539266526636,0.71338606911949],"aabb_xy":[[0.4437857637800653,-1.9719546033329907],[0.5737857638486707,-1.878553249972336]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[0.2485621142975455,-2.064637100293093,0.71338606911949],"aabb_xy":[[0.15856211570307555,-2.0808876866065145],[0.33856211289201543,-2.048386513979672]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.23104946427089573,-1.5416984686483695,0.71338606911949],"aabb_xy":[[-0.2481515422292639,-1.558805274179639],[-0.21394738631252758,-1.5245916631170995]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[-0.0963491554371021,0.9004100978733871,0.71338606911949],"aabb_xy":[[-0.14634416639655412,0.8504100988377956],[-0.046354144477650065,0.950410096908979]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.16354304005704812,1.3737096317412987,0.71338606911949],"aabb_xy":[[0.14104661862318402,1.3512096319345512],[0.18603946149091222,1.3962096315480461]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_31","position":[-0.3811191680588873,-0.9729246792865884,0.71338606911949],"aabb_xy":[[-0.47080624436700275,-1.0629246795410392],[-0.29143209175077184,-0.882924679032138]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[0.020260147721315902,1.3661756876403848,0.71338606911949],"aabb_xy":[[-0.044739854916477584,1.314696088940938],[0.08526015035910939,1.417655286339832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893319500655065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7563.png","name":"7563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8115.png","name":"8115"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8528.png","name":"8528"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":690.6943974211897,"rotation_z_degrees":267.720122515147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[5.715280774596515e-05,0.011993431597613725,-0.01597213274163649]},{"name":"camera_2","offset_m":[-0.008625433882618152,0.003039308185050261,0.01474858225792115]},{"name":"camera_3","offset_m":[0.019494458745093656,0.00761589695055612,0.012368593060546395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015561047246113024,-0.0007404238121583159,0.0007099480029948264],"end_effector_yaw_offset_degrees":0.959886551762938},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-5.899912421136028e-05,-0.0005223223886214839,0.0014788212176948916],"end_effector_yaw_offset_degrees":0.5098590377108765},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002762082190183714,0.000149163116182573,-0.001404801528869395],"end_effector_yaw_offset_degrees":0.9614968888495159}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00014185740475137522,0.002673751316008636],"position_m":[0.2923581425952486,0.09187375131600864,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004391408966371005,-0.004077799856711251],"position_m":[0.133508591033629,0.25212220014328873,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004755613934754409,-0.0045323370347800885],"position_m":[0.3526556139347544,0.29576766296521995,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006085669604740341,0.004027722347217061],"position_m":[0.22569143303952596,-0.40117227765278296,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5ef9c01a28e45e95be19b21f72a88cc155aeb040f3a64eebfc1cfa48933f44b","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1032/tex_ceiling_textures_8528/tex_floor_textures_8919/tex_table_textures_7563/tex_wall_textures_8115","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5317901047378127708,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5317901047378127708,"visual_seed":5317901047378127708,"scene_id":"lab_003","finished_at":"2026-09-03T01:43:03"} +{"episode_id":"ep_000059","started_at":"2026-09-03T01:48:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.436256710411163,-1.071605992527739,0.71338606911949],"aabb_xy":[[0.3909780955300138,-1.1356059918759227],[0.4815353252923123,-1.0076059931795553]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.6270374498055182,-2.4365604678169586,0.71338606911949],"aabb_xy":[[0.6045237579820608,-2.5065604684179656],[0.6495511416289752,-2.3665604672159506]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.16540060110239097,0.6350064364191708,0.71338606911949],"aabb_xy":[[-0.22052580673198174,0.5750064349778835],[-0.1102753954728002,0.6950064378604578]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.45468129765036847,-0.5659481888004199,0.71338606911949],"aabb_xy":[[0.4376712003603178,-0.5820826772986937],[0.4716913949404191,-0.5498137003021458]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[-0.6302586030366614,-0.9224040903068518,0.71338606911949],"aabb_xy":[[-0.6428853903238577,-0.9319501640084247],[-0.617631815749465,-0.9128580166052789]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.3238078072820764,-2.4551775956585766,0.71338606911949],"aabb_xy":[[-0.3416769150365319,-2.4690105036357877],[-0.3059386995276209,-2.4413446876813656]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.5510389112152101,-2.4953819192349216,0.71338606911949],"aabb_xy":[[0.5461396189086465,-2.52305883853749],[0.5559382035217735,-2.4677049999323524]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.5887864930697072,-1.3735730968241697,0.71338606911949],"aabb_xy":[[-0.6003554738166438,-1.3985730969411017],[-0.5772175123227706,-1.3485730967072382]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.5247730062244504,0.07588363010024723,0.71338606911949],"aabb_xy":[[-0.5669574203852813,0.011883629823036035],[-0.4825885920636198,0.13988363037745843]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.511858144993121,1.2452653805110896,0.71338606911949],"aabb_xy":[[-0.5918581421526963,1.2337177795532723],[-0.4318581478335457,1.2568129814689064]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.1758394645547453,0.8688613453355805,0.71338606911949],"aabb_xy":[[-0.24583946719133165,0.8487564803397148],[-0.10583946191815896,0.8889662103314458]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.10646418527660773,-0.48789354947019836,0.71338606911949],"aabb_xy":[[-0.15634688215430395,-0.5378935487164731],[-0.05658148839891154,-0.4378935502239237]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[0.41645935964746283,0.5495753360298208,0.71338606911949],"aabb_xy":[[0.41112178398145827,0.5245753351006811],[0.4217969353134674,0.5745753369589607]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.054894151492786425,-2.0447199044362,0.71338606911949],"aabb_xy":[[0.03239501576655945,-2.067219905214463],[0.0773932872190134,-2.0222199036579367]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.35360315805098563,-2.2180022168647713,0.71338606911949],"aabb_xy":[[-0.3880655054491273,-2.2524960992625935],[-0.3191408106528437,-2.183508334466948]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.3266429577460987,-2.5508403393450987,0.71338606911949],"aabb_xy":[[-0.3441429580054353,-2.5649318815338717],[-0.30914295748676207,-2.5367487971563265]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.5751207432560339,1.1214722965180663,0.71338606911949],"aabb_xy":[[0.5526207427439933,1.0989804381526678],[0.5976207437680745,1.1439641548834645]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.46805619043192115,-0.9173518616407561,0.71338606911949],"aabb_xy":[[0.43808863352209554,-0.947351861938642],[0.49802374734174687,-0.8873518613428705]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.40903974771017393,1.5044293295331364,0.71338606911949],"aabb_xy":[[0.3450397463021832,1.4526403780092114],[0.47303974911816454,1.5562182810570608]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.022540155759067204,-1.4464150238147677,0.71338606911949],"aabb_xy":[[-0.042459844275235525,-1.493115700495095],[0.08754015579336993,-1.3997143471344404]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.5528236528682504,-0.23137096179023953,0.71338606911949],"aabb_xy":[[-0.6328236508490355,-0.23897250275209148],[-0.4728236548874654,-0.22376942082838758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885902948759838,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.6101130797817,"rotation_z_degrees":21.38432198756881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009847653369560198,-0.005703186210428122,0.011216358767997002]},{"name":"camera_2","offset_m":[0.0036644388736343965,-0.018239285938307596,-0.005759391477494132]},{"name":"camera_3","offset_m":[0.004323724344693688,0.012347246097172419,0.008174557424969083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006767079849719347,0.0016154455597219368,0.0010801677425467003],"end_effector_yaw_offset_degrees":0.7708428138843448},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-3.738042254797106e-05,-0.00045157218448575384,0.0002366282807722401],"end_effector_yaw_offset_degrees":0.10439987435425135},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007657299072479206,0.000503905013813896,-0.0010388022655255882],"end_effector_yaw_offset_degrees":-0.33462247894994723}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015127122670603645,0.0020062991209660796],"position_m":[0.29098728773293964,0.09120629912096608,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003909072081294607,-0.0008917308220995346],"position_m":[0.1339909279187054,0.25530826917790045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016931132281281158,0.00013461009451694577],"position_m":[0.3495931132281281,0.30043461009451694,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018481131552421917,0.0034174033333162117],"position_m":[0.2244518868447578,-0.4017825966666838,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dca385f3ff317e83d34709e6b3ae0005cfe95296b28aab37cee3a61e0c0615fb","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0099.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6694/tex_ceiling_textures_5642/tex_floor_textures_294/tex_table_textures_2830/tex_wall_textures_7328","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8400238133500130003,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8400238133500130003,"visual_seed":8400238133500130003,"scene_id":"lab_003","finished_at":"2026-09-03T01:51:28"} +{"episode_id":"ep_000060","started_at":"2026-09-03T01:51:31","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.30869593410533813,1.3730727724856635,0.71338606911949],"aabb_xy":[[0.24469593680299168,1.3287063455178065],[0.3726959314076845,1.41743919945352]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.13385201995736318,1.14057211652407,0.71338606911949],"aabb_xy":[[0.07385202011079639,1.0837534943310314],[0.19385201980392996,1.1973907387171088]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.6387122924793291,-1.5785997915636676,0.71338606911949],"aabb_xy":[[0.6306759577780443,-1.5866379108680844],[0.646748627180614,-1.5705616722592508]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.1712698302189659,-1.5002616791980439,0.71338606911949],"aabb_xy":[[0.16495773068262748,-1.5060286184512626],[0.17758192975530435,-1.4944947399448247]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.1738277425991296,0.8908509894308922,0.71338606911949],"aabb_xy":[[0.0901055170990471,0.8008509858961963],[0.25754996809921205,0.9808509929655882]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.46387706643019677,1.6976003734478584,0.71338606911949],"aabb_xy":[[0.39987706475219936,1.649082981968544],[0.5278770681081941,1.7461177649271724]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.6600514854378549,1.5470063855176286,0.71338606911949],"aabb_xy":[[-0.6838877030784599,1.4570063847091421],[-0.6362152677972498,1.6370063863261153]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.3847902657733452,-2.3817953720009415,0.71338606911949],"aabb_xy":[[-0.4487902621689183,-2.445758660419675],[-0.32079026937777216,-2.317832083582208]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.6329847379805618,0.8809898940378051,0.71338606911949],"aabb_xy":[[0.6242035108333255,0.8722101467492751],[0.641765965127798,0.8897696413263354]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.598061024843277,0.33370388909522175,0.71338606911949],"aabb_xy":[[0.5528897069951081,0.2697038919506834],[0.643232342691446,0.3977038862397603]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.09080633017564066,-1.7968198711251793,0.71338606911949],"aabb_xy":[[0.040806331529719464,-1.8467394147846417],[0.14080632882156185,-1.7469003274657169]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.43242381333258606,-1.74761866390929,0.71338606911949],"aabb_xy":[[-0.4699238136808139,-1.7594100594903737],[-0.39492381298435836,-1.7358272683282066]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.12999499558589944,-1.9748186397045615,0.71338606911949],"aabb_xy":[[-0.15864432794631564,-2.0034641989816375],[-0.10134566322548319,-1.9461730804274855]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.4541888840641721,-2.469797984040021,0.71338606911949],"aabb_xy":[[0.41668888254854036,-2.481024757056166],[0.4916888855798038,-2.4585712110238758]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.017695547033089953,1.2070115173693718,0.71338606911949],"aabb_xy":[[0.011281733389905011,1.2006016971217033],[0.02410936067627489,1.21342133761704]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.5368223960294755,1.6777492424592402,0.71338606911949],"aabb_xy":[[-0.5918223952060649,1.6227595676842825],[-0.48182239685288597,1.7327389172341978]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.06455336316342941,1.278830549155109,0.71338606911949],"aabb_xy":[[-0.08783520536156075,1.1938305478578808],[-0.04127152096529808,1.363830550452337]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.6530445395079926,-2.0872626540958668,0.71338606911949],"aabb_xy":[[-0.6623381577451432,-2.124762652584],[-0.643750921270842,-2.0497626556077324]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.533438048356451,0.521398334289938,0.71338606911949],"aabb_xy":[[-0.5375539984685237,0.5172827792570923],[-0.5293220982443784,0.5255138893227834]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.4081889811110777,-1.9563376720425665,0.71338606911949],"aabb_xy":[[0.3582060309235984,-2.0063376716851264],[0.45817193129855704,-1.9063376724000058]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.46887867145982987,-0.13172901071874454,0.71338606911949],"aabb_xy":[[0.4623770349518253,-0.1414968327450543],[0.47538030796783454,-0.12196118869243477]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.6918172652200472,-2.3719062595538967,0.71338606911949],"aabb_xy":[[0.6844048096786587,-2.3777574699755246],[0.6992297207614356,-2.3660550491322687]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[0.23361238412521423,-1.3441320672568837,0.71338606911949],"aabb_xy":[[0.22556902419925906,-1.42913206835225],[0.2416557440511694,-1.259132066161517]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.48556567218588703,-1.86462332623804,0.71338606911949],"aabb_xy":[[-0.4935596607635903,-1.8726234063331302],[-0.47757168360818353,-1.8566232461429495]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[0.605437457783381,-0.7798029862209588,0.71338606911949],"aabb_xy":[[0.6004814375984998,-0.8023029864230807],[0.6103934779682622,-0.7573029860188375]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.21600541713416732,0.6047612264209512,0.71338606911949],"aabb_xy":[[-0.22860811627124378,0.5921658301960858],[-0.20340271799709086,0.6173566226458168]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.21841424196763548,-0.7135204743970394,0.71338606911949],"aabb_xy":[[-0.2685117059487091,-0.7775204749068512],[-0.16831677798656186,-0.6495204738872276]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[0.32083401307616444,-2.3169796019041553,0.71338606911949],"aabb_xy":[[0.24083400981832154,-2.3969761096961393],[0.40083401633400745,-2.2369830941121713]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.4691133748737073,1.1285238790589491,0.71338606911949],"aabb_xy":[[0.4488290721503085,1.1082412539162403],[0.489397677597106,1.148806504201658]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[-0.12312738869144113,0.31527723302012145,0.71338606911949],"aabb_xy":[[-0.1363583342261224,0.302049813998122],[-0.10989644315675981,0.3285046520421208]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687701842454431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2828.png","name":"2828"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2828.png","name":"2828"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7423.png","name":"7423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":646.4588202412441,"rotation_z_degrees":325.5599918467093,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004981651138200607,0.011762687327975588,0.009752626643544319]},{"name":"camera_2","offset_m":[0.013089304680102363,0.016093212900178146,-0.01594361211700702]},{"name":"camera_3","offset_m":[0.012191262304820111,-0.01728705705256882,-0.019427661217843034]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010256955505435223,-0.0008109003290154241,-0.0016932259706588836],"end_effector_yaw_offset_degrees":0.31050410793587147},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009716373827962903,-0.0008151507262843221,0.0008821564767053907],"end_effector_yaw_offset_degrees":-0.39591462276090117},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017303266257768894,0.000884734157765626,-0.0012306309355882236],"end_effector_yaw_offset_degrees":0.9868879034334319}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002611133809484928,0.0008159243228626047],"position_m":[0.28988886619051507,0.09001592432286261,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003207096411985231,-0.004333558405901104],"position_m":[0.13469290358801475,0.2518664415940989,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010772387965253313,0.0037781020411690345],"position_m":[0.34682276120347466,0.30407810204116903,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025665779881506555,-0.00450949959156641],"position_m":[0.22373342201184934,-0.40970949959156644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a5644f40cc3d6dad8e4764586a3e473ff910fc84c98a1e202e7dc8c7c316628a","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2828/tex_ceiling_textures_3671/tex_floor_textures_6629/tex_table_textures_7423/tex_wall_textures_3815","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":919760010581109267,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":919760010581109267,"visual_seed":919760010581109267,"scene_id":"lab_003","finished_at":"2026-09-03T01:54:07"} +{"episode_id":"ep_000061","started_at":"2026-09-03T01:54:11","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.6319379172610835,-1.9606823627584467,0.71338606911949],"aabb_xy":[[0.5969379173650645,-1.9690565982703865],[0.6669379171571023,-1.9523081272465064]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.26722908849477156,0.5710717742776019,0.71338606911949],"aabb_xy":[[0.24694478577137277,0.5507891491348929],[0.28751339121817027,0.5913543994203105]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.39305671770701434,-0.578624372834335,0.71338606911949],"aabb_xy":[[0.3555567174148396,-0.5826658482349386],[0.4305567179991892,-0.5745828974337314]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.39496569455438785,-2.2205397110045895,0.71338606911949],"aabb_xy":[[-0.44496569591527513,-2.270517615580005],[-0.3449656931935007,-2.170561806429174]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.3578414405919086,-1.0246602189805192,0.71338606911949],"aabb_xy":[[0.3525089259372956,-1.0299845472257547],[0.3631739552465216,-1.0193358907352836]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.0454294726687714,1.6754610439608908,0.71338606911949],"aabb_xy":[[-0.055511179747344874,1.5954610460687761],[-0.03534776559019792,1.7554610418530054]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.42943500548622326,-1.936529092566399,0.71338606911949],"aabb_xy":[[0.40421416862638354,-1.9617528434192857],[0.4546558423460629,-1.9113053417135122]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.6326333991518764,-1.966288464582597,0.71338606911949],"aabb_xy":[[-0.6414146262991128,-1.9750682118711278],[-0.6238521720046403,-1.9575087172940677]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.21029970442619328,-1.5688613946551324,0.71338606911949],"aabb_xy":[[0.18529970515423103,-1.5852067582512948],[0.2352997036981556,-1.55251603105897]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.5632708255981862,-0.3491234218692214,0.71338606911949],"aabb_xy":[[-0.6132438911307018,-0.3991234216817544],[-0.5132977600656708,-0.29912342205668857]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.27915429925382296,-0.49822131569238204,0.71338606911949],"aabb_xy":[[0.2665516001167465,-0.5108167119172475],[0.2917569983908994,-0.48562591946751654]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.05317261743436841,1.3617411713473149,0.71338606911949],"aabb_xy":[[-0.026827379725206886,1.3501935703894978],[0.1331726145939437,1.373288772305132]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.28113092766764547,-0.7836044606177013,0.71338606911949],"aabb_xy":[[0.2586309278537431,-0.788079076988182],[0.30363092748154785,-0.7791298442472205]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.12619544048479925,0.8009115062698027,0.71338606911949],"aabb_xy":[[0.1227547642447421,0.7970500732954384],[0.12963611672485645,0.8047729392441674]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[-0.4334780017262274,0.2959659684472995,0.71338606911949],"aabb_xy":[[-0.47080927825147006,0.26131291365244724],[-0.3961467252009849,0.33061902324215187]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.39267263556981225,1.3021884655234075,0.71338606911949],"aabb_xy":[[0.3426795234606204,1.252188464849212],[0.44266574767900424,1.3521884661976034]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.2658238729866865,-0.13399319896073214,0.71338606911949],"aabb_xy":[[-0.2699597293193867,-0.17149319840508914],[-0.26168801665398633,-0.09649319951637514]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.12004670773475601,-2.4931589335759354,0.71338606911949],"aabb_xy":[[-0.13759340265087494,-2.530658935140186],[-0.10250001281863708,-2.455658932011684]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.3874758851245915,0.6878856552774346,0.71338606911949],"aabb_xy":[[-0.39155404303164126,0.6838046750291714],[-0.3833977272175418,0.691966635525698]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.3309842344519276,-2.03284043337855,0.71338606911949],"aabb_xy":[[-0.35727305877236826,-2.059111867033201],[-0.30469541013148693,-2.0065689997238985]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.5379575748548009,-1.3597570240795507,0.71338606911949],"aabb_xy":[[0.45423534935471843,-1.4497570276142464],[0.6216798003548833,-1.2697570205448545]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.04414906157211451,-0.8830045323385363,0.71338606911949],"aabb_xy":[[0.0066490610747562615,-0.8869732158866546],[0.08164906206947276,-0.8790358487904177]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.4479221111338627,-2.0315346401439673,0.71338606911949],"aabb_xy":[[0.43034380894491586,-2.0491091297180724],[0.46550041332280956,-2.0139601505698623]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.4425928472361057,0.5079920900034409,0.71338606911949],"aabb_xy":[[-0.4645015293754567,0.4860914231833502],[-0.4206841650967546,0.5298927568235317]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.20904432220508284,-1.2567931020633145,0.71338606911949],"aabb_xy":[[-0.25181102908450304,-1.320793105485117],[-0.16627761532566265,-1.192793098641512]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.3217890204525439,-1.4759128764301122,0.71338606911949],"aabb_xy":[[-0.36303783148245855,-1.5309128759423292],[-0.2805402094226291,-1.4209128769178943]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.6325194802990636,0.9414248429869869,0.71338606911949],"aabb_xy":[[-0.6440884610460003,0.9164248428700553],[-0.6209504995521271,0.9664248431039187]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.6466396619097505,0.1238496564080287,0.71338606911949],"aabb_xy":[[0.5826396616492798,0.07884085705510069],[0.7106396621702215,0.1688584557609567]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.07940494945456378,1.1771110555849424,0.71338606911949],"aabb_xy":[[-0.09017792337593156,1.1421110573659035],[-0.068631975533196,1.2121110538039814]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[-0.612683576843549,1.6497056502344711,0.71338606911949],"aabb_xy":[[-0.6175828691501124,1.6220287309319021],[-0.6077842845369854,1.6773825695370397]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[-0.4533789757535979,-0.7603312232263908,0.71338606911949],"aabb_xy":[[-0.5033632114617751,-0.8103312220398864],[-0.4033947400454206,-0.7103312244128952]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_31","position":[0.3706519163110442,-1.2559650310783768,0.71338606911949],"aabb_xy":[[0.342322206362504,-1.260425773272094],[0.39898162625958444,-1.25150428888466]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[0.29179578315674337,-2.12375448922018,0.71338606911949],"aabb_xy":[[0.20679578473932014,-2.208628784682465],[0.3767957815741666,-2.038880193757895]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690027690398705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5292.png","name":"5292"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5292.png","name":"5292"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7449.png","name":"7449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":836.4805416395848,"rotation_z_degrees":171.44485107171937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016996410226602632,0.017006655899028635,0.0097405415734498]},{"name":"camera_2","offset_m":[-0.014362903269081503,0.007864765791640763,-0.01247100758810963]},{"name":"camera_3","offset_m":[-0.006823233491209417,-0.018933274508360094,0.012019402953786732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017359589951473802,-0.0011947423164778174,-0.000806506090464306],"end_effector_yaw_offset_degrees":-0.2104421663374041},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000358581894898599,-0.0012722066078742545,0.0008111844703924003],"end_effector_yaw_offset_degrees":-0.9976627734599939},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019412341064526757,0.0008967244281984101,-0.00123850452645397],"end_effector_yaw_offset_degrees":-0.8049221008844558}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004542067171263131,0.0031781869211534126],"position_m":[0.28795793282873683,0.09237818692115342,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025991370867959307,-0.0029002761037973325],"position_m":[0.13530086291320406,0.25329972389620264,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034649618340694315,-0.00022703489172695712],"position_m":[0.3513649618340694,0.3000729651082731,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006151488027899858,0.0027640028311920395],"position_m":[0.22568485119721002,-0.40243599716880796,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64dc4657e2a27edc3b383055a2f7a54cad12e1828662d410d6984b2b3c71652a","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5292/tex_ceiling_textures_1614/tex_floor_textures_7866/tex_table_textures_9530/tex_wall_textures_7449","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6809495470245389581,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6809495470245389581,"visual_seed":6809495470245389581,"scene_id":"lab_003","finished_at":"2026-09-03T01:56:47"} +{"episode_id":"ep_000062","started_at":"2026-09-03T02:02:35","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.12933692738881197,0.47206249920318033,0.71338606911949],"aabb_xy":[[-0.16683692596443275,0.45932620353962245],[-0.09183692881319115,0.4847987948667383]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.6254179820808186,1.2525222686709414,0.71338606911949],"aabb_xy":[[0.5404179833887439,1.2205364052760626],[0.7104179807728932,1.2845081320658203]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.6699246923941845,-2.5023460857598354,0.71338606911949],"aabb_xy":[[-0.6888090761626947,-2.5212320105401886],[-0.6510403086256743,-2.483460160979483]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.38490228024903805,-0.424922490249799,0.71338606911949],"aabb_xy":[[0.36238858842558086,-0.49492249085080653],[0.40741597207249525,-0.3549224896487915]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.446437395091849,1.4325189871877897,0.71338606911949],"aabb_xy":[[0.4214373955401105,1.422376503322655],[0.47143739464358747,1.4426614710529244]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.1626829589384149,-1.1310087051556683,0.71338606911949],"aabb_xy":[[-0.19308107003755845,-1.1614156071573376],[-0.13228484783927127,-1.1006018031539986]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.6937644413362019,0.9411663924150679,0.71338606911949],"aabb_xy":[[0.6762645079022184,0.9236663924948334],[0.7112643747701851,0.9586663923353025]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.2513767962799296,-1.4101360106070437,0.71338606911949],"aabb_xy":[[-0.29850617528176526,-1.4741360116514453],[-0.20424741727809392,-1.3461360095626413]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.0886964942698133,-0.6031543573247218,0.71338606911949],"aabb_xy":[[-0.13869649384614802,-0.6531349362768277],[-0.03869649469347859,-0.5531737783726158]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.21213522560580023,0.6440637904742954,0.71338606911949],"aabb_xy":[[0.14213522296921385,0.6239589254784298],[0.28213522824238657,0.6641686554701608]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.0046305020945439646,-2.220968053252964,0.71338606911949],"aabb_xy":[[-0.013924120331694545,-2.2584680517410978],[0.004663116142606616,-2.18346805476483]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.649948674029653,0.7451944329104014,0.71338606911949],"aabb_xy":[[0.6324486737703163,0.7311028907216288],[0.6674486742889896,0.7592859750991742]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.08311374804312655,0.6641434377613917,0.71338606911949],"aabb_xy":[[0.07511975946542314,0.6561433576663014],[0.09110773662082992,0.6721435178564821]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.4240536246942854,-1.4462308919963192,0.71338606911949],"aabb_xy":[[-0.4354153593475715,-1.4575993584026075],[-0.41269189004099915,-1.4348624255900313]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.07051218389828584,-0.7140001292765987,0.71338606911949],"aabb_xy":[[0.06238449570497262,-0.7229137376873064],[0.07863987209159906,-0.7050865208658911]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.5767480293204128,-2.0282668181007804,0.71338606911949],"aabb_xy":[[-0.6267480287606083,-2.0782347425850967],[-0.5267480298802171,-1.978298893616464]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.20188941332036542,1.4116399563297408,0.71338606911949],"aabb_xy":[[-0.2918894098212371,1.3657283139112826],[-0.11188941681949365,1.457551598748199]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.5027273950301205,-0.739952130842594,0.71338606911949],"aabb_xy":[[0.4641817022049195,-0.7784979018987827],[0.5412730878553216,-0.7014063597864054]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.5718729392148869,-2.3637329089315755,0.71338606911949],"aabb_xy":[[0.5648314882641392,-2.37075966066937],[0.5789143901656344,-2.356706157193781]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.5328241899691755,-1.5440032524008864,0.71338606911949],"aabb_xy":[[0.509542347771044,-1.6290032536981143],[0.5561060321673067,-1.4590032511036581]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.05233559117405551,-0.8378115305683875,0.71338606911949],"aabb_xy":[[-0.11633558847640191,-0.8821779575362443],[0.011664406128290901,-0.7934451036005308]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.4100438596372842,0.2942807394348228,0.71338606911949],"aabb_xy":[[0.3984748788903476,0.2692807393178911],[0.42161284038422076,0.3192807395517545]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.4755084539885699,1.3253061816731182,0.71338606911949],"aabb_xy":[[-0.48634893221508474,1.3081199003824695],[-0.46466797576205493,1.342492462963767]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.3333909721800392,1.541354000293779,0.71338606911949],"aabb_xy":[[0.26339096878847723,1.506038226590348],[0.4033909755716012,1.5766697739972098]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.047686960468305784,0.33257533747397394,0.71338606911949],"aabb_xy":[[-0.05399906000464422,0.3268083982207552],[-0.04137486093196735,0.3383422767271928]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.24883164968416055,0.890406121115535,0.71338606911949],"aabb_xy":[[-0.2863316503487392,0.8747190631153128],[-0.21133164901958185,0.9060931791157572]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[0.06862512491708295,-1.2868397357319818,0.71338606911949],"aabb_xy":[[0.0551785982830396,-1.300309587385073],[0.08207165155112627,-1.2733698840788907]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[0.46513285722665576,-1.3683723722829038,0.71338606911949],"aabb_xy":[[0.4276328564346603,-1.374740213241094],[0.5026328580186512,-1.362004531324714]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[-0.36010355006985684,0.5031475456747199,0.71338606911949],"aabb_xy":[[-0.3971376594979166,0.4687703383410103],[-0.3230694406417971,0.5375247530084292]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[-0.07852188800265458,-0.08523599392565018,0.71338606911949],"aabb_xy":[[-0.11229744719334754,-0.0992744891388152],[-0.0447463288119616,-0.07119749871248515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854764642372009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4523.png","name":"4523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4523.png","name":"4523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8251.png","name":"8251"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4289.png","name":"4289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/916.png","name":"916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":834.3703003867538,"rotation_z_degrees":218.02847475148565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010042915207103091,0.013656542502882573,-0.0007155552029539138]},{"name":"camera_2","offset_m":[-0.016426213654107378,0.015203528115708246,0.004705919868728436]},{"name":"camera_3","offset_m":[-0.013865614413504895,-0.003163287636800849,-0.00548030985494187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019898098797313983,-0.0012598425605149868,-0.0011490851483576927],"end_effector_yaw_offset_degrees":0.8564751096203558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018905073825563144,-0.0007068170297330162,-0.0016367812769311615],"end_effector_yaw_offset_degrees":0.46782036776698344},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003853011796068771,0.0015443195404334946,0.0005776897222368282],"end_effector_yaw_offset_degrees":0.5329015943972681}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.2440117593331265e-05,-0.0016283310878853754],"position_m":[0.2924575598824066,0.08757166891211463,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022608652450492772,-0.0010196205872051774],"position_m":[0.1356391347549507,0.2551803794127948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00024978046475724203,-0.0030018734033713636],"position_m":[0.3476502195352427,0.29729812659662863,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004774329409296212,0.00043158204984681224],"position_m":[0.2215256705907038,-0.40476841795015317,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dddf54b211381899ec59fe6ed4a457264b852191b912daba90f8436c9ebbc876","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4523/tex_ceiling_textures_1819/tex_floor_textures_916/tex_table_textures_8251/tex_wall_textures_4289","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5088905655238578919,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5088905655238578919,"visual_seed":5088905655238578919,"scene_id":"lab_003","finished_at":"2026-09-03T02:05:23"} +{"episode_id":"ep_000063","started_at":"2026-09-03T02:05:25","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.013523352784324816,1.081793394699595,0.71338606911949],"aabb_xy":[[-0.03139246053878031,1.067960486722384],[0.0043457549701306775,1.095626302676806]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.4232432236318675,-1.324548735421895,0.71338606911949],"aabb_xy":[[-0.45824322360836334,-1.3340133514695118],[-0.38824322365537167,-1.3150841193742786]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.5775797834301528,0.7393047150519974,0.71338606911949],"aabb_xy":[[0.5135797870028309,0.6921350912299008],[0.6415797798574747,0.7864743388740937]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.6482599386767403,0.19026952864081137,0.71338606911949],"aabb_xy":[[0.6448192624366831,0.18640809566644692],[0.6517006149167974,0.1941309616151759]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.12267198230531595,1.538294294027701,0.71338606911949],"aabb_xy":[[-0.16784330015348492,1.4742942968831625],[-0.07750066445714697,1.6022942911722395]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.6594939151160399,-0.07009438419344383,0.71338606911949],"aabb_xy":[[0.6412880914547923,-0.08111978477543547],[0.6776997387772876,-0.059068983611452186]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.29336877746480683,-1.2382929405469518,0.71338606911949],"aabb_xy":[[0.276458045028465,-1.2517651461395662],[0.31027950990114855,-1.224820734954337]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.4052476796426183,-1.3146161501025229,0.71338606911949],"aabb_xy":[[0.3769179696940781,-1.3190768922962401],[0.43357738959115855,-1.310155407908806]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.5692963587849695,-0.7279756804972688,0.71338606911949],"aabb_xy":[[0.5193189419197158,-0.7779756819865172],[0.619273775650223,-0.6779756790080201]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.3232567652044086,-2.3174722786854867,0.71338606911949],"aabb_xy":[[-0.3882567678422021,-2.3689518773849336],[-0.2582567625666151,-2.2659926799860397]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[0.5742224956693192,-2.1967717155286617,0.71338606911949],"aabb_xy":[[0.5671821857357823,-2.2767717149283335],[0.5812628056028563,-2.1167717161289907]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[0.6663636285517005,1.402095994972826,0.71338606911949],"aabb_xy":[[0.6555120223028248,1.3912367042451748],[0.677215234800576,1.4129552857004768]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.5065361027820423,-1.147353988180993,0.71338606911949],"aabb_xy":[[0.46125748790089316,-1.2113539875291768],[0.5518147176631917,-1.0833539888328094]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.3115644085067588,1.6102052565894094,0.71338606911949],"aabb_xy":[[0.29833346297207747,1.5969778375674097],[0.32479535404144005,1.6234326756114086]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[-0.0698863292216807,-1.636074022964882,0.71338606911949],"aabb_xy":[[-0.08577082248700585,-1.650426963263706],[-0.05400183595635555,-1.621721082666058]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.48252062684076946,-0.16272473534879062,0.71338606911949],"aabb_xy":[[-0.49768349981770654,-0.17789019264390937],[-0.4673577538638324,-0.14755927805367186]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.4738144961690122,-0.7575331172743824,0.71338606911949],"aabb_xy":[[-0.5232949173829711,-0.8215331151872343],[-0.4243340749550535,-0.6935331193615306]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.09888687986640499,0.8149419630337196,0.71338606911949],"aabb_xy":[[0.08109337293148854,0.797142217437922],[0.11668038680132141,0.8327417086295174]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.5128197033335737,-0.3940696393073244,0.71338606911949],"aabb_xy":[[0.4278197046414991,-0.4260555027022032],[0.5978197020256484,-0.3620837759124455]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.40953398587464585,-2.3027346501715567,0.71338606911949],"aabb_xy":[[0.40149765117336095,-2.3107727694759737],[0.41757032057593063,-2.2946965308671396]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.32819737086958106,-0.7022436497791431,0.71338606911949],"aabb_xy":[[-0.36944618189949574,-0.7572436492913605],[-0.2869485598396663,-0.6472436502669255]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.06770033879014581,0.4814699315860995,0.71338606911949],"aabb_xy":[[-0.11770033823034141,0.43150200710178316],[-0.017700339349950175,0.5314378560704158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685110697316716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1044.png","name":"1044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1044.png","name":"1044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4575.png","name":"4575"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3423.png","name":"3423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7485.png","name":"7485"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.8746235857981,"rotation_z_degrees":352.3620743909323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01980112032995237,-0.008618234461780392,-0.016164574131788595]},{"name":"camera_2","offset_m":[0.018058070468358067,-0.010101773875876527,0.01996850640878597]},{"name":"camera_3","offset_m":[-0.005627058711985367,-0.014171112327649773,-0.001555171021987]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012222956098992188,-0.00039102175219014965,0.001984711197476008],"end_effector_yaw_offset_degrees":0.8744195696013364},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00035515277311427753,-0.0011064044655829637,0.001266731236369798],"end_effector_yaw_offset_degrees":-0.4436978785485932},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001895275061482415,0.0001402335378044542,-0.0010302370304908336],"end_effector_yaw_offset_degrees":0.8717946336025448}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025397047751760616,0.0027009899880109612],"position_m":[0.2899602952248239,0.09190098998801097,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032894315816617134,0.00376515913308302],"position_m":[0.1411894315816617,0.259965159133083,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007268377418788493,-0.0028543039090859436],"position_m":[0.3471731622581211,0.2974456960909141,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001512263912969204,0.0022548442946860392],"position_m":[0.2247877360870308,-0.402945155705314,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3fc3a77c75e7ba59e7e42082eabc047cd7fff18816cd10ad128d58be1ff457b","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0106.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1044/tex_ceiling_textures_7485/tex_floor_textures_3423/tex_table_textures_4575/tex_wall_textures_3219","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":777224857891007355,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":777224857891007355,"visual_seed":777224857891007355,"scene_id":"lab_003","finished_at":"2026-09-03T02:08:23"} +{"episode_id":"ep_000064","started_at":"2026-09-03T02:09:47","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.41792568827393817,1.5421113283566874,0.71338606911949],"aabb_xy":[[0.3804256881020661,1.5094105929737798],[0.45542568844581,1.5748120637395941]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.28790839062069007,1.6744712362946061,0.71338606911949],"aabb_xy":[[-0.30105963659197943,1.64947123653792],[-0.2747571446494007,1.6994712360512931]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.08853011135825917,-1.8449085869815143,0.71338606911949],"aabb_xy":[[0.04325149647710991,-1.908908586329698],[0.13380872623940843,-1.7809085876333306]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.5152234672578391,0.9837928527648576,0.71338606911949],"aabb_xy":[[0.5089113677215007,0.9780259135116388],[0.5215355667941775,0.9895597920180764]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.12857708547513635,1.2960530268199415,0.71338606911949],"aabb_xy":[[-0.13415875710926511,1.2835530270021658],[-0.12299541384100761,1.3085530266377168]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[-0.3148398380107677,0.643449171064467,0.71338606911949],"aabb_xy":[[-0.3323398371451348,0.633569544026879],[-0.2973398388764005,0.6533287981020547]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.21795431992158987,0.48839347170013037,0.71338606911949],"aabb_xy":[[-0.23823862264498863,0.4681108465574215],[-0.1976700171981911,0.5086760968428392]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.5378556570419495,1.3663960800775237,0.71338606911949],"aabb_xy":[[0.48787824017669595,1.316396078588275],[0.5878330739072031,1.416396081566772]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.09936324821678455,-1.2059666217205762,0.71338606911949],"aabb_xy":[[-0.1893632468112545,-1.2222172080339972],[-0.009363249622314607,-1.1897160354071552]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.4266719676744084,-0.3664778882274069,0.71338606911949],"aabb_xy":[[0.3923556904997904,-0.4164778882005846],[0.4609882448490263,-0.3164778882542292]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.1469372599639568,0.4045145567729529,0.71338606911949],"aabb_xy":[[-0.1844372614795885,0.3932877837568078],[-0.10943725844832508,0.4157413297890979]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.25464985073605656,-0.8753437315216626,0.71338606911949],"aabb_xy":[[-0.3186498526483989,-0.931254880779673],[-0.19064984882371422,-0.8194325822636521]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.6294881213058268,1.1560867434077493,0.71338606911949],"aabb_xy":[[0.6182430657352089,1.144844945683654],[0.6407331768764446,1.1673285411318446]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.6676821298889541,-0.6849442943053066,0.71338606911949],"aabb_xy":[[0.6505800519305861,-0.7020510998365762],[0.6847842078473224,-0.6678374887740367]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.09504607174454216,-1.6944838622039597,0.71338606911949],"aabb_xy":[[-0.13184070486944843,-1.731389737300542],[-0.0582514386196359,-1.6575779871073775]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.2581478924923274,-2.1211890009826524,0.71338606911949],"aabb_xy":[[-0.29939670352224207,-2.1761890004948694],[-0.21689908146241263,-2.0661890014704345]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.20832162818772626,1.595673177679314,0.71338606911949],"aabb_xy":[[0.18643188059878546,1.505673180390065],[0.23021137577666706,1.6856731749685632]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.6655562059167115,-2.0695161142363743,0.71338606911949],"aabb_xy":[[0.630556206723893,-2.0804831602340363],[0.7005562051095295,-2.0585490682387113]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.4876407325157979,-1.1912610679387345,0.71338606911949],"aabb_xy":[[-0.5002434316528743,-1.2038564641636003],[-0.47503803337872147,-1.1786656717138693]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.3937057456522913,-2.4239540262707258,0.71338606911949],"aabb_xy":[[-0.4016290258910396,-2.446454026508729],[-0.38578246541354294,-2.4014540260327224]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.28835767083096553,1.778698882138404,0.71338606911949],"aabb_xy":[[0.27699593617767937,1.7673304157321157],[0.2997194054842517,1.7900673485446918]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.6141453318249527,0.12194087443664259,0.71338606911949],"aabb_xy":[[-0.6691375824604636,0.06694087269332984],[-0.5591530811894417,0.17694087617995538]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.7130980520088719,-0.37517399214783165,0.71338606911949],"aabb_xy":[[0.7030163449302983,-0.4551739900399463],[0.7231797590874453,-0.295173994255717]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.3541725120993382,0.6764590655982778,0.71338606911949],"aabb_xy":[[0.3492164919144571,0.6539590653961563],[0.3591285322842194,0.6989590658003996]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.6917811127606321,-2.351309119926618,0.71338606911949],"aabb_xy":[[0.6762253433503669,-2.3668595531710253],[0.7073368821708974,-2.335758686682211]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.23721217169374087,1.33215556070917,0.71338606911949],"aabb_xy":[[0.21429645880869097,1.3092512635727467],[0.26012788457879077,1.3550598578455937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829868444819114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7600.png","name":"7600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":540.9139635781609,"rotation_z_degrees":27.811107758421848,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012270839403554605,0.015268065062862244,-0.012047557829768327]},{"name":"camera_2","offset_m":[0.005271566760813317,-0.015774075571199288,-0.005589348234572036]},{"name":"camera_3","offset_m":[-0.014575864975210564,-0.008095268528146779,-0.00775996148754032]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004712126508145823,-0.0010040168495770736,-0.0018416718817596761],"end_effector_yaw_offset_degrees":0.35877796418968666},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000621476971870564,0.0014368246702262336,0.0016831820851378556],"end_effector_yaw_offset_degrees":0.4399493912472887},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013408201207920681,0.0007877298750778809,-0.001424459076006611],"end_effector_yaw_offset_degrees":-0.3856907828556424}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029825782309843415,-0.004042084631185251],"position_m":[0.29548257823098434,0.08515791536881476,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00044379102129364894,0.0046247102088951995],"position_m":[0.13745620897870633,0.2608247102088952,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004394653944290052,-0.0017339742745388041],"position_m":[0.3435053460557099,0.2985660257254612,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016842647033019553,-0.0028576573840968624],"position_m":[0.22461573529669804,-0.4080576573840969,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b78cadda32d11067c01c8d30262299c6747f6bd4a1427b9b06a209a866d6bd76","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0108.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_350/tex_ceiling_textures_9978/tex_floor_textures_7600/tex_table_textures_2158/tex_wall_textures_7196","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8314089717719161225,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8314089717719161225,"visual_seed":8314089717719161225,"scene_id":"lab_003","finished_at":"2026-09-03T02:12:24"} +{"episode_id":"ep_000065","started_at":"2026-09-03T02:12:27","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.5281461155712732,1.3320363642227595,0.71338606911949],"aabb_xy":[[0.512261622305948,1.3176834239239352],[0.5440306088365983,1.3463893045215833]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.6512445474942445,-2.46127262990775,0.71338606911949],"aabb_xy":[[0.5872445471167108,-2.511017896758562],[0.715244547871778,-2.4115273630569374]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.1636250120739059,1.6730235172062264,0.71338606911949],"aabb_xy":[[0.15541046695822186,1.6643469269085847],[0.17183955718958982,1.6817001075038673]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.0426867592384933,-1.2443241873028486,0.71338606911949],"aabb_xy":[[-0.12268675625274128,-1.2644587389762598],[0.037313237775754675,-1.2241896356294373]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.31565034902415023,-0.5872791738221417,0.71338606911949],"aabb_xy":[[0.2974445253629026,-0.5983045744041333],[0.33385617268539797,-0.57625377324015]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.16589628663611,1.117272428754612,0.71338606911949],"aabb_xy":[[-0.2558962833717202,1.0640889654373173],[-0.07589628990049979,1.1704558920719064]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.17235546987889505,0.6665766688697627,0.71338606911949],"aabb_xy":[[-0.17963778625555865,0.5765766652602535],[-0.16507315350223134,0.7565766724792715]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.38777671296283467,0.22628452854444747,0.71338606911949],"aabb_xy":[[-0.4577767147715801,0.20493075978026007],[-0.31777671115408923,0.24763829730863482]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.00218007002567433,-2.117623159512675,0.71338606911949],"aabb_xy":[[-0.05294513560391644,-2.177623160953962],[0.0573052756552651,-2.0576231580713875]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.3572414762963858,1.1604825544750903,0.71338606911949],"aabb_xy":[[0.26724147687801486,1.1271070576309004],[0.44724147571475664,1.1938580513192798]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.24936806846290993,-0.6977454186013898,0.71338606911949],"aabb_xy":[[0.21690636758098245,-0.7278782507162923],[0.28182976934483733,-0.6676125864864871]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.3670205938303122,-0.6947229820936729,0.71338606911949],"aabb_xy":[[-0.4169994023406281,-0.7447229820993917],[-0.3170417853199963,-0.6447229820879541]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.2773891858286701,0.7784363439684849,0.71338606911949],"aabb_xy":[[0.20738918319208377,0.7583314789726194],[0.34738918846525646,0.7985412089643504]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.44014343777802334,0.7434823016923793,0.71338606911949],"aabb_xy":[[0.40666427051698245,0.7100031883212724],[0.47362260503906434,0.7769614150634864]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.4377076586474004,0.42408057380099073,0.71338606911949],"aabb_xy":[[-0.4458353468407137,0.4151669653902831],[-0.42957997045408725,0.4329941822116984]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[-0.4600012098864481,0.6484454804945217,0.71338606911949],"aabb_xy":[[-0.5100012115479428,0.5984470382388188],[-0.4100012082249533,0.6984439227502243]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.2591741069832263,1.5581675353099338,0.71338606911949],"aabb_xy":[[0.25193034093698097,1.4781675371063314],[0.2664178730294716,1.6381675335135362]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.05297967258700276,-1.853732058485401,0.71338606911949],"aabb_xy":[[-0.10297967202719838,-1.9036999829697172],[-0.002979673146807138,-1.8037641340010846]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.5102558487647249,-0.8022043621264103,0.71338606911949],"aabb_xy":[[0.5014746216174886,-0.8109841094149407],[0.5190370759119611,-0.7934246148378804]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.28372766800227556,-0.3211542146286037,0.71338606911949],"aabb_xy":[[-0.3637276690753959,-0.33093226096598816],[-0.20372766692915523,-0.3113761682912193]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.6787796761969858,-0.43466280230711396,0.71338606911949],"aabb_xy":[[-0.6843613478311146,-0.4471628021248895],[-0.6731980045628569,-0.4221628024893385]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.36089975704633265,-1.7407478551980906,0.71338606911949],"aabb_xy":[[-0.40191770043270353,-1.790747855829048],[-0.31988181365996177,-1.6907478545671333]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.2893295808257315,0.6347364872834724,0.71338606911949],"aabb_xy":[[-0.32432958080222735,0.6252718712358557],[-0.2543295808492357,0.6442011033310889]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.636790016363324,1.4473461907177785,0.71338606911949],"aabb_xy":[[0.6241632290761275,1.4378001170162054],[0.6494168036505202,1.4568922644193512]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.46770415047747904,0.3769874939335289,0.71338606911949],"aabb_xy":[[0.44270415120551676,0.3606421303373666],[0.4927041497494413,0.39333285752969127]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.5028405588562087,-1.2843164575908337,0.71338606911949],"aabb_xy":[[-0.5278405580218418,-1.2912687032961905],[-0.4778405596905756,-1.2773642118854773]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.4745145226541525,1.5258468467672999,0.71338606911949],"aabb_xy":[[0.3845145261532807,1.4799352043488412],[0.5645145191550242,1.5717584891857577]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[0.5588083488153683,-1.4379214138060743,0.71338606911949],"aabb_xy":[[0.4948083515297197,-1.4794281327589183],[0.622808346101017,-1.3964146948532303]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[0.2611386613279355,-1.5062336462785992,0.71338606911949],"aabb_xy":[[0.22363866083057726,-1.5102023298267175],[0.29863866182529375,-1.502264962730481]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[0.6064824028905178,0.022328192634060162,0.71338606911949],"aabb_xy":[[0.5890516878115111,0.005056077970209352],[0.6239131179695241,0.039600307297910975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903716268065743,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1075.png","name":"1075"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1075.png","name":"1075"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6773.png","name":"6773"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.35045200064,"rotation_z_degrees":166.71233141237425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004379555805276224,-0.008328248145696927,-3.815653148247014e-05]},{"name":"camera_2","offset_m":[0.006129815854994804,0.01842235350308762,-0.009673042462476125]},{"name":"camera_3","offset_m":[-0.0061634417342140285,0.018438512296329517,-0.007944599881610226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012843042440154684,-0.001051798868333066,-0.0006471713269392766],"end_effector_yaw_offset_degrees":0.6826175739779374},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003401969936893336,0.0011870435912212053,-0.0006076159577385752],"end_effector_yaw_offset_degrees":-0.0207564751448861},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-3.0677996940264504e-05,0.0004884206770519955,0.0007479213073120889],"end_effector_yaw_offset_degrees":-0.5315190897387574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004928833631339336,0.004873656195319243],"position_m":[0.2974288336313393,0.09407365619531924,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003496914061156,0.0007483433258135561],"position_m":[0.14139691406115598,0.25694834332581357,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044744057051533245,-0.0015307431009558246],"position_m":[0.3523744057051533,0.2987692568990442,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003212663518387393,0.0016384592874173608],"position_m":[0.22597873364816126,-0.40356154071258266,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"39676da5522131143b112baf2ec4c0f807683fda7c3013a1f11ee506a860cfd9","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0109.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1075/tex_ceiling_textures_6773/tex_floor_textures_444/tex_table_textures_6393/tex_wall_textures_6042","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2122673564923285831,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2122673564923285831,"visual_seed":2122673564923285831,"scene_id":"lab_003","finished_at":"2026-09-03T02:15:04"} +{"episode_id":"ep_000066","started_at":"2026-09-03T02:15:07","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.43756492481647835,1.4798344149070162,0.71338606911949],"aabb_xy":[[0.36756492300773297,1.4584806461428288],[0.5075649266252238,1.5011881836712035]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.4386077989895979,-0.9128570463876995,0.71338606911949],"aabb_xy":[[-0.5036078016273914,-0.9643366450871464],[-0.3736077963518044,-0.8613774476882525]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.5095110606009152,1.7329592163594252,0.71338606911949],"aabb_xy":[[0.48701106107720776,1.7104632689088042],[0.5320110601246225,1.7554551638100457]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.19229278773859249,-2.438559038402006,0.71338606911949],"aabb_xy":[[-0.257292788739093,-2.489345403556681],[-0.12729278673809197,-2.3877726732473312]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[0.15207010908534313,1.4575717869759317,0.71338606911949],"aabb_xy":[[0.09707463126468371,1.4025717855420246],[0.2070655869060025,1.5125717884098384]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[0.5514985525559086,-1.244219532313536,0.71338606911949],"aabb_xy":[[0.5014985511950214,-1.2941974368889517],[0.6014985539167959,-1.1942416277381205]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.2134527506333725,1.6702364422455358,0.71338606911949],"aabb_xy":[[-0.26333544751106874,1.6202364429992615],[-0.1635700537556763,1.720236441491811]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.042443892141335926,1.0338225527033011,0.71338606911949],"aabb_xy":[[-0.07744389045203137,1.0261075377797555],[-0.00744389383064048,1.0415375676268468]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.08551909170579375,0.7512190386932924,0.71338606911949],"aabb_xy":[[0.048019093130172934,0.7384827430297345],[0.12301909028141454,0.7639553343568504]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.35907784997174286,-0.5280959980287485,0.71338606911949],"aabb_xy":[[-0.3955736705990216,-0.5645799404555061],[-0.3225820293444641,-0.49161205560199095]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.022361495105349127,1.689552692345822,0.71338606911949],"aabb_xy":[[-0.10236149369266855,1.6102370904076608],[0.05763850348197029,1.7688682942839826]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.6132217433609006,-0.8046886615077569,0.71338606911949],"aabb_xy":[[0.5582480213245677,-0.8596886610719902],[0.6681954653972335,-0.7496886619435238]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.29222702038691883,-1.8224400993074772,0.71338606911949],"aabb_xy":[[0.20222702365130857,-1.8756235626247715],[0.382227017122529,-1.7692566359901825]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.24400312679205877,0.9710767831289666,0.71338606911949],"aabb_xy":[[-0.2664995482259228,0.9485767833222193],[-0.22150670535819464,0.9935767829357142]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.09251366367038183,1.4009734458472627,0.71338606911949],"aabb_xy":[[-0.1575136647763251,1.3760080727791344],[-0.027513662564438546,1.425938818915391]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.1992469929061676,-1.8913549286704359,0.71338606911949],"aabb_xy":[[-0.2792469915630536,-1.9058597875946988],[-0.11924699424928159,-1.876850069746173]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.3867560469137686,-1.3654252442887975,0.71338606911949],"aabb_xy":[[-0.41034117037766343,-1.4304252465342293],[-0.36317092344987373,-1.3004252420433657]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.26899399888677744,1.4051247456986968,0.71338606911949],"aabb_xy":[[-0.3329939952823506,1.3411614572799633],[-0.20499400249120442,1.4690880341174304]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.307542662338228,-0.6919293328192997,0.71338606911949],"aabb_xy":[[0.24254266418230896,-0.7182255773692119],[0.3725426604941471,-0.6656330882693875]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.7063553341096764,1.2708344348042409,0.71338606911949],"aabb_xy":[[0.6962023185555269,1.2347648932315],[0.7165083496638257,1.3069039763769807]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.48345815332018427,-1.9752626158129398,0.71338606911949],"aabb_xy":[[0.43346504121099244,-2.0252626164871357],[0.5334512654293762,-1.9252626151387444]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.2474428480558809,-1.5981515516484737,0.71338606911949],"aabb_xy":[[0.23457094455494074,-1.6781515520623096],[0.260314751556821,-1.5181515512346373]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.607329949572516,0.35119294033144266,0.71338606911949],"aabb_xy":[[0.5573511410622001,0.30119294032572386],[0.6573087580828318,0.40119294033716146]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[-0.19555245238092106,-1.2664396728493947,0.71338606911949],"aabb_xy":[[-0.22388216232946132,-1.2709004150431118],[-0.16722274243238086,-1.2619789306556777]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.36563272624802406,1.7209322007158812,0.71338606911949],"aabb_xy":[[-0.40266683567608375,1.6865549933821717],[-0.3285986168199643,1.7553094080495906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853848750698015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2879.png","name":"2879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2879.png","name":"2879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3851.png","name":"3851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4937.png","name":"4937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9474.png","name":"9474"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1504.png","name":"1504"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":607.479184752168,"rotation_z_degrees":172.2614156230853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005409965878872977,-0.0007920133365765282,-0.00040707046663126384]},{"name":"camera_2","offset_m":[0.015218310708342366,-0.0018624621289636961,0.010492095568507342]},{"name":"camera_3","offset_m":[0.016346801500163644,0.010665577656613957,0.012319785323277727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015264825313641307,-0.0003829126081387221,-0.0002904599465715339],"end_effector_yaw_offset_degrees":0.9093717915011132},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013139640064952812,-0.0006142644785941554,0.0007963277813032182],"end_effector_yaw_offset_degrees":0.3164699086453162},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-6.421589976893672e-06,0.0003116694183525558,0.001221314021952732],"end_effector_yaw_offset_degrees":-0.16724595733032532}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003074818584318262,0.003452481802890283],"position_m":[0.28942518141568174,0.09265248180289029,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002471005571959909,-0.00018261634122457553],"position_m":[0.14037100557195992,0.2560173836587754,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003370560737261552,0.003189673741134648],"position_m":[0.34452943926273844,0.30348967374113467,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004183179299096603,0.0018268709171803555],"position_m":[0.2304831792990966,-0.40337312908281964,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5860b86628ee1045d94823e212cc8fb00ddf1c9133517a9d140ea796748088fc","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0110.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2879/tex_ceiling_textures_1504/tex_floor_textures_9474/tex_table_textures_3851/tex_wall_textures_4937","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4809947189455581921,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4809947189455581921,"visual_seed":4809947189455581921,"scene_id":"lab_003","finished_at":"2026-09-03T02:17:45"} +{"episode_id":"ep_000067","started_at":"2026-09-03T02:21:00","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.014967392802221369,-0.2920849221490416,0.71338606911949],"aabb_xy":[[-0.02299366343284737,-0.3008364171263942],[-0.006941122171595374,-0.28333342717168897]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.5472891401839269,1.68747456338169,0.71338606911949],"aabb_xy":[[-0.5772808029177973,1.6574745640448894],[-0.5172974774500566,1.7174745627184904]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.30122053746183963,-2.43541211683148,0.71338606911949],"aabb_xy":[[0.26622053756582065,-2.443786352343419],[0.3362205373578584,-2.427037881319539]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.405849547511748,1.3102071929599703,0.71338606911949],"aabb_xy":[[-0.4210217167933814,1.295038336031767],[-0.3906773782301147,1.3253760498881737]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.3176334853346377,0.692807399457068,0.71338606911949],"aabb_xy":[[-0.3676334849109724,0.6428268205049623],[-0.267633485758303,0.7427879784091742]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.20807366629764001,-2.449104522044389,0.71338606911949],"aabb_xy":[[-0.2980736630332502,-2.5022879853616833],[-0.1180736695620298,-2.3959210587270943]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.30201827095279676,-0.5728161889511973,0.71338606911949],"aabb_xy":[[0.29738315580056335,-0.576683524028346],[0.30665338610503007,-0.5689488538740487]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.5126642836166884,-1.0864272627210807,0.71338606911949],"aabb_xy":[[-0.5512099764418893,-1.1249730337772694],[-0.4741185907914872,-1.047881491664892]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.131461053394049,-0.857782873522396,0.71338606911949],"aabb_xy":[[-0.13516431472318785,-0.8614848918311137],[-0.12775779206491011,-0.8540808552136779]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.2763362148010019,-0.5019946998795368,0.71338606911949],"aabb_xy":[[-0.34033621208665055,-0.5435014188323808],[-0.21233621751535325,-0.46048798092669285]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.5208201924346061,0.7421195725573777,0.71338606911949],"aabb_xy":[[-0.5848201910211785,0.695112609157869],[-0.45682019384803363,0.7891265359568864]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.4188655842084146,1.6514061631051393,0.71338606911949],"aabb_xy":[[-0.43665909114333107,1.6336064175093417],[-0.4010720772734982,1.669205908700937]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.00048004858045092025,-2.152604221501038,0.71338606911949],"aabb_xy":[[-0.0804800455946989,-2.1727387731744496],[0.07951994843379706,-2.1324696698276266]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.4844104132337155,0.6172681399789899,0.71338606911949],"aabb_xy":[[-0.49404204945414504,0.607630827199281],[-0.4747787770132858,0.6269054527586988]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.2167687213328614,1.7309146831618256,0.71338606911949],"aabb_xy":[[-0.2867687247244234,1.6955989094583945],[-0.14676871794129942,1.7662304568652563]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[0.08601896248048235,-1.0907915336236336,0.71338606911949],"aabb_xy":[[0.07998194947981764,-1.0968182346925817],[0.09205597548114709,-1.0847648325546855]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.4635517887214392,-2.017131018185136,0.71338606911949],"aabb_xy":[[-0.5135517873673603,-2.0670505618445985],[-0.41355179007551796,-1.9672114745256737]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[-0.3069883019160235,-1.5662870182148498,0.71338606911949],"aabb_xy":[[-0.3178287801425384,-1.5834732995054985],[-0.2961478236895086,-1.5491007369242007]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.18901372451165344,-2.317689738365517,0.71338606911949],"aabb_xy":[[0.13919694504681868,-2.3676897368498198],[0.2388305039764882,-2.267689739881213]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.10269239979344902,-0.9668937048947859,0.71338606911949],"aabb_xy":[[-0.12297670251684775,-0.9871763300374946],[-0.08240809707005023,-0.9466110797520769]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683309171163299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2207.png","name":"2207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2207.png","name":"2207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5316.png","name":"5316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/741.png","name":"741"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.6980248536742,"rotation_z_degrees":311.62973552485965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018928246411787777,0.006751711322330732,0.007073619099131623]},{"name":"camera_2","offset_m":[-0.0064077750328254135,0.00028540465638725657,-0.01849745464077685]},{"name":"camera_3","offset_m":[0.017460620855936113,0.00829740263673874,0.014117245108000508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.2173524784443663e-05,0.0006096926513251499,0.001409969375179836],"end_effector_yaw_offset_degrees":0.3812744486953601},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014434584178750357,0.0011815044785115475,-0.00013292881611777886],"end_effector_yaw_offset_degrees":0.4683269793950131},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007954293261403134,0.001362146944680732,0.0008057278072513951],"end_effector_yaw_offset_degrees":-0.0289037552122573}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019267144054797348,0.0032952025344987106],"position_m":[0.2905732855945202,0.09249520253449871,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003896495297762503,-0.0038366264330400137],"position_m":[0.1417964952977625,0.25236337356696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004048588794387179,-0.0034708898243338126],"position_m":[0.3438514112056128,0.2968291101756662,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024452738420323882,-0.004414967024025862],"position_m":[0.22385472615796762,-0.4096149670240259,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"047ee70a9c10c93a61b468af85f71368f1b93b315d70f45c6bb3d6fdf8570471","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0112.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2207/tex_ceiling_textures_8222/tex_floor_textures_741/tex_table_textures_3864/tex_wall_textures_5316","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":104402243264611124,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":104402243264611124,"visual_seed":104402243264611124,"scene_id":"lab_003","finished_at":"2026-09-03T02:23:36"} +{"episode_id":"ep_000068","started_at":"2026-09-03T02:23:40","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.4284179232888338,0.8940817383741706,0.71338606911949],"aabb_xy":[[-0.43331721559539726,0.8664048190716018],[-0.42351863098227027,0.9217586576767394]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.4623021290137408,-0.2227958134528354,0.71338606911949],"aabb_xy":[[0.442017826290342,-0.2430784385955442],[0.4825864317371395,-0.20251318831012652]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[0.5409031970496818,1.809735132706758,0.71338606911949],"aabb_xy":[[0.5355706823950688,1.8044108044615221],[0.5462357117042949,1.8150594609519932]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.4261954496797171,1.3210473106594538,0.71338606911949],"aabb_xy":[[0.3876497568545161,1.282501539603265],[0.46474114250491816,1.3595930817156425]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.10612910165278189,0.4678908244386122,0.71338606911949],"aabb_xy":[[-0.1961290983883921,0.4147073611213177],[-0.016129104917171663,0.5210742877559067]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.6566072147148213,-1.5863524276800005,0.71338606911949],"aabb_xy":[[-0.6674476929413361,-1.6035387089706492],[-0.6457667364883063,-1.5691661463893518]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.48280716797554857,0.6039362468076472,0.71338606911949],"aabb_xy":[[0.4727254608969751,0.5239362489155325],[0.49288887505412204,0.6839362446997618]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.3363187324092478,-0.8216340712991559,0.71338606911949],"aabb_xy":[[0.31868589681572024,-0.8392570173147789],[0.3539515680027754,-0.8040111252835329]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.06748520022038385,1.1274321289823162,0.71338606911949],"aabb_xy":[[-0.12748520108119663,1.0760056989758293],[-0.007485199359571037,1.178858558988802]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.6130700594675658,-1.4834580662619448,0.71338606911949],"aabb_xy":[[0.6057877430909019,-1.5734580698714533],[0.6203523758442292,-1.3934580626524353]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.24098937529381448,0.9777856400746958,0.71338606911949],"aabb_xy":[[0.17698937889824137,0.9138223516559623],[0.30498937168938756,1.0417489284934294]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.4333359818322769,0.22772949413248744,0.71338606911949],"aabb_xy":[[-0.46332764456614717,0.1977294947956869],[-0.4033443190984065,0.257729493469288]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.5995586009129817,-0.8425225207727847,0.71338606911949],"aabb_xy":[[-0.6360544215402605,-0.8790064631995422],[-0.563062780285703,-0.8060385783460271]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.1593444962461511,1.7373489898327814,0.71338606911949],"aabb_xy":[[-0.20715066385991973,1.6723489871257222],[-0.11153832863238244,1.8023489925398402]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.06429801280836245,-0.8887539671250937,0.71338606911949],"aabb_xy":[[-0.10946933065653144,-0.9527539642696322],[-0.019126694960193483,-0.8247539699805554]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.0738241489031709,-1.667271619787475,0.71338606911949],"aabb_xy":[[-0.0963241491466863,-1.679476254447247],[-0.05132414865965551,-1.6550669851277031]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.17261111587013667,1.3022052292061632,0.71338606911949],"aabb_xy":[[0.12261111722421547,1.2522856855467008],[0.22261111451605786,1.3521247728656256]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.19539755498801636,-1.1212171103439064,0.71338606911949],"aabb_xy":[[0.11539755640069695,-1.2005327122820673],[0.2753975535753358,-1.0419015084057455]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.27956886092330563,0.7273182663512405,0.71338606911949],"aabb_xy":[[-0.3495688573332673,0.7068803306995586],[-0.20956886451334375,0.747756202002922]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.21722947355380628,-2.321029967120212,0.71338606911949],"aabb_xy":[[0.18222947357731045,-2.3304945831678285],[0.2522294735303021,-2.3115653510725958]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.5765583056912584,1.0217520793077224,0.71338606911949],"aabb_xy":[[-0.5879200403445445,1.010383612901434],[-0.5651965710379722,1.0331205457140102]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.5693888907018767,-1.7494540400731817,0.71338606911949],"aabb_xy":[[-0.619271587579573,-1.7994540393194565],[-0.5195061938241806,-1.699454040826907]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.5574444875458855,-1.3087504840061406,0.71338606911949],"aabb_xy":[[0.5504030365951379,-1.3157772357439352],[0.5644859384966331,-1.301723732268346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856794412968337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5835.png","name":"5835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2181.png","name":"2181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7273.png","name":"7273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8758.png","name":"8758"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":518.3459961731711,"rotation_z_degrees":127.21792268588163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0071965071265637885,0.019046472980069947,0.016517128569616495]},{"name":"camera_2","offset_m":[-0.013811950915469566,0.015213974067517861,-0.013847897693037505]},{"name":"camera_3","offset_m":[-0.01687086616382895,0.014482183335518779,-5.442125112637905e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003886327827719272,0.00092123524031328,0.0019067012614975053],"end_effector_yaw_offset_degrees":0.8580815396604564},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015492978564146426,0.0019049945269325112,0.00011681280039240642],"end_effector_yaw_offset_degrees":0.14620494518077964},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016078701060944702,-0.001102198098253302,-0.0005371005644649852],"end_effector_yaw_offset_degrees":0.11416037748028529}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015467440142723724,0.0034182683696416137],"position_m":[0.29404674401427233,0.09261826836964161,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006593169551430897,-0.0021198943579772557],"position_m":[0.1385593169551431,0.2540801056420227,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004710344430249328,-0.004134306058397707],"position_m":[0.3431896555697507,0.2961656939416023,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00044443763020502337,-0.004507291661412905],"position_m":[0.22674443763020502,-0.4097072916614129,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe79a7a5df1a71f11024bb10e878a3fc9a298782f4331040f77a96f0453fcad2","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0113.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_690/tex_ceiling_textures_8758/tex_floor_textures_7273/tex_table_textures_5835/tex_wall_textures_2181","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4709627780272756538,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4709627780272756538,"visual_seed":4709627780272756538,"scene_id":"lab_003","finished_at":"2026-09-03T02:26:21"} +{"episode_id":"ep_000069","started_at":"2026-09-03T02:26:23","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.4568817803935974,-1.6806646486115238,0.71338606911949],"aabb_xy":[[0.4505696808572589,-1.6864315878647425],[0.46319387992993577,-1.6748977093583046]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.22110621998239727,-0.2915575120774596,0.71338606911949],"aabb_xy":[[-0.2851062202563755,-0.3416236122747476],[-0.15710621970841904,-0.24149141188017165]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.5353210387290124,1.1189770120435543,0.71338606911949],"aabb_xy":[[0.523552851934355,1.033977012138333],[0.54708922552367,1.203977011948776]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.6129233832436649,-0.08923573585709699,0.71338606911949],"aabb_xy":[[0.5997721372723757,-0.11423573561378354],[0.6260746292149544,-0.06423573610041045]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.36721084955146027,1.3237364910756995,0.71338606911949],"aabb_xy":[[-0.38488648014005855,1.3060562747962965],[-0.3495352189628619,1.341416707355102]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.12204795533925894,-1.8831026272463713,0.71338606911949],"aabb_xy":[[-0.18363871456325176,-1.9471026253554184],[-0.060457196115266135,-1.8191026291373247]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.4674150181059544,1.3995296643551534,0.71338606911949],"aabb_xy":[[0.45657453987943947,1.3823433830645047],[0.4782554963324693,1.416715945645802]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.4221417804331684,-2.181155520795906,0.71338606911949],"aabb_xy":[[0.41409842050721324,-2.266155521891273],[0.4301851403591236,-2.09615551970054]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.4793497024878667,-0.28708469801608416,0.71338606911949],"aabb_xy":[[-0.4857635161310515,-0.2934945182637525],[-0.47293588884468163,-0.2806748777684158]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.5753021838198628,-0.5525066454477572,0.71338606911949],"aabb_xy":[[-0.6103021829498184,-0.5582518665234213],[-0.5403021846899071,-0.5467614243720931]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.2595104338281372,-0.7067263834784716,0.71338606911949],"aabb_xy":[[-0.27211313296521367,-0.7193217797033371],[-0.24690773469106075,-0.6941309872536061]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.5917125200013458,-0.19698662873106487,0.71338606911949],"aabb_xy":[[-0.6221967701283759,-0.2469866285125608],[-0.5612282698743156,-0.14698662894956893]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.07965761659891135,-2.4072183006451358,0.71338606911949],"aabb_xy":[[-0.08373577450596109,-2.4112992808933984],[-0.07557945869186161,-2.4031373203968722]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.23860550853310025,0.2979029230767911,0.71338606911949],"aabb_xy":[[-0.30360551117089374,0.24642332437734416],[-0.1736055058953068,0.3493825217762381]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.09277981514769118,-0.890786531846484,0.71338606911949],"aabb_xy":[[-0.1206248519282983,-0.9215710305847958],[-0.06493477836708406,-0.8600020331081725]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.21222309413857698,-1.6411479988465378,0.71338606911949],"aabb_xy":[[0.16222309377801092,-1.6911279860561406],[0.26222309449914305,-1.5911680116369347]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.2243831461198389,-1.354584872019861,0.71338606911949],"aabb_xy":[[0.18688314769643852,-1.3677490859876913],[0.26188314454323924,-1.3414206580520303]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.4567415833385637,-0.7203996965561705,0.71338606911949],"aabb_xy":[[-0.4913326661926089,-0.7853996968412014],[-0.42215050048451846,-0.6553996962711393]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.32232798622509273,1.4228156518805055,0.71338606911949],"aabb_xy":[[0.2583322888299962,1.3588156535797966],[0.3863236836201894,1.486815650181214]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.7097216680734955,0.8189612600907119,0.71338606911949],"aabb_xy":[[0.7048223757669317,0.7912843407881429],[0.7146209603800587,0.8466381793932805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887208676424053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7024.png","name":"7024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7024.png","name":"7024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4428.png","name":"4428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5124.png","name":"5124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5255.png","name":"5255"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":657.4656227455737,"rotation_z_degrees":328.7251216642316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01096080553470116,-0.017607065406860762,-0.0016779146942791645]},{"name":"camera_2","offset_m":[0.0032785036828563464,0.00044078957370855334,0.010432261197338234]},{"name":"camera_3","offset_m":[0.010312863860054717,0.010111380432046024,-0.017680784064496243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018535634038066165,-0.0007295283533563222,-0.0010580296546489328],"end_effector_yaw_offset_degrees":0.1443771986372604},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001121889826148281,3.387675083668879e-05,-0.0017730977037842682],"end_effector_yaw_offset_degrees":-0.6697094244093631},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015307457703582594,0.0007323694722542445,-0.0005458171754405749],"end_effector_yaw_offset_degrees":0.9109198139889509}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00351387533144707,-0.00017101229754643704],"position_m":[0.2960138753314471,0.08902898770245357,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014170729247008438,0.002194201845761924],"position_m":[0.13931707292470083,0.2583942018457619,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000500538071187385,0.004911934052659473],"position_m":[0.3473994619288126,0.3052119340526595,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004117473385363232,0.0036578596999115405],"position_m":[0.22218252661463678,-0.40154214030008845,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"09d6f90932949de7c70d7c49d3d37e01a2bf366f442ebbd7e2e94a6c43d978f7","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7024/tex_ceiling_textures_5255/tex_floor_textures_5124/tex_table_textures_8929/tex_wall_textures_4428","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3981783165052987641,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3981783165052987641,"visual_seed":3981783165052987641,"scene_id":"lab_003","finished_at":"2026-09-03T02:29:04"} +{"episode_id":"ep_000070","started_at":"2026-09-03T02:29:06","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.03314699624294115,0.9235123812992221,0.71338606911949],"aabb_xy":[[-0.09714699650341196,0.878503581946294],[0.03085300401752965,0.96852118065215]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.006040350838329767,-1.5792651888269111,0.71338606911949],"aabb_xy":[[-0.00027174869800866697,-1.58503212808013],[0.0123524503746682,-1.5734982495736922]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.4565786220468502,-0.6097714409258519,0.71338606911949],"aabb_xy":[[-0.5215786246846437,-0.6612510396252987],[-0.3915786194090567,-0.5582918422264048]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.6285873992581887,-0.3843130457512287,0.71338606911949],"aabb_xy":[[-0.6785874002087214,-0.41586219275475006],[-0.5785873983076558,-0.35276389874770725]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.2485923013696444,1.7098494977506138,0.71338606911949],"aabb_xy":[[0.23394889581561137,1.6951907780938296],[0.26323570692367737,1.724508217407398]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.4621667992752825,1.1320816150632602,0.71338606911949],"aabb_xy":[[0.4396703778414183,1.1095816152565128],[0.4846632207091465,1.1545816148700077]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.29647858337981403,1.174464889220875,0.71338606911949],"aabb_xy":[[0.24647858201892683,1.1244869846454595],[0.34647858474070126,1.2244427937962907]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.14535580757047073,0.6009764039683687,0.71338606911949],"aabb_xy":[[0.14165254624133183,0.5972743856596507],[0.14905906889960957,0.6046784222770865]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.5142700486132497,-1.1767470125894115,0.71338606911949],"aabb_xy":[[-0.518230532382984,-1.184414877174932],[-0.5103095648435153,-1.169079148003891]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.34128882565121005,1.6052911806134413,0.71338606911949],"aabb_xy":[[-0.39530442193311005,1.541291177721184],[-0.28727322936931005,1.6692911835056983]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.1634018059563035,0.8826984667056488,0.71338606911949],"aabb_xy":[[-0.17655305192759288,0.8576984669489622],[-0.15025055998501416,0.9076984664623353]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.2050065750607113,-2.127221907777018,0.71338606911949],"aabb_xy":[[0.15720040744694264,-2.1922219104840766],[0.25281274267447995,-2.0622219050699586]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.5844593958297972,-0.054844425125043283,0.71338606911949],"aabb_xy":[[0.5344643848703452,-0.10484442416063502],[0.6344544067892492,-0.004844426089451571]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.09793337992074502,0.38715702471646285,0.71338606911949],"aabb_xy":[[-0.13647907274594606,0.3486112536602742],[-0.05938768709554399,0.4257027957726515]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.33399518889534974,-1.7671065915922939,0.71338606911949],"aabb_xy":[[-0.3626445212557659,-1.7957521508693695],[-0.30534585653493346,-1.7384610323152179]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.5380078515406235,1.8014902781550233,0.71338606911949],"aabb_xy":[[0.5134942274436176,1.777225684852987],[0.5625214756376293,1.82575487145706]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.6310640729158712,-1.9279908706356887,0.71338606911949],"aabb_xy":[[-0.666064072892367,-1.9374554866833054],[-0.5960640729393754,-1.9185262545880721]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.33747419839704107,-1.942292973006381,0.71338606911949],"aabb_xy":[[0.3036986392063481,-1.9563314682195456],[0.37124975758773404,-1.9282544777932158]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.2612563259003645,-2.491867163959146,0.71338606911949],"aabb_xy":[[-0.2787563250347317,-2.5017467909967332],[-0.24375632676599737,-2.4819875369215576]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.4053439974405326,-2.185009717976163,0.71338606911949],"aabb_xy":[[-0.4185749429752138,-2.198237136998162],[-0.3921130519058512,-2.171782298954163]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.2160028321712124,1.3069135497695288,0.71338606911949],"aabb_xy":[[-0.24648708229824257,1.256913549988033],[-0.18551858204418226,1.356913549551025]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.6224947177597145,1.1159876446605321,0.71338606911949],"aabb_xy":[[-0.6599947189445072,1.1115694219644712],[-0.5849947165749216,1.1204058673565922]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.03498136988732681,-1.1935586193016887,0.71338606911949],"aabb_xy":[[-0.029018630386651423,-1.2436247194989765],[0.09898137016130504,-1.1434925191044005]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.1955688120755097,1.360646330125875,0.71338606911949],"aabb_xy":[[0.1580688136521093,1.3474821161580441],[0.23306881049891,1.3738105440937056]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.6022471963372263,-2.372182534178185,0.71338606911949],"aabb_xy":[[-0.6130876745637411,-2.389368815468833],[-0.5914067181107113,-2.3549962528875357]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.45031307177654634,0.8696967675155816,0.71338606911949],"aabb_xy":[[-0.5143130749951842,0.8229736556165732],[-0.3863130685579085,0.9164198794145899]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.5314280769993227,-1.13550428872935,0.71338606911949],"aabb_xy":[[0.5206551030779549,-1.170504286948389],[0.5422010509206905,-1.100504290510311]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[0.18776437796702694,-1.2049544633053453,0.71338606911949],"aabb_xy":[[0.170217683050908,-1.2424544648695965],[0.20531107288314587,-1.167454461741094]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[-0.36922881785337847,-0.2616539024956417,0.71338606911949],"aabb_xy":[[-0.4142214045718289,-0.30665390177009044],[-0.32423623113492805,-0.21665390322119293]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[-0.36521263742933724,-1.043361969864857,0.71338606911949],"aabb_xy":[[-0.4292126365991072,-1.0901286569838196],[-0.3012126382595673,-0.9965952827458947]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_30","position":[0.3824606337327938,-2.369883811343535,0.71338606911949],"aabb_xy":[[0.3184606316830618,-2.4099782944328436],[0.4464606357825258,-2.3297893282542277]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[0.6723174466400375,-2.53162742208753,0.71338606911949],"aabb_xy":[[0.6273174451738086,-2.576627278949011],[0.7173174481062663,-2.4866275652260494]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_32","position":[0.3863141062631661,1.7081592542278297,0.71338606911949],"aabb_xy":[[0.36381410673945863,1.6856633067772089],[0.40881410578687344,1.7306552016784504]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_33","position":[0.5619330724768361,1.4880602366986326,0.71338606911949],"aabb_xy":[[0.5468307710158177,1.4729587150675703],[0.5770353739378539,1.5031617583296941]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_34","position":[-0.36371291492111063,0.1811950842343264,0.71338606911949],"aabb_xy":[[-0.41371291436130625,0.13122715975001006],[-0.313712915480915,0.23116300871864268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816302945843554,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8069.png","name":"8069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8069.png","name":"8069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5519.png","name":"5519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1529.png","name":"1529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6902.png","name":"6902"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4779.png","name":"4779"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":708.834901505159,"rotation_z_degrees":206.60732759398292,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015079242102118692,0.013471314141116613,-0.008535330794037349]},{"name":"camera_2","offset_m":[-0.013108052571989078,0.01495359499705785,-0.019147401161301366]},{"name":"camera_3","offset_m":[0.00826213294227672,-0.011213026258249008,0.009642968285998338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010981655008831656,0.0016678520291321113,-0.0013325512914283983],"end_effector_yaw_offset_degrees":0.8667277453733047},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009504229899933588,3.4497516669417406e-05,-0.0017321427349363656],"end_effector_yaw_offset_degrees":-0.049751223469228334},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001544174380350722,-0.00035401909204849156,0.0016976839241823892],"end_effector_yaw_offset_degrees":0.7008861042321661}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035054729033401474,-0.0016158419898865918],"position_m":[0.2960054729033401,0.0875841580101134,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005224689725892807,0.004950605071565565],"position_m":[0.1373775310274107,0.26115060507156557,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003736216790076199,-0.004626712890894374],"position_m":[0.3441637832099238,0.2956732871091056,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032271450266695666,0.0010521212325316854],"position_m":[0.22307285497333043,-0.4041478787674683,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9f7142724cdc1e1ee78134217bec176bba6fc78730ce5135238d73b27d8b881b","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0115.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8069/tex_ceiling_textures_4779/tex_floor_textures_6902/tex_table_textures_5519/tex_wall_textures_1529","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5063519649479663047,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5063519649479663047,"visual_seed":5063519649479663047,"scene_id":"lab_003","finished_at":"2026-09-03T02:31:47"} +{"episode_id":"ep_000071","started_at":"2026-09-03T02:33:12","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.19603046018056608,-2.04642166695563,0.71338606911949],"aabb_xy":[[-0.21961558364446093,-2.1114216692010617],[-0.17244533671667123,-1.981421664710198]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.650571589664322,-1.1138818703468405,0.71338606911949],"aabb_xy":[[-0.6638025351990033,-1.1271092893688397],[-0.6373406441296408,-1.1006544513248409]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.6165247395911357,1.133105004019559,0.71338606911949],"aabb_xy":[[-0.636583151204376,1.1130399171104015],[-0.5964663279778954,1.1531700909287164]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.22503742011328431,-2.247719694304317,0.71338606911949],"aabb_xy":[[0.21419694188676938,-2.264905975594966],[0.2358778983397992,-2.2305334130136685]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.3040965517304235,0.7516241685169622,0.71338606911949],"aabb_xy":[[-0.3113403177766688,0.6716241703133599],[-0.29685278568417817,0.8316241667205646]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.38552502434916036,-1.9655091032522003,0.71338606911949],"aabb_xy":[[0.37681105529922576,-1.988009103911388],[0.39423899339909474,-1.9430091025930116]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.45907925325514487,-1.6704931427012886,0.71338606911949],"aabb_xy":[[0.41806130986877404,-1.7204931433322457],[0.5000971966415158,-1.620493142070331]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.044864525252201304,-1.3253065239779258,0.71338606911949],"aabb_xy":[[-0.1048645261130141,-1.376732953984412],[0.015135475608611502,-1.2738800939714392]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.2818331494016517,-0.3304407737032973,0.71338606911949],"aabb_xy":[[-0.28887345933518876,-0.41044077310296884],[-0.2747928394681148,-0.250440774303626]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.11060534885764328,1.3975210957523978,0.71338606911949],"aabb_xy":[[-0.1145192220530658,1.3887720803458408],[-0.10669147566222076,1.4062701111589544]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.6512745880685227,1.0966898123274818,0.71338606911949],"aabb_xy":[[0.6366311825144896,1.0820310926706973],[0.6659179936225555,1.1113485319842658]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.28343650388425035,-2.353145296598406,0.71338606911949],"aabb_xy":[[-0.34843650499019363,-2.378110669666534],[-0.21843650277830706,-2.3281799235302776]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.10868030898626535,-1.0154178066031159,0.71338606911949],"aabb_xy":[[0.028680311005480307,-1.0230193475649678],[0.1886803069670504,-1.007816265641264]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.30243889084837733,-1.2233691857685367,0.71338606911949],"aabb_xy":[[-0.35243889028857295,-1.273337110252853],[-0.2524388914081817,-1.1734012612842204]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.22839507356091304,-1.8165167062433334,0.71338606911949],"aabb_xy":[[-0.24589507269528024,-1.826396333280921],[-0.2108950744265459,-1.8066370792057453]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.2114687342078455,1.1872043987455987,0.71338606911949],"aabb_xy":[[0.1755552297828558,1.1512908905288441],[0.24738223863283518,1.2231179069623532]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.2191763404113869,0.5831289063035285,0.71338606911949],"aabb_xy":[[-0.25667633883478724,0.5699646923356978],[-0.18167634198798652,0.5962931202713591]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.607326322367156,1.3733062873304789,0.71338606911949],"aabb_xy":[[-0.6359756547275721,1.3446607280534029],[-0.5786769900067397,1.4019518466075545]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.5064986585958231,0.23612061859942246,0.71338606911949],"aabb_xy":[[0.49769660328685045,0.22830929244449338],[0.5153007139047958,0.24393194475435154]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.3062075232841779,-2.4432446100767637,0.71338606911949],"aabb_xy":[[0.22620752462729188,-2.4577494690010266],[0.3862075219410639,-2.428739751152501]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.4856666836092077,-2.0809108542712833,0.71338606911949],"aabb_xy":[[-0.5191458508702487,-2.1143899676423903],[-0.45218751634816684,-2.0474317409001763]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.5507220446512506,-1.1807075681839212,0.71338606911949],"aabb_xy":[[0.5285495176745999,-1.2028832353400443],[0.5728945716279016,-1.1585319010277981]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.5461785322401322,-1.3883318304507268,0.71338606911949],"aabb_xy":[[0.4962054667076169,-1.4383318302632597],[0.5961515977726478,-1.338331830638194]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.1479757941188664,-0.6829956799938544,0.71338606911949],"aabb_xy":[[-0.18652148694406745,-0.721541451050043],[-0.10943010129366537,-0.6444499089376657]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.4138402032486613,-1.528010934872093,0.71338606911949],"aabb_xy":[[-0.4938402018359807,-1.6073265368102536],[-0.33384020466134184,-1.4486953329339318]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[0.11180850946404586,1.3692690520005675,0.71338606911949],"aabb_xy":[[0.103772174762761,1.3612309326961507],[0.11984484416533069,1.3773071713049843]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.4480105784843229,1.2164351458393563,0.71338606911949],"aabb_xy":[[0.4313334424912274,1.199735221865426],[0.4646877144774184,1.2331350698132866]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.5282280721074168,-1.773452670250802,0.71338606911949],"aabb_xy":[[-0.5593749909509999,-1.8434526689376094],[-0.4970811532638336,-1.703452671563995]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.5981076155089105,1.2727411789440195,0.71338606911949],"aabb_xy":[[0.5867458808556242,1.2613727125377314],[0.6094693501621965,1.2841096453503076]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.1404439531384174,-2.2658275873463283,0.71338606911949],"aabb_xy":[[-0.1637257953365487,-2.3508275886435555],[-0.11716211094028604,-2.1808275860490993]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_30","position":[0.295342991072998,1.6218690988326663,0.71338606911949],"aabb_xy":[[0.2750586883495992,1.6015864736899572],[0.3156272937963967,1.642151723975375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688036821568833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1099.png","name":"1099"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1099.png","name":"1099"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3636.png","name":"3636"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/104.png","name":"104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":695.1226778973097,"rotation_z_degrees":310.056121746938,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011548151525147838,0.008088895042269385,-0.0024231439504232115]},{"name":"camera_2","offset_m":[-0.006891205161882762,-0.010437609687421565,0.0061185564320396235]},{"name":"camera_3","offset_m":[0.009191472432533168,-0.015546920620464918,-0.0071056900154156735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015334811488350569,0.0013638889075086864,0.0013698042998157235],"end_effector_yaw_offset_degrees":-0.14165846305797936},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014489185489121414,-0.00120156672936636,-0.0008751739239097915],"end_effector_yaw_offset_degrees":-0.698800826043084},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00121701932910375,-0.0013383204838733512,-0.0019821530133060862],"end_effector_yaw_offset_degrees":-0.6339215936419513}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013002992888386375,0.0019987670067246853],"position_m":[0.2938002992888386,0.09119876700672469,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004229177429435728,-0.00221138361022617],"position_m":[0.13367082257056426,0.2539886163897738,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002857437120945585,-0.0035596104781695837],"position_m":[0.3507574371209456,0.2967403895218304,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004593472928698462,-0.004228611654269539],"position_m":[0.22170652707130153,-0.4094286116542695,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4076c42fdc895668c3076f33eb01066e3a30a724430ce7d41bcfe26d4aabc493","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0117.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1099/tex_ceiling_textures_8323/tex_floor_textures_6187/tex_table_textures_3636/tex_wall_textures_104","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3157730318609117613,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3157730318609117613,"visual_seed":3157730318609117613,"scene_id":"lab_003","finished_at":"2026-09-03T02:35:56"} +{"episode_id":"ep_000072","started_at":"2026-09-03T02:36:02","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.11500223210855787,1.1692135229848781,0.71338606911949],"aabb_xy":[[-0.1514980527358366,1.1327295805581206],[-0.07850641148127913,1.2056974654116357]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.4989506479033987,-1.963075889573177,0.71338606911949],"aabb_xy":[[0.44897758237088337,-2.0130758893857106],[0.5489237134359143,-1.9130758897606448]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.14370527854982662,0.7744807263384197,0.71338606911949],"aabb_xy":[[0.10152086438899588,0.7104807260612085],[0.18588969271065736,0.8384807266156309]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.2878951627419801,0.29504021983326023,0.71338606911949],"aabb_xy":[[-0.3378951631025462,0.2450602326236572],[-0.2378951623814141,0.34502020704286307]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.41292009308672584,1.79777781768894,0.71338606911949],"aabb_xy":[[0.3996891475520445,1.7845503986669404],[0.4261510386214071,1.8110052367109393]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[0.5585137551509236,-2.472327268905367,0.71338606911949],"aabb_xy":[[0.49851375464307063,-2.529174002591288],[0.6185137556587764,-2.415480535219445]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.2932371190916986,1.384297034828093,0.71338606911949],"aabb_xy":[[-0.3732309426702568,1.3042970322352516],[-0.21324329551314036,1.4642970374209348]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.2821200691977096,1.029207816118486,0.71338606911949],"aabb_xy":[[-0.2949919726986497,0.9492078157046498],[-0.2692481656967694,1.109207816532322]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.5619315816221842,1.652150129700844,0.71338606911949],"aabb_xy":[[-0.5844315816323324,1.638053910061241],[-0.5394315816120359,1.6662463493404476]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.44918630314807784,-1.6366805558444995,0.71338606911949],"aabb_xy":[[0.4340141338664445,-1.651849412772703],[0.4643584724297112,-1.6215116989162963]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.6055344143307655,-0.3912951810951095,0.71338606911949],"aabb_xy":[[-0.6230811092468844,-0.42879518265936073],[-0.5879877194146466,-0.3537951795308582]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.2771821189410961,-0.7789123252801735,0.71338606911949],"aabb_xy":[[-0.33119771522299607,-0.8429123281724306],[-0.22316652265919606,-0.7149123223879162]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.4977915660127916,-0.4150045308297621,0.71338606911949],"aabb_xy":[[0.4880355765036176,-0.42476706488899646],[0.5075475555219654,-0.4052419967705276]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.5760684310978672,-2.441362473793304,0.71338606911949],"aabb_xy":[[-0.5809677234044307,-2.4690393930958727],[-0.5711691387913037,-2.413685554490735]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.284408856983732,1.3334810633583238,0.71338606911949],"aabb_xy":[[0.2631308488402597,1.2684810610322503],[0.3056868651272042,1.3984810656843965]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[-0.5369026501697673,1.3021524832192015,0.71338606911949],"aabb_xy":[[-0.540980808076817,1.298071502970938],[-0.5328244922627177,1.3062334634674646]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.13362221180604184,-0.8548744440834486,0.71338606911949],"aabb_xy":[[0.10497287944562561,-0.8835200033605244],[0.16227154416645806,-0.8262288848063728]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.5541106180091318,-0.6658868448481061,0.71338606911949],"aabb_xy":[[-0.5891106193606134,-0.6862465808049268],[-0.5191106166576499,-0.6455271088912852]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.3542164664904324,0.5380269476548487,0.71338606911949],"aabb_xy":[[-0.3917164676752252,0.5336087249587881],[-0.3167164653056396,0.5424451703509091]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.5732809790509967,-1.0515562557477514,0.71338606911949],"aabb_xy":[[-0.5864322250222862,-1.076556255504438],[-0.5601297330797075,-1.0265562559910648]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.06656182814919898,1.588482432363111,0.71338606911949],"aabb_xy":[[-0.14656182530877426,1.5769348314052938],[0.01343816901037631,1.6000300333209279]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.5627489427219883,0.5187017237495852,0.71338606911949],"aabb_xy":[[-0.5970652198966062,0.4687017237764075],[-0.5284326655473703,0.568701723722763]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863767405352684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2853.png","name":"2853"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2853.png","name":"2853"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/414.png","name":"414"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1132.png","name":"1132"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/976.png","name":"976"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":708.5981157638327,"rotation_z_degrees":118.14896430277494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00757912613118073,-0.011734541890667161,-0.017451808300342354]},{"name":"camera_2","offset_m":[0.0033893661738654997,0.01664640267701471,0.00041183691442021886]},{"name":"camera_3","offset_m":[-0.01611078617321363,0.011937685511681954,0.007039684098281155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017986416553819535,-0.0002886357385887615,-0.0005867617790765772],"end_effector_yaw_offset_degrees":0.5241147966640891},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015569637871552593,-0.00047937223016894146,-0.0006544288749134974],"end_effector_yaw_offset_degrees":0.8796528949048916},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016896619619700176,0.00021706647989629818,-0.0007026810868969952],"end_effector_yaw_offset_degrees":0.1487439773842072}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014790402547658066,0.003623946361949143],"position_m":[0.2939790402547658,0.09282394636194914,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013394421346861708,-0.0003176179128266676],"position_m":[0.13656055786531382,0.2558823820871733,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009136637380791597,0.00043389828022496937],"position_m":[0.3469863362619208,0.30073389828022495,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003972953924345454,-0.003598531184327426],"position_m":[0.22232704607565454,-0.4087985311843274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad95554fd4eb4e68af6798d7af926796b52108fd503e83e986ecbcdbf0b74441","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2853/tex_ceiling_textures_976/tex_floor_textures_9290/tex_table_textures_414/tex_wall_textures_1132","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4170206037287429905,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4170206037287429905,"visual_seed":4170206037287429905,"scene_id":"lab_003","finished_at":"2026-09-03T02:38:37"} +{"episode_id":"ep_000073","started_at":"2026-09-03T02:38:41","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.09489390172140189,-0.9600359746702971,0.71338606911949],"aabb_xy":[[0.030893898502764028,-1.0067590865693057],[0.15889390494003974,-0.9133128627712889]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.639631763141024,0.08758069227357534,0.71338606911949],"aabb_xy":[[0.624468890164087,0.0724152349784566],[0.6547946361179612,0.10274614956869413]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.4326825564072712,-1.905271362999049,0.71338606911949],"aabb_xy":[[-0.49668255831961355,-1.9611825122570594],[-0.36868255449492887,-1.8493602137410385]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[0.43783245613700217,-0.4139374890322278,0.71338606911949],"aabb_xy":[[0.41283245658526363,-0.42407997289736254],[0.4628324556887406,-0.4037950051670931]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.17771856865994984,-1.431014885968126,0.71338606911949],"aabb_xy":[[-0.19059047216088992,-1.5110148863819621],[-0.16484666515900964,-1.3510148855542898]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.040976191849706245,-1.4924121854943773,0.71338606911949],"aabb_xy":[[-0.006829975764062411,-1.557412188201436],[0.08878235946347489,-1.4274121827873183]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.47015353563827045,0.0028795503189447125,0.71338606911949],"aabb_xy":[[-0.49265353615031104,-0.01961230804645364],[-0.44765353512622985,0.025371408684343066]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.028273668664619334,1.6949949099748776,0.71338606911949],"aabb_xy":[[-0.05278729276162519,1.6707303166728413],[-0.003760044567613474,1.7192595032769142]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.5604150445055067,-1.7094978675658354,0.71338606911949],"aabb_xy":[[0.5104150428440118,-1.759496309821538],[0.6104150461670014,-1.6594994253101325]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.02664654105726494,1.4060310534035594,0.71338606911949],"aabb_xy":[[0.017352922820114358,1.3685310549154253],[0.03594015929441552,1.443531051891693]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.15391355877557678,-1.1786579432709212,0.71338606911949],"aabb_xy":[[-0.1990848766237458,-1.2426579404154596],[-0.10874224092740783,-1.1146579461263828]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.01634959281857551,-1.9157977059412046,0.71338606911949],"aabb_xy":[[-0.10634959141304545,-1.9320482922546256],[0.07365040577589443,-1.8995471196277836]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.37841323839231295,-0.2763268057625292,0.71338606911949],"aabb_xy":[[-0.4484132402010583,-0.29768057452671653],[-0.30841323658356745,-0.2549730369983418]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.6028192301317592,0.05542999267461912,0.71338606911949],"aabb_xy":[[-0.6362983973928001,0.021950879303512125],[-0.5693400628707183,0.08890910604572613]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.2129977516334236,-1.851803762446373,0.71338606911949],"aabb_xy":[[0.15787254600383283,-1.9118037638876597],[0.2681229572630144,-1.7918037610050854]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.36014633879044267,-1.8692349040976128,0.71338606911949],"aabb_xy":[[0.32583006161582473,-1.9192349040707903],[0.3944626159650606,-1.819234904124435]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.39611167769045225,-0.7364613071382025,0.71338606911949],"aabb_xy":[[-0.41639598041385095,-0.7567439322809112],[-0.37582737496705343,-0.7161786819954935]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.552428446237823,1.777081950993019,0.71338606911949],"aabb_xy":[[-0.5894625556658827,1.742704743659309],[-0.5153943368097632,1.8114591583267279]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.3408623668760385,-2.5252619792550335,0.71338606911949],"aabb_xy":[[-0.3516353407974062,-2.5602619774740725],[-0.33008939295467066,-2.4902619810359945]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.08210401563383607,-0.7254325357753395,0.71338606911949],"aabb_xy":[[0.0021040151636201186,-0.733743243389688],[0.162104016104052,-0.7171218281609912]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.0823501306303619,-2.4358966403142217,0.71338606911949],"aabb_xy":[[0.018350127340653787,-2.4792315593181393],[0.14635013392007,-2.392561721310304]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.6544515841151822,-0.13131418371887227,0.71338606911949],"aabb_xy":[[-0.6789977997379328,-0.16156308026790933],[-0.6299053684924314,-0.10106528716983522]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.33466014783735853,-0.9273772431042235,0.71338606911949],"aabb_xy":[[0.27066014578762654,-0.9674717261935315],[0.39866014988709053,-0.8872827600149156]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.5785622443034042,-2.017412857591731,0.71338606911949],"aabb_xy":[[0.5412309677781616,-2.052065912386584],[0.6158935208286468,-1.9827598027968794]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.6618890287625181,-1.1025854335292904,0.71338606911949],"aabb_xy":[[-0.670103573878202,-1.1112620238269315],[-0.653674483646834,-1.0939088432316488]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.06440570529092904,0.9548764359565176,0.71338606911949],"aabb_xy":[[0.045521321522418834,0.9359905111761648],[0.08329008905943924,0.9737623607368704]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.0852768942608425,0.9850409945912371,0.71338606911949],"aabb_xy":[[-0.1351595911385387,0.9350409953449623],[-0.0353941973831463,1.0350409938375118]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.21891256925876634,-2.192617982583518,0.71338606911949],"aabb_xy":[[0.19391256932624848,-2.199500650804441],[0.24391256919128426,-2.185735314362595]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[0.4936030739065391,1.7956589897879627,0.71338606911949],"aabb_xy":[[0.4561030738009461,1.7888368279349816],[0.531103074012132,1.8024811516409438]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.6498089945879046,-0.36415304831364903,0.71338606911949],"aabb_xy":[[0.6070422877084843,-0.4281530517354515],[0.6925757014673247,-0.3001530448918466]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[0.34933861942558964,-1.3390572860919792,0.71338606911949],"aabb_xy":[[0.30325352817085816,-1.4030572833445343],[0.3954237106803211,-1.275057288839424]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_31","position":[0.3205181469022269,-0.6700449600154395,0.71338606911949],"aabb_xy":[[0.23083107059411145,-0.76004496026989],[0.41020522321034236,-0.5800449597609889]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_32","position":[-0.3795918085050884,0.26584696238857486,0.71338606911949],"aabb_xy":[[-0.4595918070924079,0.186531360450414],[-0.299591809917769,0.34516256432673575]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880989618042807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3225.png","name":"3225"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3225.png","name":"3225"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1510.png","name":"1510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6177.png","name":"6177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/31.png","name":"31"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2824.png","name":"2824"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.0064187546312,"rotation_z_degrees":314.84937676795954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012068616719498129,-0.00749401733788007,0.017174558289341193]},{"name":"camera_2","offset_m":[-0.010254179884826407,-0.00816771832944255,-0.0068960607297113615]},{"name":"camera_3","offset_m":[-0.019881053542310838,-0.012614783432392463,0.01902967731730849]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012729336945745658,0.0006409250465635552,-0.0005434423932625231],"end_effector_yaw_offset_degrees":-0.5241027810993093},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007527737069120215,0.0012338472068803134,0.001968374099569202],"end_effector_yaw_offset_degrees":-0.00742560676533488},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012375135116444516,0.0012207914280103682,-0.0011168040072763708],"end_effector_yaw_offset_degrees":0.6639825364289813}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037449220561430194,0.004350996324813914],"position_m":[0.28875507794385696,0.09355099632481391,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004901319351470687,0.0038229128913690466],"position_m":[0.13839013193514707,0.26002291289136903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002891588389664335,-0.003486975184672889],"position_m":[0.35079158838966434,0.2968130248153271,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004401260621045512,-0.00231640448224292],"position_m":[0.2307012606210455,-0.4075164044822429,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b18d039b13e391ecba103876462e16a1a5568dc7cc75634c06cbb05ed0d63b4","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0119.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3225/tex_ceiling_textures_2824/tex_floor_textures_31/tex_table_textures_1510/tex_wall_textures_6177","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6526394957458898689,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6526394957458898689,"visual_seed":6526394957458898689,"scene_id":"lab_003","finished_at":"2026-09-03T02:41:14"} +{"episode_id":"ep_000074","started_at":"2026-09-03T02:41:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.51912989445607,-1.8774196412141921,0.71338606911949],"aabb_xy":[[-0.5263911420264775,-1.8902066514777018],[-0.5118686468856626,-1.8646326309506829]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.5403601164485279,-0.5203451821054768,0.71338606911949],"aabb_xy":[[-0.54835360624381,-0.5283433140459525],[-0.532366626653246,-0.5123470501650013]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.6178446950774006,-2.482694953254126,0.71338606911949],"aabb_xy":[[-0.681844693663973,-2.529701916653634],[-0.5538446964908281,-2.4356879898546167]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.037770120852459566,1.5643120116080564,0.71338606911949],"aabb_xy":[[0.019564297191211895,1.553286611026065],[0.05597594451370725,1.5753374121900483]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.33619727699237695,-2.141418399915857,0.71338606911949],"aabb_xy":[[-0.34806936000387806,-2.2264183996095075],[-0.32432519398087584,-2.056418400222207]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[-0.6517933572413425,1.532578455623828,0.71338606911949],"aabb_xy":[[-0.6692933565194293,1.515240355557482],[-0.6342933579632556,1.549916555690174]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.08082513803691871,0.7014037671372306,0.71338606911949],"aabb_xy":[[-0.11815641456216133,0.6667507123423784],[-0.043493861511676085,0.7360568219320829]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.43915800080443,-1.6393233386567312,0.71338606911949],"aabb_xy":[[0.37515800369232427,-1.6883557084511416],[0.5031579979165357,-1.5902909688623204]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.32684591814581104,0.11285015778989971,0.71338606911949],"aabb_xy":[[-0.3444242203347579,0.0952756682157948],[-0.3092676159568642,0.1304246473640046]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.37872251360965986,1.6012724757275127,0.71338606911949],"aabb_xy":[[-0.428721788778096,1.5512724744515658],[-0.3287232384412237,1.6512724770034601]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.02702921837556771,-2.036334501117208,0.71338606911949],"aabb_xy":[[-0.07701216856304703,-2.086334500759768],[0.022953731811911623,-1.9863345014746472]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.11895287676670063,0.9446969596498516,0.71338606911949],"aabb_xy":[[-0.1427890944073057,0.8546969588413653],[-0.09511665912609558,1.0346969604583383]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.5896329461676921,-1.379464126139358,0.71338606911949],"aabb_xy":[[0.5551705987695501,-1.4139580085371803],[0.6240952935658337,-1.344970243741535]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[-0.003103753696935496,-0.6470764607856245,0.71338606911949],"aabb_xy":[[-0.011097742274638889,-0.6550765408807148],[0.004890234880767896,-0.6390763806905341]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.618130306507612,1.1933168538752756,0.71338606911949],"aabb_xy":[[0.5681303069312774,1.14333627492317],[0.6681303060839469,1.2432974328273818]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.19302796879802964,1.6269459196542377,0.71338606911949],"aabb_xy":[[0.15802797052790973,1.6198717919592496],[0.22802796706814954,1.634020047349226]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.5589735586892199,1.1819137665570256,0.71338606911949],"aabb_xy":[[-0.6089735590497859,1.1319337793474225],[-0.5089735583286538,1.2318937537666284]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.5840990696884873,-1.0417088364254559,0.71338606911949],"aabb_xy":[[-0.6340990710493746,-1.0916867410008715],[-0.5340990683276001,-0.9917309318500404]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.36310992046460927,-0.8651632281373258,0.71338606911949],"aabb_xy":[[-0.42810991862052833,-0.8914594726872379],[-0.2981099223086902,-0.8388669835874135]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.08900271742771082,0.6768465194898279,0.71338606911949],"aabb_xy":[[0.05150271693035258,0.6728778359417094],[0.12650271792506906,0.6808152030379462]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.44978951956457136,-0.8361129461048165,0.71338606911949],"aabb_xy":[[0.4417632489339454,-0.8448644410821693],[0.4578157901951974,-0.8273614511274641]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.37227608448609906,1.662797902026956,0.71338606911949],"aabb_xy":[[0.350367402346748,1.6408972352068651],[0.3941847666254501,1.6846985688470466]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.42237660604591865,0.36667963755482225,0.71338606911949],"aabb_xy":[[0.41302959846362347,0.35237601533717816],[0.43172361362821393,0.3809832597724662]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.30133639671531987,1.5533702738916841,0.71338606911949],"aabb_xy":[[0.29392394117393134,1.547519063470056],[0.3087488522567083,1.5592214843133119]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.015686877046215075,1.0199713028897746,0.71338606911949],"aabb_xy":[[-0.0018131220881520969,1.0100916758521865],[0.03318687618058224,1.0298509299273622]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.26316915606409175,1.1715690740907063,0.71338606911949],"aabb_xy":[[0.24761338665382654,1.1560186408462994],[0.27872492547435707,1.1871195073351137]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.16532440049622166,-0.5150747149858694,0.71338606911949],"aabb_xy":[[-0.1781963039971618,-0.5950747153997056],[-0.15245249699528152,-0.43507471457203334]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[-0.09515698029022768,-1.89465927110437,0.71338606911949],"aabb_xy":[[-0.10049455595623225,-1.9196592720335097],[-0.08981940462422311,-1.8696592701752301]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[0.014158907286876854,-1.052627310616385,0.71338606911949],"aabb_xy":[[-0.050841093713623664,-1.10341367577106],[0.07915890828737737,-1.00184094546171]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[0.5135148070215299,-0.17049228595692112,0.71338606911949],"aabb_xy":[[0.4335148067479229,-0.24344183378263784],[0.5935148072951368,-0.09754273813120441]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[0.399792347158167,-0.6368671032107314,0.71338606911949],"aabb_xy":[[0.3357923454801697,-0.6853844946900457],[0.4637923488361644,-0.5883497117314173]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_31","position":[-0.18958729170930355,0.7381753301927954,0.71338606911949],"aabb_xy":[[-0.20745639946375904,0.7243424222155844],[-0.17171818395484806,0.7520082381700063]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_32","position":[-0.5828359892360796,-1.2262728115673156,0.71338606911949],"aabb_xy":[[-0.5892498028792644,-1.2326826318149837],[-0.5764221755928945,-1.219862991319647]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_33","position":[-0.3437725155646599,-1.4391025412374,0.71338606911949],"aabb_xy":[[-0.39376752652411195,-1.4891025402729914],[-0.29377750460520785,-1.389102542201808]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_34","position":[0.6256296840530509,0.4409423908440053,0.71338606911949],"aabb_xy":[[0.5616296833495815,0.39492400837108443],[0.6896296847565202,0.48696077331692644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819071478315563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2032.png","name":"2032"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7867.png","name":"7867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3722.png","name":"3722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5265.png","name":"5265"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.4058021477219,"rotation_z_degrees":93.1604098865417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01438651421531792,-0.014834352793434898,0.018886650652039514]},{"name":"camera_2","offset_m":[-0.018241734967194993,0.012904826737192277,-0.004001596883212433]},{"name":"camera_3","offset_m":[0.012149873031518914,-0.010056666164167335,0.019443308414284415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011152535268594752,0.0001889630467932584,0.0019647836127336766],"end_effector_yaw_offset_degrees":-0.5565165539746761},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013731948119532593,0.0016599707716739333,0.0017103217452307325],"end_effector_yaw_offset_degrees":-0.3841017809509115},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000627858564937734,0.001960350075431651,0.0017883950843446575],"end_effector_yaw_offset_degrees":-0.458491381227087}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00319122701327892,-0.0012461027665087243],"position_m":[0.2893087729867211,0.08795389723349127,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036778766723796,0.004525738575837812],"position_m":[0.1342221233276204,0.2607257385758378,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035624813750608246,-0.004349398900310809],"position_m":[0.34433751862493917,0.2959506010996892,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034461161222891557,0.0023279718416661906],"position_m":[0.22285388387771085,-0.40287202815833384,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"df38bb25408484c8922b7e5428bb64739e5b54fa2ccf60ae32ad02b9c9d10d87","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0120.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5571/tex_ceiling_textures_5265/tex_floor_textures_3722/tex_table_textures_2032/tex_wall_textures_7867","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":888606977254801812,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":888606977254801812,"visual_seed":888606977254801812,"scene_id":"lab_003","finished_at":"2026-09-03T02:43:55"} +{"episode_id":"ep_000075","started_at":"2026-09-03T02:47:09","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.23815532235987158,-0.29372458054761097,0.71338606911949],"aabb_xy":[[-0.24424995024798993,-0.30229397509927974],[-0.2320606944717533,-0.2851551859959423]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.13436672023930862,1.5239953379749944,0.71338606911949],"aabb_xy":[[-0.19836672051328683,1.4739292377777065],[-0.07036671996533037,1.5740614381722824]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.41758674929694595,-2.5583648086466053,0.71338606911949],"aabb_xy":[[-0.4550867496451737,-2.5701562042276884],[-0.3800867489487182,-2.5465734130655213]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.5223059061118226,-2.1351174184939117,0.71338606911949],"aabb_xy":[[-0.5863016035069192,-2.19911741679462],[-0.458310208716726,-2.0711174201932026]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.0024001491712899448,-1.9094177830609769,0.71338606911949],"aabb_xy":[[-0.03973142569653257,-1.9440708378558293],[0.03493112735395268,-1.8747647282661248]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.5660800189267079,-2.040412697265481,0.71338606911949],"aabb_xy":[[0.5505242495164427,-2.0559631305098884],[0.5816357883369733,-2.024862264021074]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.4975702346208638,-1.0234003472896402,0.71338606911949],"aabb_xy":[[-0.5575702354816765,-1.0748267772961264],[-0.437570233760051,-0.9719739172831537]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.02755411135063046,-0.4259982400328357,0.71338606911949],"aabb_xy":[[-0.052100326973381184,-0.4562471365818728],[-0.003007895727879742,-0.3957493434837987]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.22313220313147575,1.4496214388873399,0.71338606911949],"aabb_xy":[[0.21609075218072815,1.4425946871495454],[0.23017365408222334,1.4566481906251343]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.5409778471760629,-0.5274093360492613,0.71338606911949],"aabb_xy":[[-0.5752941243506808,-0.577409336022439],[-0.506661570001445,-0.4774093360760836]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.6984621422727686,1.5635883939445239,0.71338606911949],"aabb_xy":[[0.6866939554781113,1.4785883940393025],[0.7102303290674263,1.6485883938497459]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.041969323374659306,1.1965495205544272,0.71338606911949],"aabb_xy":[[-0.022030678033331353,1.1447605690305023],[0.10596932478264998,1.2483384720783517]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.23979330429853685,-1.2563916848520147,0.71338606911949],"aabb_xy":[[-0.27729330459071166,-1.2604331602526184],[-0.20229330400636203,-1.2523502094514114]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.31309064404556686,-0.16971980421256205,0.71338606911949],"aabb_xy":[[-0.33498039163450766,-0.2597198015018112],[-0.29120089645662606,-0.07971980692331294]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.3159127920792377,0.9543704925417331,0.71338606911949],"aabb_xy":[[-0.3240264467526148,0.946264676087704],[-0.3077991374058606,0.9624763089957622]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.47367183042832806,-1.1777160870053818,0.71338606911949],"aabb_xy":[[0.3836718307051538,-1.2007894395405614],[0.5636718301515021,-1.1546427344702017]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.24107968714864414,0.8471109290206247,0.71338606911949],"aabb_xy":[[0.17707968677111052,0.7973656621698125],[0.30507968752617776,0.8968561958714371]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.13068123910412033,-0.9729445162163086,0.71338606911949],"aabb_xy":[[-0.15318037483034727,-0.9954445169945717],[-0.10818210337789333,-0.9504445154380458]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.03375447651039465,-0.14847113637535525,0.71338606911949],"aabb_xy":[[-0.051332778699341504,-0.16604562594946015],[-0.016176174321447807,-0.13089664680125035]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.06342065487421589,1.6347102000566482,0.71338606911949],"aabb_xy":[[0.02592065420963718,1.6190231420564258],[0.10092065553879458,1.6503972580568702]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.3417066935200741,-1.8113672537179748,0.71338606911949],"aabb_xy":[[0.3284757479853928,-1.8245946727399738],[0.3549376390547554,-1.798139834695975]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.6801936121854468,-1.174661167612284,0.71338606911949],"aabb_xy":[[-0.6915553468387329,-1.1860296340185719],[-0.6688318775321606,-1.1632927012059957]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.1385732362171772,-0.8923676897642594,0.71338606911949],"aabb_xy":[[-0.17357323540999542,-0.9033347357619218],[-0.10357323702435889,-0.8814006437665965]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.6599481626848229,-1.6800715275978961,0.71338606911949],"aabb_xy":[[0.6474808045750873,-1.69253685223122],[0.6724155207945586,-1.667606202964573]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.325942190253571,1.2768159390781357,0.71338606911949],"aabb_xy":[[-0.3484421900674734,1.272341322707655],[-0.30344219043966864,1.2812905554486165]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[-0.22763569345203505,-2.4352632395864426,0.71338606911949],"aabb_xy":[[-0.2747650724538707,-2.4992632406308437],[-0.18050631445019935,-2.37126323854204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893662376241856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6120.png","name":"6120"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6120.png","name":"6120"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4951.png","name":"4951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4620.png","name":"4620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/882.png","name":"882"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7119.png","name":"7119"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":613.8783767052994,"rotation_z_degrees":144.72416970430797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01643742295549424,-0.0018665110587041366,0.019847148174706186]},{"name":"camera_2","offset_m":[-0.009467599764871312,0.0072698007315217285,-0.0012721085881480451]},{"name":"camera_3","offset_m":[-0.019045016628045808,-0.008758563220105473,-0.01266814720265645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010945993173175049,0.0005925589126749599,-0.0015889534700290896],"end_effector_yaw_offset_degrees":0.036130831514032735},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008402507485634624,-0.0013434268354296183,0.0017933365802649988],"end_effector_yaw_offset_degrees":-0.5554186150175258},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011859628803365212,-0.001663837300309994,-0.0014868298258835036],"end_effector_yaw_offset_degrees":-0.8787633890406721}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013770077286425668,0.002457972069430151],"position_m":[0.29387700772864256,0.09165797206943015,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032273347680717756,-0.002267381952243306],"position_m":[0.13467266523192822,0.2539326180477567,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024453073883143276,0.0003617632261486295],"position_m":[0.3503453073883143,0.3006617632261486,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001187173791623738,0.0038686004831289247],"position_m":[0.22511282620837628,-0.4013313995168711,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62eecad80a4493d52a84665dbff5d3930d5bd2a239d1b7197d1cfc29264d5dae","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0122.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6120/tex_ceiling_textures_7119/tex_floor_textures_882/tex_table_textures_4951/tex_wall_textures_4620","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3322643074211782554,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3322643074211782554,"visual_seed":3322643074211782554,"scene_id":"lab_003","finished_at":"2026-09-03T02:49:53"} +{"episode_id":"ep_000076","started_at":"2026-09-03T02:57:35","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.643119565881848,-1.5040069186283238,0.71338606911949],"aabb_xy":[[0.6312474828703469,-1.5890069183219742],[0.6549916488933492,-1.4190069189346735]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.2205343774861404,1.1206559913121703,0.71338606911949],"aabb_xy":[[-0.2430343770098478,1.0981600438615493],[-0.198034377962433,1.1431519387627909]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.20953451986105504,-0.2167055701187235,0.71338606911949],"aabb_xy":[[-0.23453451902668815,-0.22365781582408006],[-0.18453452069542192,-0.20975332441336692]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.17691600292177245,-2.487593112509149,0.71338606911949],"aabb_xy":[[0.1269160034815768,-2.5375610369934654],[0.22691600236196804,-2.4376251880248327]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.3900475573487292,-1.8267055992578864,0.71338606911949],"aabb_xy":[[-0.42754755745432205,-1.8335277611108676],[-0.35254755724313613,-1.8198834374049053]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.06071494463902949,0.7890032651104164,0.71338606911949],"aabb_xy":[[0.023214943454236688,0.7845850424143558],[0.09821494582382227,0.7934214878064768]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.63605792918657,-1.67896214559426,0.71338606911949],"aabb_xy":[[-0.6421525570746883,-1.687531540145929],[-0.6299633012984517,-1.6703927510425916]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.17299383051393225,0.5843424538432034,0.71338606911949],"aabb_xy":[[0.1665800168707473,0.5779326335955348],[0.17940764415711719,0.5907522740908715]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.5651418438786152,1.4407008029584296,0.71338606911949],"aabb_xy":[[-0.5711083828193511,1.4347396582990657],[-0.5591753049378794,1.446661947617794]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.1399811956489574,-0.5595275180413051,0.71338606911949],"aabb_xy":[[-0.176831743585945,-0.5970275188643388],[-0.10313064771196978,-0.5220275172182713]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.49050668950750875,-0.9394031490131372,0.71338606911949],"aabb_xy":[[0.42550669135158975,-0.9656993935630492],[0.5555066876634278,-0.9131069044632248]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.5919262822459377,0.5925848607299047,0.71338606911949],"aabb_xy":[[-0.6294262820629712,0.5879466494187628],[-0.5544262824289041,0.5972230720410465]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.37000584494326555,0.5253089309364882,0.71338606911949],"aabb_xy":[[-0.3888902287117758,0.5064230061561354],[-0.3511214611747554,0.544194855716841]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.07163931199123796,-0.7384149714853436,0.71338606911949],"aabb_xy":[[-0.008360689081882366,-0.7481930178227281],[0.1516393130643583,-0.7286369251479592]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.3196033053033114,0.5091031833363453,0.71338606911949],"aabb_xy":[[0.28210330480595314,0.5051344997882269],[0.3571033058006696,0.5130718668844637]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.6138119466492757,-0.6290604821827224,0.71338606911949],"aabb_xy":[[0.5963119464042264,-0.6465602700222891],[0.6313119468943251,-0.6115606943431554]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.622438062586377,-0.7227246375540948,0.71338606911949],"aabb_xy":[[-0.6384999900448945,-0.8077246393666866],[-0.6063761351278593,-0.637724635741503]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.2809594851935667,-2.086938455939526,0.71338606911949],"aabb_xy":[[0.24636840233952143,-2.1519384562245567],[0.31555056804761183,-2.0219384556544946]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.3377846381428933,0.9492292943527243,0.71338606911949],"aabb_xy":[[0.3303721826015048,0.9433780839310963],[0.34519709368428175,0.9550805047743522]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.04808279445709163,-1.1708472902977223,0.71338606911949],"aabb_xy":[[-0.11308279233873944,-1.2219709540042631],[0.016917203424556163,-1.1197236265911814]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.1319236050210303,-1.8887657180707618,0.71338606911949],"aabb_xy":[[0.11847707838698696,-1.9022355697238529],[0.14537013165507362,-1.8752958664176702]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.4653356517594788,-1.3046540510533833,0.71338606911949],"aabb_xy":[[-0.5453356487225179,-1.381729692697157],[-0.3853356547964396,-1.22757840940961]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.3118977670552736,-1.688516013715469,0.71338606911949],"aabb_xy":[[0.3038614323539887,-1.696554133019886],[0.3199341017565584,-1.6804778944110523]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.40844202292315707,1.6682515951773778,0.71338606911949],"aabb_xy":[[-0.41785949749301976,1.6588354180396585],[-0.39902454835329426,1.6776677723150966]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.679916933966134,0.2862797184564929,0.71338606911949],"aabb_xy":[[0.6672901466789377,0.27673364475491996],[0.6925437212533304,0.29582579215806576]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.6937841239967759,-0.2677574091480204,0.71338606911949],"aabb_xy":[[0.6637924612629055,-0.2977574084848209],[0.7237757867306461,-0.23775740981121984]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[0.45281682026859893,-1.597621853157368,0.71338606911949],"aabb_xy":[[0.4153168218451985,-1.6107860671251986],[0.4903168186919992,-1.584457639189537]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.4423009797728399,-2.519410098071934,0.71338606911949],"aabb_xy":[[0.36230098261326465,-2.5309576990297504],[0.5223009769324152,-2.5078624971141164]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.48776960711644146,1.0459770288089882,0.71338606911949],"aabb_xy":[[0.4836914492093916,1.041896048560725],[0.4918477650234911,1.0500580090572516]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[0.28245159859233726,-0.9636468857911726,0.71338606911949],"aabb_xy":[[0.2736495432833645,-0.9714582119461017],[0.2912536539013099,-0.9558355596362436]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_30","position":[-0.48914175023408146,-2.196735357508879,0.71338606911949],"aabb_xy":[[-0.49726943842739474,-2.205648965919587],[-0.4810140620407683,-2.1878217490981715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905002554578706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2743.png","name":"2743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2743.png","name":"2743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6437.png","name":"6437"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6436.png","name":"6436"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3445.png","name":"3445"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":627.8135851645486,"rotation_z_degrees":199.81281724473058,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019712842915381636,0.005510976824866027,0.015489436342503046]},{"name":"camera_2","offset_m":[-0.01740113031671066,0.011105030733188831,0.019088959820705822]},{"name":"camera_3","offset_m":[-0.0079770801563357,-0.0022321816576424923,-0.018207267933502948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005579131543907889,0.0010599536465028454,-0.00010259969039871529],"end_effector_yaw_offset_degrees":0.6624396598296147},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013980522237078065,-0.001965803940103343,-0.001604274024369503],"end_effector_yaw_offset_degrees":0.12830302928816684},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010681179631344658,-0.0016361550278600997,0.0009128364151285012],"end_effector_yaw_offset_degrees":-0.2625036651869157}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002337163540618875,-0.004951697849416955],"position_m":[0.29483716354061884,0.08424830215058304,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003933251108703846,3.835549181631023e-05],"position_m":[0.13396674889129614,0.2562383554918163,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019621607134236727,0.003939200633763132],"position_m":[0.3498621607134237,0.30423920063376314,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015344438160942008,0.004036246015059684],"position_m":[0.2247655561839058,-0.4011637539849403,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"753ebd31898b64e22b14be80c8b0d6d3b550d61bad115df4dbd11454d8e595b3","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0126.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2743/tex_ceiling_textures_3445/tex_floor_textures_6436/tex_table_textures_6437/tex_wall_textures_6860","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3173995571673449209,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3173995571673449209,"visual_seed":3173995571673449209,"scene_id":"lab_003","finished_at":"2026-09-03T03:00:09"} +{"episode_id":"ep_000077","started_at":"2026-09-03T03:00:12","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.369621355307737,1.6062597668055534,0.71338606911949],"aabb_xy":[[-0.4336213525933857,1.5647530478527094],[-0.3056213580220884,1.6477664857583973]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.6589268332246279,-0.3825429897689032,0.71338606911949],"aabb_xy":[[0.6460549297236877,-0.46254299018273937],[0.671798736725568,-0.30254298935506707]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.13401370313847027,-2.2189230518343686,0.71338606911949],"aabb_xy":[[0.04901370472104705,-2.3037973472966535],[0.2190137015558935,-2.1340487563720836]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.27029888745363745,1.1741886105269974,0.71338606911949],"aabb_xy":[[-0.27758120383030105,1.084188606917488],[-0.26301657107697374,1.264188614136506]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.08605887949284319,-2.387093833524166,0.71338606911949],"aabb_xy":[[0.07528590557147541,-2.422093831743205],[0.09683185341421097,-2.352093835305127]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.32013899242290994,-1.0033351348888668,0.71338606911949],"aabb_xy":[[-0.3901389888328716,-1.0237730705405481],[-0.25013899601294803,-0.9828971992371848]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.5546797295843855,1.0047132626599433,0.71338606911949],"aabb_xy":[[0.5466862397891035,0.9967151307194679],[0.5626732193796675,1.0127113946004191]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.4937880319628358,1.5033542553590347,0.71338606911949],"aabb_xy":[[-0.5312880323110636,1.491562859777951],[-0.456288031614608,1.515145650940118]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.38940098825437697,1.621367884103083,0.71338606911949],"aabb_xy":[[0.35440098906155865,1.61040083810542],[0.4244009874471952,1.632334930100745]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.5510223325606782,1.7624163582979757,0.71338606911949],"aabb_xy":[[0.5160223312091965,1.7420566223411549],[0.58602233391216,1.7827760942547966]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.5264608002401112,-1.024716727534298,0.71338606911949],"aabb_xy":[[0.5192170341938659,-1.1047167257379005],[0.5337045662863565,-0.9447167293306957]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.28232826681691375,0.9656025553780889,0.71338606911949],"aabb_xy":[[-0.34632826872925615,0.9096914061200785],[-0.21832826490457147,1.0215137046360994]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.15353531579287583,-2.195810996404994,0.71338606911949],"aabb_xy":[[-0.21753531908258392,-2.239145915408911],[-0.0895353125031677,-2.152476077401076]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.6258988779007815,-1.8734636792621717,0.71338606911949],"aabb_xy":[[0.5458988792438956,-1.8879685381864344],[0.7058988765576676,-1.858958820337909]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.5948292959020001,-0.9109546072520893,0.71338606911949],"aabb_xy":[[-0.6137136796705103,-0.929840532032442],[-0.5759449121334899,-0.8920686824717364]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.2941222573294645,1.322546401884284,0.71338606911949],"aabb_xy":[[-0.31155297240847096,1.3052742872204328],[-0.27669154225045794,1.3398185165481344]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.20319136261279414,0.6834259674403604,0.71338606911949],"aabb_xy":[[-0.22819136216453262,0.6732834835752256],[-0.17819136306105565,0.693568451305495]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.5681283205540695,-2.2687023724013815,0.71338606911949],"aabb_xy":[[-0.63212832196206,-2.3204913239253058],[-0.5041283191460787,-2.2169134208774564]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.28424709309575785,-1.3270546421264156,0.71338606911949],"aabb_xy":[[-0.34187756198302865,-1.387054641053126],[-0.22661662420848694,-1.2670546431997047]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.46248710022113204,-0.7622501977945004,0.71338606911949],"aabb_xy":[[-0.47495445833086775,-0.7747155224278239],[-0.45001974211139645,-0.7497848731611769]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.3760271005022191,-0.3268492491503663,0.71338606911949],"aabb_xy":[[0.36840283241204086,-0.33448247268691006],[0.3836513685923974,-0.3192160256138226]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.5206934228594478,0.3810720086428452,0.71338606911949],"aabb_xy":[[-0.5431934233714883,0.3585801502774468],[-0.49819342234740716,0.4035638670082435]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.06535618634854057,-0.47561139200111446,0.71338606911949],"aabb_xy":[[-0.10754060050937131,-0.5396113922783257],[-0.023171772187709827,-0.4116113917239033]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.3394835168951892,-0.07382839261404817,0.71338606911949],"aabb_xy":[[-0.36577234121562985,-0.1000998262686994],[-0.3131946925747485,-0.04755695895939694]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.6892416578008598,-1.0474927907022893,0.71338606911949],"aabb_xy":[[0.6829295582645215,-1.0532597299555082],[0.6955537573371983,-1.0417258514490704]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[0.2038961901714258,1.798584646933024,0.71338606911949],"aabb_xy":[[0.16639619035439224,1.7939464356218824],[0.24139618998845935,1.803222858244166]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.04217253368191287,1.2021839702777997,0.71338606911949],"aabb_xy":[[-0.007806274828403015,1.1521839702720809],[0.09215134219222876,1.2521839702835185]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[-0.22373602724343522,-1.9607227308650161,0.71338606911949],"aabb_xy":[[-0.2612360271872016,-1.969015820899853],[-0.18623602729966882,-1.9524296408301798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835154439818388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5525.png","name":"5525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/378.png","name":"378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1704.png","name":"1704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2656.png","name":"2656"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":574.3916453012439,"rotation_z_degrees":234.36198251803881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016715025406797979,0.0009712438131854705,-0.0093621632761531]},{"name":"camera_2","offset_m":[-0.004860264072032043,-0.0033071416361991103,0.015297870651908328]},{"name":"camera_3","offset_m":[-0.01818869380178857,0.0019482950365707144,-0.015247824142652062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008761257559273968,0.001716710329388286,-0.0013081095787717098],"end_effector_yaw_offset_degrees":-0.04642807876551114},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008745293985808816,0.0012548986462471777,0.0015161910783149206],"end_effector_yaw_offset_degrees":-0.05412042286634189},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010692847301751246,0.0004978309257195291,0.0007866029890222143],"end_effector_yaw_offset_degrees":0.6371780208625284}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006222726561646331,-0.004705628633734712],"position_m":[0.29312227265616464,0.0844943713662653,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002985929222065695,-0.001249648478439357],"position_m":[0.1408859292220657,0.25495035152156065,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002077608695728581,-0.003726010385495775],"position_m":[0.3458223913042714,0.29657398961450426,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003050797017776441,-0.0042808666407599715],"position_m":[0.22324920298222356,-0.40948086664076,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62713225160e17709f28e2a3f9f98fb31a8ed05dbff1c794981a7a4de06fa0bc","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0127.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4179/tex_ceiling_textures_2656/tex_floor_textures_1704/tex_table_textures_5525/tex_wall_textures_378","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7324569682798630919,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7324569682798630919,"visual_seed":7324569682798630919,"scene_id":"lab_003","finished_at":"2026-09-03T03:02:53"} +{"episode_id":"ep_000078","started_at":"2026-09-03T03:05:44","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.4109829803581424,0.34061572105878435,0.71338606911949],"aabb_xy":[[0.3966485552319789,0.3285555055042455],[0.4253174054843058,0.3526759366133232]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.15880271782348143,1.3718729404878562,0.71338606911949],"aabb_xy":[[-0.2088027187740142,1.3403237934843346],[-0.1088027168729486,1.4034220874913774]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.2751359250456664,1.674301421206351,0.71338606911949],"aabb_xy":[[0.2669213799299823,1.6656248309087092],[0.2833504701613503,1.6829780115039918]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.16654280936683075,1.3860646301730482,0.71338606911949],"aabb_xy":[[0.14407803939542563,1.3635646292941876],[0.18900757933823586,1.4085646310519087]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.03407341294390798,-0.7471693315692498,0.71338606911949],"aabb_xy":[[0.030112929174173603,-0.7548371961547704],[0.03803389671364235,-0.7395014669837292]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.5625601377117346,1.3779348545142156,0.71338606911949],"aabb_xy":[[0.48256014074869547,1.3008592128704424],[0.6425601346747738,1.4550104961579893]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.07240554009408118,-1.2859052271307825,0.71338606911949],"aabb_xy":[[0.0549055408159943,-1.3032433271971284],[0.08990553937216805,-1.2685671270644365]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.13123986481984462,-2.0894222383677556,0.71338606911949],"aabb_xy":[[-0.1962398674576381,-2.1409018370672026],[-0.06623986218205113,-2.0379426396683087]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.17767053819302447,-0.7484717239651741,0.71338606911949],"aabb_xy":[[0.16996734751894743,-0.7561810946639121],[0.18537372886710152,-0.7407623532664361]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.5580072211371457,-0.3048027074018065,0.71338606911949],"aabb_xy":[[-0.6080072227986404,-0.35480114965750914],[-0.5080072194756509,-0.2548042651461037]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.4042673496671294,-1.5490000980727103,0.71338606911949],"aabb_xy":[[0.35426735009079474,-1.5989806770248165],[0.4542673492434642,-1.4990195191206046]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.4466221906405796,-2.2993666139510838,0.71338606911949],"aabb_xy":[[0.4091221898485842,-2.3057344549092735],[0.48412219143257507,-2.292998772992893]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.4716238665449436,0.11399709710913353,0.71338606911949],"aabb_xy":[[-0.5356195639400402,0.04999709880842483],[-0.407628169149847,0.1779970954098422]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.540871703685047,-0.2093114990274758,0.71338606911949],"aabb_xy":[[0.5183717034415317,-0.2215161336872478],[0.5633717039285625,-0.1971068643677039]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.40891196532195,-2.2184890690244634,0.71338606911949],"aabb_xy":[[-0.4264119655812867,-2.232580611213236],[-0.39141196506261344,-2.204397526835691]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.38606435747944334,-1.201142172267853,0.71338606911949],"aabb_xy":[[0.3408930396312744,-1.2651421694123914],[0.43123567532761237,-1.1371421751233146]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.4522552343370071,1.15488994678878,0.71338606911949],"aabb_xy":[[-0.5222552364684365,1.132127981163084],[-0.3822552322055775,1.1776519124144753]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.38341809489544887,1.4713785386962406,0.71338606911949],"aabb_xy":[[-0.40725431253605404,1.3813785378877543],[-0.35958187725484386,1.5613785395047275]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.5074483122857789,-2.5761993705946904,0.71338606911949],"aabb_xy":[[0.427448311815563,-2.5845100782090387],[0.5874483127559949,-2.567888662980342]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.6479498306157294,1.790798718926586,0.71338606911949],"aabb_xy":[[-0.6724634547127353,1.7665341256245495],[-0.6234362065187236,1.8150633122286224]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.017794616380603645,-1.8689787100766369,0.71338606911949],"aabb_xy":[[0.0046433704093142856,-1.8939787098333238],[0.030945862351893012,-1.8439787103199508]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.049932460378511845,1.1797671404387353,0.71338606911949],"aabb_xy":[[-0.1139324589650843,1.1327601770392264],[0.014067538208060615,1.2267741038382438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845615466881172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3823.png","name":"3823"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3823.png","name":"3823"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2691.png","name":"2691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9714.png","name":"9714"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6659.png","name":"6659"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":687.6568203252234,"rotation_z_degrees":252.58643244598068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018811583392476763,-0.013061270795632018,-0.010398803481815459]},{"name":"camera_2","offset_m":[-0.003541384153383235,0.014003592300810327,-0.015049491612903289]},{"name":"camera_3","offset_m":[-0.01443101393638034,-0.004887714142605391,-0.0020219000629936312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005420399236414925,-4.9819654490381804e-05,0.0013069409419465701],"end_effector_yaw_offset_degrees":0.6785802769159162},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[1.0253960746523568e-05,0.0001635703064250516,0.0016116134065952917],"end_effector_yaw_offset_degrees":-0.41790539130241555},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[7.006234713685016e-05,0.001281191671124558,-0.0017756097939506605],"end_effector_yaw_offset_degrees":-0.06517750672841816}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037445321304425106,0.00010358329968930286],"position_m":[0.28875546786955747,0.08930358329968931,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002106255312492899,-0.0003314990125210058],"position_m":[0.1400062553124929,0.255868500987479,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046052463020361855,0.003828333324442692],"position_m":[0.3432947536979638,0.3041283333244427,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[2.821583311492324e-05,-0.00017894230397627348],"position_m":[0.22632821583311494,-0.40537894230397625,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a87238f67c0dc9b0e7bdad317389cb6b50d1d1fb8ebaedde420b7b1831d25f72","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0130.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3823/tex_ceiling_textures_6659/tex_floor_textures_9714/tex_table_textures_8647/tex_wall_textures_2691","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":112780801581024973,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":112780801581024973,"visual_seed":112780801581024973,"scene_id":"lab_003","finished_at":"2026-09-03T03:08:18"} +{"episode_id":"ep_000079","started_at":"2026-09-03T03:08:21","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.5288726698544364,0.5459546816142375,0.71338606911949],"aabb_xy":[[0.43887267013126213,0.5228813290790576],[0.6188726695776104,0.5690280341494173]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.6669245419774779,-1.0971516080663142,0.71338606911949],"aabb_xy":[[0.6319245427846595,-1.1081186540639767],[0.701924541170296,-1.0861845620686512]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.0024600844566149416,1.7981867983046853,0.71338606911949],"aabb_xy":[[-0.032539915439403926,1.7898125627927455],[0.03746008435263381,1.8065610338166256]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.6837168234998353,1.3301766734955542,0.71338606911949],"aabb_xy":[[-0.6945684297487109,1.3193173827679032],[-0.6728652172509597,1.3410359642232053]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.31596736812513315,-2.2640574167673275,0.71338606911949],"aabb_xy":[[0.2784673676277749,-2.268026100315446],[0.3534673686224914,-2.260088733219209]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.251981452647437,-1.4987234819279442,0.71338606911949],"aabb_xy":[[-0.28901556207549667,-1.5331006892616532],[-0.21494734321937722,-1.4643462745942344]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.5917881104547147,1.190894638632488,0.71338606911949],"aabb_xy":[[0.5880848491255757,1.18719262032377],[0.5954913717838535,1.1945966569412054]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.18962202530624206,1.479059325170558,0.71338606911949],"aabb_xy":[[-0.22695330183148468,1.4444062703757057],[-0.15229074878099944,1.5137123799654102]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.19307715080557342,0.9302893166034796,0.71338606911949],"aabb_xy":[[0.16807715125383493,0.9201468327383449],[0.2180771503573119,0.9404318004686143]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.6145409814242273,-0.5764582992696723,0.71338606911949],"aabb_xy":[[0.577040983000827,-0.5896225132375028],[0.6520409798476277,-0.5632940853018416]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.6494200199400584,-0.14407536547709388,0.71338606911949],"aabb_xy":[[0.6144200216293629,-0.15179038040063955],[0.6844200182507538,-0.13636035055354825]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.42776759575107315,0.8369566544350593,0.71338606911949],"aabb_xy":[[0.33776759633270226,0.8035811575908696],[0.517767595169444,0.870332151279249]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.5674551190039794,-2.53134684235886,0.71338606911949],"aabb_xy":[[0.5324551207338595,-2.538420970053848],[0.6024551172740993,-2.5242727146638715]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.3795422571676852,-0.4626472681588316,0.71338606911949],"aabb_xy":[[0.3582642490242129,-0.5276472704849047],[0.4008202653111574,-0.3976472658327585]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.4520602921391861,-1.0499124947967053,0.71338606911949],"aabb_xy":[[0.4344274565456585,-1.067535440812328],[0.46969312773271366,-1.0322895487810821]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.06716052516241322,0.7836834159700508,0.71338606911949],"aabb_xy":[[-0.13116052684041057,0.7351660244907365],[-0.003160523484415867,0.832200807449365]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.23180359128009315,-0.3337694132401232,0.71338606911949],"aabb_xy":[[-0.2406056465890658,-0.34158073939505224],[-0.22300153597112038,-0.3259580870851941]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.27140189752157784,-0.8981978562548096,0.71338606911949],"aabb_xy":[[-0.335401896815746,-0.9621839966236638],[-0.20740189822740956,-0.8342117158859554]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.248277758229,-2.326192597728208,0.71338606911949],"aabb_xy":[[-0.28419126265398964,-2.362106105944963],[-0.21236425380401025,-2.2902790895114533]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.6488173446933136,-0.2512510569003976,0.71338606911949],"aabb_xy":[[-0.6831142557110541,-0.28554794311033893],[-0.614520433675573,-0.2169541706904562]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.4625599147114705,-2.3114998586355053,0.71338606911949],"aabb_xy":[[0.42154197132509963,-2.3614998592664627],[0.5035778580978414,-2.261499858004548]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.21538342182130937,-2.5001040594603525,0.71338606911949],"aabb_xy":[[-0.27038342099789886,-2.55509373423531],[-0.1603834226447199,-2.445114384685395]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.6420033760057176,-1.0487944391687307,0.71338606911949],"aabb_xy":[[-0.6586805119988132,-1.065494363142661],[-0.6253262400126222,-1.0320945151948004]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.4895125583468103,-1.139074370953807,0.71338606911949],"aabb_xy":[[0.4713067346855626,-1.1500997715357986],[0.507718382008058,-1.1280489703718153]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.04794218142429818,-1.2182273496517908,0.71338606911949],"aabb_xy":[[0.039898821498343,-1.303227350747157],[0.05598554135025335,-1.1332273485564242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854351129090869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8426.png","name":"8426"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8426.png","name":"8426"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5289.png","name":"5289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4431.png","name":"4431"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7781.png","name":"7781"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":839.9422219085814,"rotation_z_degrees":116.72024802019098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003863569995570963,-0.0006540883295600569,0.007616371855134366]},{"name":"camera_2","offset_m":[-0.002746226388104383,-0.013668928208658945,-0.015230478025957003]},{"name":"camera_3","offset_m":[-0.018664098262010695,-0.01899670769305452,-0.005547907761000177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002645732109284179,-0.000580748513125806,0.0016278182633101186],"end_effector_yaw_offset_degrees":0.6150571500904192},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001779239601064392,0.0009938742221949613,-0.0009608433991454253],"end_effector_yaw_offset_degrees":0.9209848434357706},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.7542846809531516e-05,-0.00029691820483520735,0.00141494445700392],"end_effector_yaw_offset_degrees":-0.8219733670976013}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004956548621028235,-0.0002173938727907188],"position_m":[0.28754345137897175,0.08898260612720928,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004564916056744911,0.0023674645422930903],"position_m":[0.13333508394325508,0.25856746454229307,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001505010128766745,-0.0033036410082025623],"position_m":[0.3477494989871233,0.29699635899179744,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013305995670535673,-0.00029187554833391086],"position_m":[0.22763059956705356,-0.40549187554833394,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f1eb3b5058d7a478463db6622cb57c42dfa22717a0d230e5e6183a4dfe886d77","episode_index":131,"episode_name":"episode_0131"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0131.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8426/tex_ceiling_textures_7781/tex_floor_textures_4431/tex_table_textures_5289/tex_wall_textures_6148","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5587798241588017500,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5587798241588017500,"visual_seed":5587798241588017500,"scene_id":"lab_003","finished_at":"2026-09-03T03:11:10"} +{"episode_id":"ep_000080","started_at":"2026-09-03T03:17:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.40022151435108766,-2.115504470292076,0.71338606911949],"aabb_xy":[[0.3766363908871928,-2.180504472537508],[0.4238066378149825,-2.050504468046644]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.4868330207442986,0.6624493159694951,0.71338606911949],"aabb_xy":[[0.4643330207341503,0.6483530963298918],[0.5093330207544469,0.6765455356090984]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.03001256290223675,1.3761635264865073,0.71338606911949],"aabb_xy":[[-0.047645398495764324,1.358540580470884],[-0.012379727308709178,1.39378647250213]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.5801436138706042,-1.7237918219534767,0.71338606911949],"aabb_xy":[[0.520143613274588,-1.7786042944987],[0.6401436144666204,-1.668979349408253]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.5772157105737378,-2.2806489034044017,0.71338606911949],"aabb_xy":[[-0.6233008018284693,-2.344648900656957],[-0.5311306193190063,-2.2166489061518466]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.6194943311803267,-0.08836912625594051,0.71338606911949],"aabb_xy":[[-0.6312625179749843,-0.1733691261611621],[-0.6077261443856693,-0.003369126350718955]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.472483796386605,-2.5226448809658915,0.71338606911949],"aabb_xy":[[-0.5524837996506181,-2.5362049132748044],[-0.39248379312259185,-2.5090848486569777]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.3966887863146662,1.5633957610365559,0.71338606911949],"aabb_xy":[[0.34671572078215074,1.5133957612240232],[0.4466618518471817,1.613395760849089]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.6830991694592846,-1.1870893283806268,0.71338606911949],"aabb_xy":[[-0.6891937973474029,-1.1956587229322957],[-0.6770045415711663,-1.1785199338289583]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.42519356656943874,-1.0697771671345324,0.71338606911949],"aabb_xy":[[-0.4626935663864723,-1.0744153784456743],[-0.3876935667524052,-1.0651389558233906]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[-0.46440055185174955,0.74508842469029,0.71338606911949],"aabb_xy":[[-0.5344005539831791,0.7223264590645943],[-0.39440054972032,0.7678503903159856]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.06625684787969977,-1.3765486203693815,0.71338606911949],"aabb_xy":[[-0.08368756295870626,-1.3938207350332321],[-0.04882613280069325,-1.3592765057055305]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.4982160846993007,0.06606776940344616,0.71338606911949],"aabb_xy":[[-0.510842871986497,0.056521695701873265],[-0.4855892974121044,0.07561384310501906]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.5104413297912224,1.1125239269585636,0.71338606911949],"aabb_xy":[[-0.5604187466564758,1.0625239254693148],[-0.4604639129259687,1.162523928447812]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.47877798371700425,-1.8367947294866602,0.71338606911949],"aabb_xy":[[-0.5403687429409972,-1.9007947275957073],[-0.41718722449301154,-1.7727947313776136]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.06103230388651748,-0.8617877387093982,0.71338606911949],"aabb_xy":[[-0.06447298012657467,-0.8656491716837628],[-0.05759162764646032,-0.8579263057350338]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.3967113515905281,-1.7048638838923271,0.71338606911949],"aabb_xy":[[-0.41421135184986485,-1.7189554260811002],[-0.3792113513311916,-1.690772341703555]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.12679433473079804,-0.5877621895185365,0.71338606911949],"aabb_xy":[[-0.17179433619702691,-0.6327620463800173],[-0.08179433326456921,-0.542762332657056]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.43444472377817567,1.357770611789641,0.71338606911949],"aabb_xy":[[0.3544447216154131,1.277815428163497],[0.5144447259409382,1.4377257954157843]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.45232120728887226,-1.4704705885948703,0.71338606911949],"aabb_xy":[[0.4354104748525304,-1.4839427941874848],[0.469231939725214,-1.4569983830022555]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.15132683324878715,-2.198621477100871,0.71338606911949],"aabb_xy":[[0.1163268318973054,-2.2189812130576914],[0.18632683460026886,-2.1782617411440497]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.5906526564080261,1.5995325696570304,0.71338606911949],"aabb_xy":[[0.5531526564642597,1.5912394796221938],[0.6281526563517925,1.607825659691867]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.5724199753199826,-1.0078488287619063,0.71338606911949],"aabb_xy":[[0.5084199729771809,-1.0527896800060388],[0.636419977662784,-0.9629079775177739]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.04023160632186584,1.5565111563622769,0.71338606911949],"aabb_xy":[[0.029391128095350938,1.5393248750716282],[0.05107208454838075,1.5736974376529256]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.14265234909789692,1.429489101824975,0.71338606911949],"aabb_xy":[[0.09765976237944654,1.3844891025505262],[0.18764493581634736,1.4744891010994237]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[-0.2928203813587566,-2.4762910531369084,0.71338606911949],"aabb_xy":[[-0.3117047651272668,-2.4951769779172617],[-0.2739359975902464,-2.457405128356556]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[-0.25302933108806724,0.3434629942857623,0.71338606911949],"aabb_xy":[[-0.3030026250913277,0.293462993731215],[-0.2030560370848068,0.39346299484030967]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[0.20402802631418715,-1.6954083216480837,0.71338606911949],"aabb_xy":[[0.15001243003228712,-1.7594083245403405],[0.25804362259608715,-1.6314083187558261]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.6845168803867199,1.7298035077047849,0.71338606911949],"aabb_xy":[[0.6806030071912974,1.7210544922982276],[0.6884307535821423,1.7385525231113412]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898729971805015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4800.png","name":"4800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4800.png","name":"4800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6842.png","name":"6842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8138.png","name":"8138"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":822.7543489047339,"rotation_z_degrees":163.2229621365446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017931906976083073,0.008949687024620769,0.019544637497350758]},{"name":"camera_2","offset_m":[-0.002715568451314071,0.011020575208537057,0.015897597330975222]},{"name":"camera_3","offset_m":[-0.004214303141650479,-0.006929416714877727,0.014025574550257342]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001325780119224254,0.0004662401762270444,0.0013650942441780735],"end_effector_yaw_offset_degrees":0.05117785746731984},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014916648313633338,0.0013967729783629706,-0.0012253589294251698],"end_effector_yaw_offset_degrees":0.17516006701302023},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015770997304739988,0.00029279348945849366,-0.0017585816021795711],"end_effector_yaw_offset_degrees":-0.14222429715224894}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021107896081186605,1.5343148822444946e-05],"position_m":[0.29461078960811865,0.08921534314882244,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003660054999253949,0.0049702843755708445],"position_m":[0.13423994500074604,0.2611702843755708,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002616920169645506,0.0011688884564001701],"position_m":[0.3505169201696455,0.3014688884564002,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00098013009871768,0.0009478458734825538],"position_m":[0.22531986990128233,-0.40425215412651744,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"90988ff0c1b3c29ab19957c2e322c5dfd82d73488f88ce13e07f06b6d1fc4a29","episode_index":134,"episode_name":"episode_0134"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0134.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4800/tex_ceiling_textures_8138/tex_floor_textures_6842/tex_table_textures_9304/tex_wall_textures_5758","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3019751004891762699,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3019751004891762699,"visual_seed":3019751004891762699,"scene_id":"lab_003","finished_at":"2026-09-03T03:19:48"} +{"episode_id":"ep_000081","started_at":"2026-09-03T03:19:51","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.2125838701872383,0.3144812258686631,0.71338606911949],"aabb_xy":[[-0.24704621758538006,0.2799873434708403],[-0.17812152278909646,0.3489751082664857]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.4544345559447486,-1.9372289970007759,0.71338606911949],"aabb_xy":[[-0.5444345596216666,-1.99866140357788],[-0.36443455226783034,-1.8757965904236713]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.5554782966204479,-0.5057745832980736,0.71338606911949],"aabb_xy":[[-0.620478297577575,-0.557722795231779],[-0.49047829566332063,-0.45382637136436793]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.4419434073128179,-0.4611515670388351,0.71338606911949],"aabb_xy":[[0.40490929788475816,-0.4955287743725445],[0.47897751674087763,-0.42677435970512556]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.6470314762595333,0.6900109812589905,0.71338606911949],"aabb_xy":[[0.6220314763270154,0.6831283130380672],[0.6720314761920512,0.6968936494799138]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.026731210722385268,-1.3714814449132855,0.71338606911949],"aabb_xy":[[-0.08436167960965611,-1.4314814438399959],[0.03089925816488558,-1.3114814459865747]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.11035797951762372,1.3571314688604246,0.71338606911949],"aabb_xy":[[-0.11677179316080866,1.350721648612756],[-0.10394416587443878,1.3635412891080927]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.5537791480629547,-0.7104337425222793,0.71338606911949],"aabb_xy":[[-0.5783253636857054,-0.7406826390713163],[-0.529232932440204,-0.6801848459732421]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.31514016277014023,-1.0873751940154834,0.71338606911949],"aabb_xy":[[0.27764016259826824,-1.1200759293983906],[0.3526401629420121,-1.0546744586325763]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.22705164024448826,-1.0618935694750693,0.71338606911949],"aabb_xy":[[-0.26082719943518123,-1.0759320646882342],[-0.1932760810537953,-1.0478550742619044]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.536200983236691,-0.24453372780510607,0.71338606911949],"aabb_xy":[[0.4562009862736518,-0.3216093694488795],[0.6162009801997301,-0.1674580861613326]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.40727162896222313,-1.5470785777279994,0.71338606911949],"aabb_xy":[[-0.4112321127319576,-1.55474644231352],[-0.4033111451924889,-1.5394107131424788]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.40352713761852566,1.6368132844494823,0.71338606911949],"aabb_xy":[[-0.48352713620584503,1.5574976825113211],[-0.32352713903120617,1.716128886387643]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.2011018755578849,-0.45869086872606246,0.71338606911949],"aabb_xy":[[-0.2651018777782919,-0.5030639528513507],[-0.13710187333747786,-0.4143177846007742]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.11725034522453748,-1.8512186959065582,0.71338606911949],"aabb_xy":[[0.09475392379067339,-1.8737186957133056],[0.13974676665840158,-1.8287186960998107]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.42026005218809753,0.8869837601095782,0.71338606911949],"aabb_xy":[[-0.4279632428621745,0.8792743894108402],[-0.41255686151402043,0.8946931308083163]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.528158874311256,-2.1242740483197293,0.71338606911949],"aabb_xy":[[-0.540091608673084,-2.1366562011275887],[-0.5162261399494279,-2.11189189551187]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.522440007842194,0.8436641670674554,0.71338606911949],"aabb_xy":[[0.4584400114148721,0.796494543245359],[0.5864400042695159,0.8908337908895518]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.3190697401900955,1.1244956407137798,0.71338606911949],"aabb_xy":[[0.23906974220931046,1.1168940997519279],[0.39906973817088054,1.1320971816756318]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.1493487619124947,0.7850703152778027,0.71338606911949],"aabb_xy":[[-0.1943487633787236,0.740070458416322],[-0.10434876044626587,0.8300701721392835]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.4142974750250825,-1.8498365210745504,0.71338606911949],"aabb_xy":[[0.36431323931690535,-1.8998365198880462],[0.4642817107332598,-1.799836522261055]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.4054502285687722,-0.8990842399668575,0.71338606911949],"aabb_xy":[[-0.4389293958298132,-0.9325633533379645],[-0.37197106130773133,-0.8656051265957505]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[0.3163690607834617,-1.5437656415538241,0.71338606911949],"aabb_xy":[[0.30986742427545716,-1.553533463580134],[0.3228706972914664,-1.5339978195275146]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.6097693205786915,-1.783164697093011,0.71338606911949],"aabb_xy":[[-0.6330511627768228,-1.868164698390239],[-0.5864874783805601,-1.6981646957957828]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.33483448320609754,0.6273365076368997,0.71338606911949],"aabb_xy":[[-0.339733775512661,0.5996595883343309],[-0.329935190899534,0.6550134269394684]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.2153226227584465,-2.1283703518392016,0.71338606911949],"aabb_xy":[[0.16532334759001033,-2.178370353115149],[0.26532189792688265,-2.0783703505632545]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.07847737705651947,-1.6609211510809239,0.71338606911949],"aabb_xy":[[-0.1484773788652649,-1.6822749198451115],[-0.008477375247774019,-1.6395673823167367]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[0.27854747522610945,0.9579763647558974,0.71338606911949],"aabb_xy":[[0.21454747593194123,0.8939902243870432],[0.3425474745202777,1.0219625051247516]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[0.3390527074866445,-0.8135097215028104,0.71338606911949],"aabb_xy":[[0.33105871890894106,-0.8215098015979007],[0.34704669606434785,-0.80550964140772]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[-0.10304830253493635,1.0098615267237032,0.71338606911949],"aabb_xy":[[-0.11361578219303535,0.9993164966106947],[-0.09248082287683733,1.0204065568367118]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_30","position":[-0.2778442585553328,-0.8550313164700978,0.71338606911949],"aabb_xy":[[-0.3153442600709645,-0.8662580894862427],[-0.24034425703970108,-0.8438045434539526]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[-0.011026322731740312,-1.0076884902500967,0.71338606911949],"aabb_xy":[[-0.06084310219657507,-1.0576884887344],[0.03879045673309445,-0.9576884917657933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867606387239574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7826.png","name":"7826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7826.png","name":"7826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1211.png","name":"1211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4102.png","name":"4102"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":687.3334661363247,"rotation_z_degrees":174.9872089522062,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00399310196888894,-0.006094379075736454,0.000862181029629143]},{"name":"camera_2","offset_m":[-0.00834997328116243,0.011588558007712583,-0.016266711873885255]},{"name":"camera_3","offset_m":[0.010422559009959868,0.010874426044120141,-0.017795889527253625]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[7.0596795995863e-05,-0.0019342155862640885,4.3090593035069805e-05],"end_effector_yaw_offset_degrees":0.7758647447881877},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00033835561741939776,-0.00047421431802028386,-9.358367150829813e-05],"end_effector_yaw_offset_degrees":-0.6522130678175506},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[2.9489445365905777e-05,-0.0017048151377941835,8.252692319243773e-05],"end_effector_yaw_offset_degrees":0.6884902125245727}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016238393665892925,-0.003793787560553503],"position_m":[0.2908761606334107,0.0854062124394465,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004792619284682753,0.0022633544728016906],"position_m":[0.1374207380715317,0.25846335447280167,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009443730747755253,0.0013718682068473622],"position_m":[0.34695562692522447,0.3016718682068474,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001715552148619718,-0.00254074557726377],"position_m":[0.2245844478513803,-0.40774074557726375,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f301a5a74f74141001706160a28a55c7c2373e05578adf865049f0c48fff7589","episode_index":135,"episode_name":"episode_0135"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0135.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7826/tex_ceiling_textures_4102/tex_floor_textures_7163/tex_table_textures_1276/tex_wall_textures_1211","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":877170867640154076,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":877170867640154076,"visual_seed":877170867640154076,"scene_id":"lab_003","finished_at":"2026-09-03T03:22:29"} +{"episode_id":"ep_000082","started_at":"2026-09-03T03:23:57","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.45220288049043006,-1.2141773793316126,0.71338606911949],"aabb_xy":[[-0.5162028807644083,-1.2642434795289006],[-0.3882028802164519,-1.1641112791343247]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.5531874462756838,-1.027576359654692,0.71338606911949],"aabb_xy":[[0.5306874467519763,-1.0500723071053126],[0.5756874457993911,-1.005080412204071]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.48468423801703064,0.7960258141973395,0.71338606911949],"aabb_xy":[[-0.5158311568606138,0.7260258155105322],[-0.4535373191734475,0.8660258128841466]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.4742542838529169,0.8676685141590119,0.71338606911949],"aabb_xy":[[0.45715220589454875,0.8505617086277424],[0.49135636181128506,0.8847753196902819]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.1760355550542292,-0.6668634176417896,0.71338606911949],"aabb_xy":[[-0.2400355554317628,-0.7166086844926017],[-0.11203555467669557,-0.6171181507909772]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.05360715020456308,0.8790993951637516,0.71338606911949],"aabb_xy":[[-0.07366556181780337,0.859034308254594],[-0.033548738591322784,0.8991644820729091]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.09546509298193928,-1.4497483370206683,0.71338606911949],"aabb_xy":[[0.0901275173159347,-1.474748337949808],[0.10080266864794384,-1.4247483360915285]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.21289334256076392,-1.1733842474799643,0.71338606911949],"aabb_xy":[[-0.22088733113846729,-1.1813843275750546],[-0.2048993539830605,-1.165384167384874]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.16042869077685207,0.6760072811308069,0.71338606911949],"aabb_xy":[[-0.22042869062341885,0.6191886589377682],[-0.10042869093028528,0.7328259033238456]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.24509501649083942,-1.4096748173641613,0.71338606911949],"aabb_xy":[[0.19509574132240326,-1.4596748186401085],[0.2950942916592756,-1.3596748160882142]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.2769897246203825,-2.501295676890878,0.71338606911949],"aabb_xy":[[0.24198972630968707,-2.5090106918144235],[0.31198972293107796,-2.493580661967332]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.12201515732451329,-1.9014718570414182,0.71338606911949],"aabb_xy":[[0.0995151575106109,-1.905946473411899],[0.14451515713841567,-1.8969972406709374]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.5270147634102302,0.08158432496680534,0.71338606911949],"aabb_xy":[[0.481736148529081,0.017584325618621652],[0.5722933782913795,0.14558432431498902]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.2696048609091303,0.9479500555346756,0.71338606911949],"aabb_xy":[[0.18960485947900307,0.8684329005220659],[0.34960486233925747,1.0274672105472848]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.12289009296010811,1.3947717343941375,0.71338606911949],"aabb_xy":[[0.08539009438448729,1.3820354387305795],[0.1603900915357289,1.4075080300576954]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.11693116466835118,-1.0270146050571696,0.71338606911949],"aabb_xy":[[0.0869636077585255,-1.0570146053550553],[0.14689872157817685,-0.9970146047592838]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.5387692932224615,1.1800080302982914,0.71338606911949],"aabb_xy":[[-0.5429051495551617,1.1425080308539346],[-0.5346334368897613,1.2175080297426486]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.008897514389695216,-2.4327986226785363,0.71338606911949],"aabb_xy":[[-0.07110248257334395,-2.5098742643223093],[0.08889751135273438,-2.3557229810347624]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.586479034277218,1.3903984771424072,0.71338606911949],"aabb_xy":[[-0.6110252498999688,1.36014958059337],[-0.5619328186544673,1.4206473736914442]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.11613991113698541,1.3932751888250965,0.71338606911949],"aabb_xy":[[-0.15113991026694107,1.3875299677494322],[-0.08113991200702975,1.3990204099007604]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.29069568322039274,1.400127572477217,0.71338606911949],"aabb_xy":[[0.22910492399639998,1.3361275743681704],[0.3522864424443856,1.4641275705862642]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.1635682338215264,-1.2627328880655078,0.71338606911949],"aabb_xy":[[0.14139570684487554,-1.2849085552216308],[0.18574076079817722,-1.2405572209093843]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[0.5908499875762967,-2.232771400958751,0.71338606911949],"aabb_xy":[[0.5458499861100679,-2.277771257820232],[0.6358499890425255,-2.1877715440972705]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.5093367721853308,-1.352606614857154,0.71338606911949],"aabb_xy":[[-0.5268367714634177,-1.3699447149235],[-0.4918367729072439,-1.335268514790808]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[0.16998593278397667,1.6295236832926459,0.71338606911949],"aabb_xy":[[0.15255521770497013,1.6122515686287948],[0.18741664786298315,1.6467957979564964]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.5094915270816889,1.0970108504030307,0.71338606911949],"aabb_xy":[[0.45951846154917353,1.047010850590498],[0.5594645926142044,1.1470108502155638]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_26","position":[0.05136662697402461,-2.1037174212811802,0.71338606911949],"aabb_xy":[[-0.018633375662561735,-2.1238222862770457],[0.12136662961061095,-2.0836125562853147]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896137620200778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/735.png","name":"735"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/735.png","name":"735"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3851.png","name":"3851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/883.png","name":"883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6960.png","name":"6960"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":599.7403581899491,"rotation_z_degrees":318.04582306021973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008738828238509563,0.0034484182440424685,0.00781895253748386]},{"name":"camera_2","offset_m":[-0.0027765487697822312,-0.010128464121034466,-0.009034445284990493]},{"name":"camera_3","offset_m":[0.006231834155936051,0.013036550687105661,-0.006244297937206213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00024281194061509135,0.0011792459053314203,0.0018870849431733235],"end_effector_yaw_offset_degrees":0.863195218751657},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005613886307113711,0.00034756881343788685,0.0011981073264470603],"end_effector_yaw_offset_degrees":0.1926437395310885},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014417125449306097,-0.00012711728682207992,-0.001477133218423598],"end_effector_yaw_offset_degrees":0.9482910437853211}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0042473848307998914,0.003954049396858439],"position_m":[0.2967473848307999,0.09315404939685844,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031283230309176327,0.004862524707127916],"position_m":[0.14102832303091764,0.2610625247071279,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032878529369597337,-0.0008124730446868378],"position_m":[0.3511878529369597,0.29948752695531317,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003095995692402545,0.0024573750534792787],"position_m":[0.22939599569240254,-0.40274262494652074,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7c8c3b36cfd5e5b5ee9cd136af08e2785d1bcd4c120f7cd6f795d685ef8f3c87","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0137.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_735/tex_ceiling_textures_9970/tex_floor_textures_6960/tex_table_textures_3851/tex_wall_textures_883","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8349436727288164538,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8349436727288164538,"visual_seed":8349436727288164538,"scene_id":"lab_003","finished_at":"2026-09-03T03:26:35"} +{"episode_id":"ep_000083","started_at":"2026-09-03T03:28:02","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.4897582949885436,-1.426887050026166,0.71338606911949],"aabb_xy":[[-0.5142719190855496,-1.4511516433282026],[-0.4652446708915378,-1.4026224567241297]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.17301678115623476,-1.1709230523926117,0.71338606911949],"aabb_xy":[[-0.20300844389010506,-1.200923051729412],[-0.1430251184223644,-1.140923053055811]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.5193390885859297,-0.9641223843645308,0.71338606911949],"aabb_xy":[[-0.5274667767792429,-0.9730359927752386],[-0.5112114003926165,-0.9552087759538233]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.187255940858589,1.3898505368691834,0.71338606911949],"aabb_xy":[[-0.19271388649560905,1.3098505335615243],[-0.18179799522156892,1.4698505401768425]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.3513617124437207,-1.8186151928821235,0.71338606911949],"aabb_xy":[[0.34343843220497244,-1.8411151931201268],[0.3592849926824691,-1.7961151926441201]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.22439262911508207,-1.0169363822228044,0.71338606911949],"aabb_xy":[[-0.27936635115141495,-1.0719363817870375],[-0.16941890707874915,-0.9619363826585712]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.11714479429461389,0.5263830467897499,0.71338606911949],"aabb_xy":[[-0.12643841253176447,0.488883048301616],[-0.1078511760574633,0.5638830452778838]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.4909833194962556,1.271739639568,0.71338606911949],"aabb_xy":[[-0.5409781524241972,1.2217396406727565],[-0.440988486568314,1.3217396384632436]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.5294932689636477,-0.2486675808668486,0.71338606911949],"aabb_xy":[[-0.5644932672337675,-0.25574170856183676],[-0.49449327069352766,-0.2415934531718604]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.2983466858329126,-1.3418439564210538,0.71338606911949],"aabb_xy":[[0.2333466847269693,-1.366809329489182],[0.36334668693885586,-1.3168785833529255]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.5118246773794264,0.7800879320263889,0.71338606911949],"aabb_xy":[[-0.5227304534669891,0.7000879356275598],[-0.5009189012918637,0.8600879284252181]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.6010140148916756,0.2743139251068243,0.71338606911949],"aabb_xy":[[-0.6186468504852031,0.25669097909120125],[-0.5833811792981479,0.2919368711224472]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.181501952897548,-2.195044613481351,0.71338606911949],"aabb_xy":[[-0.24650195385467522,-2.2469928254150564],[-0.1165019519404208,-2.1430964015476452]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.5380708223532227,0.7723543098964392,0.71338606911949],"aabb_xy":[[0.5191864385847126,0.7534683851160863],[0.556955206121733,0.7912402346767918]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.4209410013274888,0.5085293048873067,0.71338606911949],"aabb_xy":[[0.4153593296933601,0.4960293050695312],[0.4265226729616176,0.5210293047050821]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.0763258227002166,-1.4330602138672832,0.71338606911949],"aabb_xy":[[0.050036998379775925,-1.4593316475219342],[0.10261464702065724,-1.4067887802126318]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.48279710017700933,-0.5471387212407897,0.71338606911949],"aabb_xy":[[-0.5202971002826022,-0.5539608830937707],[-0.4452971000714164,-0.5403165593878084]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.4535121586542763,1.5746790716492742,0.71338606911949],"aabb_xy":[[-0.5175121607040083,1.5345845885599663],[-0.3895121566045443,1.6147735547385822]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.6819140236311241,-0.33692818930622437,0.71338606911949],"aabb_xy":[[0.6770147313245605,-0.3646051086087931],[0.6868133159376875,-0.30925127000365554]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.027500615601392164,-2.23047072581977,0.71338606911949],"aabb_xy":[[-0.042663488578329245,-2.245636183114889],[-0.012337742624455084,-2.2153052685246517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690895676566701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4311.png","name":"4311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4311.png","name":"4311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3506.png","name":"3506"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1512.png","name":"1512"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2691.png","name":"2691"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":665.4813230017255,"rotation_z_degrees":232.18465198129505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00991303260712877,0.0010386943936721224,0.0031949236646333957]},{"name":"camera_2","offset_m":[0.002848364853193907,0.0015812354866524062,0.007479634145656434]},{"name":"camera_3","offset_m":[0.0025054142375096275,0.00016414407962610233,0.0003390888942869201]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013704475150439818,-0.00047025339104975845,-0.001544123862535142],"end_effector_yaw_offset_degrees":0.16177131287046587},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00032879523227557356,-0.0004429727476483625,0.0019776852052059155],"end_effector_yaw_offset_degrees":-0.07964234716052809},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00038953766710661053,0.0005433721026433559,-0.0012336781104749584],"end_effector_yaw_offset_degrees":-0.119058142830891}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002715489000001028,0.0038943932974045024],"position_m":[0.28978451099999897,0.0930943932974045,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002224209900690013,0.004732369062257435],"position_m":[0.13567579009931,0.2609323690622574,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004045534919417833,0.000566372575692491],"position_m":[0.3519455349194178,0.3008663725756925,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020371080287001657,-0.0010285665425079516],"position_m":[0.22833710802870016,-0.40622856654250794,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0319a86b7afa4332c6526fae0a486123af7545ac932aba3bde48630f81db40c6","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0139.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4311/tex_ceiling_textures_2691/tex_floor_textures_3508/tex_table_textures_3506/tex_wall_textures_1512","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2820929453482516997,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2820929453482516997,"visual_seed":2820929453482516997,"scene_id":"lab_003","finished_at":"2026-09-03T03:30:43"} +{"episode_id":"ep_000084","started_at":"2026-09-03T03:30:47","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.16578435180060191,-0.7055585274059906,0.71338606911949],"aabb_xy":[[-0.2157843504465231,-0.7554780710654528],[-0.11578435315468072,-0.6556389837465281]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[-0.10493053742327185,1.6797406959619035,0.71338606911949],"aabb_xy":[[-0.11629227207655801,1.6683722295556154],[-0.09356880276998569,1.6911091623681915]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.46840352484355297,1.1138237764568317,0.71338606911949],"aabb_xy":[[0.4084035249969862,1.057005154263793],[0.5284035246901198,1.1706423986498704]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.4832465522788929,0.7251295507883593,0.71338606911949],"aabb_xy":[[0.4282533409417562,0.6701295504495657],[0.5382397636160297,0.780129551127153]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.22554131143939543,-2.399807385989389,0.71338606911949],"aabb_xy":[[-0.2630413098627957,-2.412971599957219],[-0.18804131301599505,-2.3866431720215577]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.395441140933954,0.46638299392210314,0.71338606911949],"aabb_xy":[[-0.4454411419530893,0.42991677818427526],[-0.34544113991481873,0.5028492096599311]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.5081525060325389,-1.004708632828308,0.71338606911949],"aabb_xy":[[-0.5681525062839401,-1.0589899578647723],[-0.44815250578113774,-0.950427307791843]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.441674311121357,-0.2152150604658254,0.71338606911949],"aabb_xy":[[0.43703919596912366,-0.219082395542974],[0.4463094262735904,-0.21134772538867672]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.6525159490876347,-2.257118988822347,0.71338606911949],"aabb_xy":[[0.6175159477361529,-2.2774787247791672],[0.6875159504391164,-2.2367592528655256]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.24747997228893615,0.6245347444677538,0.71338606911949],"aabb_xy":[[0.23935228409562292,0.6156211360570462],[0.25560766048224937,0.6334483528784615]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.575411478028579,0.05738521038126132,0.71338606911949],"aabb_xy":[[-0.5834049678238611,0.04938707844078567],[-0.567417988233297,0.065383342321737]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[0.6170909651497496,1.3273780277088751,0.71338606911949],"aabb_xy":[[0.5670909657095539,1.2774101032245586],[0.6670909645899451,1.3773459521931912]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.3954924100646312,0.8015887399766588,0.71338606911949],"aabb_xy":[[-0.42897157732567215,0.7681096266055518],[-0.36201324280359026,0.8350678533477658]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.4232091403380732,-2.5474166205679363,0.71338606911949],"aabb_xy":[[-0.43398211425944105,-2.5824166187869753],[-0.4124361664167055,-2.5124166223488973]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.28973639470302215,-0.7031859456357223,0.71338606911949],"aabb_xy":[[0.27658514873173284,-0.728185945392409],[0.30288764067431156,-0.6781859458790359]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.39872107146148195,-0.33606489383800264,0.71338606911949],"aabb_xy":[[0.3796087641035031,-0.3551996727152446],[0.4178333788194608,-0.31693011496076057]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.16231887452616023,1.5155944693704773,0.71338606911949],"aabb_xy":[[-0.2273188726820793,1.4892982248205648],[-0.09731887637024117,1.5418907139203892]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.16128664606450527,1.1758408292630076,0.71338606911949],"aabb_xy":[[0.07628664764708204,1.0909665338007226],[0.2462866444819285,1.2607151247252926]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.10093481370706703,-2.063764163475453,0.71338606911949],"aabb_xy":[[0.06343481252227422,-2.068182386171513],[0.1384348148918598,-2.059345940779392]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.48302762843053637,-0.565666022339502,0.71338606911949],"aabb_xy":[[0.41302763202057446,-0.5861039579911834],[0.5530276248404979,-0.54522808668782]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.6102832273452956,-2.496656053003671,0.71338606911949],"aabb_xy":[[0.5752832281524772,-2.5076230990013326],[0.6452832265381138,-2.4856890070060076]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.3109250548480597,0.3461448153503741,0.71338606911949],"aabb_xy":[[-0.324371581482103,0.3326749636972829],[-0.2974785282140163,0.35961466700346534]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[-0.6468249465931953,1.6167115635580953,0.71338606911949],"aabb_xy":[[-0.6517809667780766,1.594211563355974],[-0.6418689264083143,1.6392115637602171]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[0.012949933811612135,0.6944607490705561,0.71338606911949],"aabb_xy":[[-0.05205006882618135,0.6429811503711091],[0.07794993644940562,0.7459403477700031]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.1982069400000115,-1.0796686530984714,0.71338606911949],"aabb_xy":[[-0.21067429810974717,-1.0921339777317949],[-0.18573958189027587,-1.0672033284651479]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.535196729276624,-1.70706722051058,0.71338606911949],"aabb_xy":[[-0.5439987845855966,-1.714878546665509],[-0.5263946739676512,-1.6992558943556508]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[0.29137973512256377,-1.0398785268188921,0.71338606911949],"aabb_xy":[[0.22137973173100176,-1.075194300522323],[0.3613797385141257,-1.0045627531154613]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.25459591151103617,-0.5347815583622517,0.71338606911949],"aabb_xy":[[-0.3045959124615689,-0.566330705365773],[-0.2045959105605033,-0.5032324113587302]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.21683184905916136,1.3545303307073628,0.71338606911949],"aabb_xy":[[-0.2718273268798207,1.2995303292734555],[-0.16183637123850195,1.4095303321412693]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.1406082864366066,-0.21975374285129368,0.71338606911949],"aabb_xy":[[-0.15667021389512426,-0.30475374466388544],[-0.12454635897808898,-0.13475374103870183]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[-0.21145196982275427,0.8967290006657809,0.71338606911949],"aabb_xy":[[-0.2499976626479553,0.8581832296095924],[-0.17290627699755323,0.9352747717219696]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_31","position":[0.5589788150222967,-0.2698529886925014,0.71338606911949],"aabb_xy":[[0.5356969728241653,-0.3548529899897294],[0.582260657220428,-0.1848529873952733]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.6323128388566011,-0.058033745293300854,0.71338606911949],"aabb_xy":[[0.5773391168202682,-0.11303374485753404],[0.6872865608929339,-0.0030337457290676717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915421937417539,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1293.png","name":"1293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6316.png","name":"6316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6120.png","name":"6120"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":580.1266304308658,"rotation_z_degrees":76.87197411255273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007715733111110654,-0.002447199913546968,0.007382946767529357]},{"name":"camera_2","offset_m":[-0.001035529361594286,0.017787171418155463,0.01976768052933291]},{"name":"camera_3","offset_m":[-0.0020730585465333212,-0.00966022305166461,-0.009545818941287655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015350739825672577,0.00025449282169619745,0.0014063107761433202],"end_effector_yaw_offset_degrees":0.3671741604934198},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005094715463868325,-0.0012042291288949514,0.0016980310337136768],"end_effector_yaw_offset_degrees":-0.5405440376301116},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009213290116796666,0.0010716751319722064,-0.0008198384297468605],"end_effector_yaw_offset_degrees":-0.9545410550446882}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001815033133106153,0.004328505850231995],"position_m":[0.2906849668668938,0.093528505850232,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001948252716437331,-0.0023763541820606636],"position_m":[0.13595174728356266,0.2538236458179393,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004433960159238974,0.001247731551470962],"position_m":[0.35233396015923896,0.30154773155147097,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007269754646183849,-0.0003865640929659655],"position_m":[0.2270269754646184,-0.40558656409296595,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69a3f73d3476cee75227a4c4052d955007896e18ee01a937170516987bf22234","episode_index":140,"episode_name":"episode_0140"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0140.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_631/tex_ceiling_textures_6120/tex_floor_textures_6316/tex_table_textures_1293/tex_wall_textures_2493","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7233354574280643153,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7233354574280643153,"visual_seed":7233354574280643153,"scene_id":"lab_003","finished_at":"2026-09-03T03:33:29"} +{"episode_id":"ep_000085","started_at":"2026-09-03T03:40:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.1855337027260212,-1.3119123915902218,0.71338606911949],"aabb_xy":[[0.13543623874494762,-1.3759123921000336],[0.23563116670709486,-1.24791239108041]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.6542509906851028,-2.1829303776459583,0.71338606911949],"aabb_xy":[[0.631335277800053,-2.205834674782382],[0.6771667035701529,-2.160026080509535]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.11280390144706132,-1.8206677858505051,0.71338606911949],"aabb_xy":[[-0.17280390308998317,-1.8726679351424493],[-0.052803899804139465,-1.768667636558561]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.6874649023644419,-2.5548749569569633,0.71338606911949],"aabb_xy":[[0.6699649689304585,-2.5723749568771974],[0.7049648357984253,-2.5373749570367283]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.6508751383095668,1.5087363148011366,0.71338606911949],"aabb_xy":[[-0.6727838204489177,1.4868356479810454],[-0.6289664561702156,1.5306369816212269]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.2813164688036196,-2.2849214845717767,0.71338606911949],"aabb_xy":[[0.23133223309544237,-2.334921483385272],[0.33130070451179683,-2.2349214857582806]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.5996015380338867,-0.19118963445008275,0.71338606911949],"aabb_xy":[[-0.6214912856228274,-0.2811896317393318],[-0.5777117904449458,-0.10118963716083361]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.05568121070572296,-1.184830206802154,0.71338606911949],"aabb_xy":[[0.02453429186213984,-1.254830205488961],[0.08682812954930608,-1.1148302081153467]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.04382562140770396,-2.4584175065705787,0.71338606911949],"aabb_xy":[[-0.020174379295765387,-2.5044358890435],[0.10782562211117333,-2.412399124097658]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.5671126812633034,-2.125630120850868,0.71338606911949],"aabb_xy":[[0.5557509466100171,-2.1369985872571555],[0.5784744159165894,-2.11426165444458]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.1714982785713568,-1.2308903096863593,0.71338606911949],"aabb_xy":[[-0.23549397596645338,-1.2948903079870682],[-0.10750258117626021,-1.1668903113856508]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.16060951382716437,-0.7494092946060404,0.71338606911949],"aabb_xy":[[0.12310951365529244,-0.7821100299889477],[0.1981095139990363,-0.7167085592231334]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.4172255607132249,1.3704741019446098,0.71338606911949],"aabb_xy":[[0.35322556341087846,1.3261076749767529],[0.48122555801557126,1.4148405289124664]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.5669602331003806,1.1081200552731647,0.71338606911949],"aabb_xy":[[-0.5706634944295195,1.1044180369644467],[-0.5632569717712417,1.1118220735818822]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.17075352115116904,1.043515094971359,0.71338606911949],"aabb_xy":[[0.10075352474120723,1.0230771593196768],[0.2407535175611308,1.0639530306230403]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.5155010030155379,-0.659828447702121,0.71338606911949],"aabb_xy":[[-0.5376735299921888,-0.6820041148582441],[-0.4933284760388871,-0.6376527805459977]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.08350793478563523,-0.1973845550333846,0.71338606911949],"aabb_xy":[[-0.09597529289537089,-0.2098498796667081],[-0.0710405766758996,-0.18491923040006109]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.38210764879818515,-1.915624221559413,0.71338606911949],"aabb_xy":[[-0.43210764915875116,-1.9656042087690155],[-0.33210764843761903,-1.8656442343498096]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.11677869096284033,0.9308347648317432,0.71338606911949],"aabb_xy":[[0.05277868928484296,0.882317373352429],[0.18077869264083768,0.9793521563110574]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.4836149715507607,1.5998990363915708,0.71338606911949],"aabb_xy":[[-0.5186149714467796,1.5915248008796308],[-0.44861497165474185,1.6082732719035109]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.19153089305231852,-0.79974204639644,0.71338606911949],"aabb_xy":[[-0.20277594862293633,-0.8109838441205351],[-0.18028583748170066,-0.7885002486723446]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.30768113106637096,-2.0243588699970014,0.71338606911949],"aabb_xy":[[0.2959129442717135,-2.1093588699022234],[0.31944931786102854,-1.9393588700917803]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.46060680037519197,-2.4149724139439397,0.71338606911949],"aabb_xy":[[0.4550251287410632,-2.4274724137617154],[0.46618847200932073,-2.402472414126164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879146046281295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5117.png","name":"5117"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5117.png","name":"5117"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4617.png","name":"4617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":661.0520769009851,"rotation_z_degrees":14.449048591215906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009760552867363752,-0.007875994512585378,-0.019404974884036738]},{"name":"camera_2","offset_m":[0.01308731354457945,0.01246713388655583,-0.0053203940485798025]},{"name":"camera_3","offset_m":[0.008396845902625922,-0.004000124529212626,0.018367272031276163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005816106208395514,-0.000535531761689037,0.001083109342000209],"end_effector_yaw_offset_degrees":0.40195614677458913},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007918466640326502,-0.0008953581106958301,-0.0010298657113431307],"end_effector_yaw_offset_degrees":-0.9954268800887658},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006405396618361404,0.0005065902817846029,-0.0007404323109179761],"end_effector_yaw_offset_degrees":0.7262034977318748}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002622610564719017,-0.0048200655567748945],"position_m":[0.28987738943528096,0.08437993444322511,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001337125586644151,0.0018230110090690088],"position_m":[0.13656287441335585,0.258023011009069,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00030989977402150464,0.0026999308770475072],"position_m":[0.34759010022597847,0.3029999308770475,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002400502684572472,0.0018574332347199426],"position_m":[0.22389949731542752,-0.4033425667652801,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a743593bf9541ba254135b517cbec43f6c15db6410ce2f4b0a63bab333641f24","episode_index":145,"episode_name":"episode_0145"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0145.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5117/tex_ceiling_textures_585/tex_floor_textures_9933/tex_table_textures_4617/tex_wall_textures_3992","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7772940490168732779,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7772940490168732779,"visual_seed":7772940490168732779,"scene_id":"lab_003","finished_at":"2026-09-03T03:43:22"} +{"episode_id":"ep_000086","started_at":"2026-09-03T03:43:25","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.5868521969867557,1.3257862822843896,0.71338606911949],"aabb_xy":[[-0.5917514892933191,1.2981093629818206],[-0.5819529046801921,1.353463201586958]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.3084393102621965,-2.4863527519512476,0.71338606911949],"aabb_xy":[[-0.3684393108582127,-2.541165224496471],[-0.24843930966618033,-2.431540279406024]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.6553538653844644,0.05014817601620347,0.71338606911949],"aabb_xy":[[0.640181696102831,0.034979319088000116],[0.6705260346660977,0.06531703294440683]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.29771532947965973,-0.9505830363498047,0.71338606911949],"aabb_xy":[[0.21771533232008444,-0.9621306373076218],[0.377715326639235,-0.9390354353919877]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[0.2728074284126295,-2.281598869818484,0.71338606911949],"aabb_xy":[[0.22780742694640072,-2.326598726679965],[0.3178074298788584,-2.2365990129570035]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.41616363258751415,-2.2180635242409226,0.71338606911949],"aabb_xy":[[-0.4536636325312806,-2.226356614275759],[-0.3786636326437478,-2.209770434206086]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.336807038398246,-1.509496026428055,0.71338606911949],"aabb_xy":[[0.31674862678500576,-1.5295611133372127],[0.35686545001148634,-1.4894309395188974]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.6839138800767726,1.3721349017950106,0.71338606911949],"aabb_xy":[[0.6589138808048102,1.3557895381988483],[0.7089138793487347,1.388480265391173]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.6576528657759521,0.1566209850654663,0.71338606911949],"aabb_xy":[[-0.6705247692768921,0.07662098465163013],[-0.6447809622750118,0.2366209854793024]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.6596010704609789,-0.6455572365263016,0.71338606911949],"aabb_xy":[[0.6261608952649591,-0.6790008623572316],[0.6930412456569983,-0.6121136106953714]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[-0.5124872191856357,0.36350847470966174,0.71338606911949],"aabb_xy":[[-0.5238489538389217,0.35214000830337355],[-0.5011254845323494,0.3748769411159497]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.29354226623793267,-1.86741295132017,0.71338606911949],"aabb_xy":[[0.2567476331130264,-1.904318826416752],[0.33033689936283894,-1.8305070762235875]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.22954623805098295,-1.1666847601267478,0.71338606911949],"aabb_xy":[[0.1495462406473895,-1.2466773313249306],[0.3095462354545763,-1.086692188928565]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.6916614068243241,-2.2668462284145527,0.71338606911949],"aabb_xy":[[0.6616697440904538,-2.296846227751353],[0.7216530695581944,-2.2368462290777518]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.5714189034276755,-0.11441762605723715,0.71338606911949],"aabb_xy":[[-0.6165902212758445,-0.17841762320177557],[-0.5262475855795066,-0.05041762891269874]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.18413310068360234,-2.291019447534978,0.71338606911949],"aabb_xy":[[-0.2541331033201887,-2.311124312530843],[-0.11413309804701599,-2.270914582539112]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.29814614426612884,1.0229673823460272,0.71338606911949],"aabb_xy":[[0.27597361728947795,1.000791715189904],[0.32031867124277963,1.04514304950215]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[-0.5938439846897601,1.630465901954652,0.71338606911949],"aabb_xy":[[-0.6046169586111277,1.595465903735613],[-0.5830710107683922,1.665465900173691]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.5236542722698343,-2.1447150317057257,0.71338606911949],"aabb_xy":[[0.5011895022984291,-2.167215032584586],[0.5461190422412393,-2.122215030826865]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[-0.36500944403724883,0.7349666211824593,0.71338606911949],"aabb_xy":[[-0.4000094431672045,0.729221400106795],[-0.33000944490729317,0.7407118422581233]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.5000666710785814,1.6339158975419061,0.71338606911949],"aabb_xy":[[-0.5175666713236307,1.616416109702339],[-0.48256667083353194,1.6514156853814728]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6851779752134333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1520.png","name":"1520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1520.png","name":"1520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/284.png","name":"284"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1382.png","name":"1382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6815.png","name":"6815"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":667.0624185031555,"rotation_z_degrees":263.1924386003986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017434299794406166,-0.016228252097854844,-0.009973955983996134]},{"name":"camera_2","offset_m":[0.009424116369466405,0.01014772891280891,0.01645616052629741]},{"name":"camera_3","offset_m":[-0.015361618104670623,0.00902185886752552,0.011175494612924948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019178950892078067,-0.0004132774445080138,-0.0018195499933294052],"end_effector_yaw_offset_degrees":0.5338928151343125},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010191872577127615,-0.0010003323679980065,-0.0011606353988890036],"end_effector_yaw_offset_degrees":-0.10918837320018193},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000837765279463114,0.0009720607477788691,-0.0018175940360221992],"end_effector_yaw_offset_degrees":-0.6114328862348446}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.560402161110741e-05,0.002657078177935197],"position_m":[0.29241439597838886,0.0918570781779352,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0046534210428786455,0.0021029829975862894],"position_m":[0.14255342104287863,0.25830298299758625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012935227898371905,-0.003941650571447486],"position_m":[0.3477706477210163,0.29635834942855255,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004510919795115519,0.0004560576375849815],"position_m":[0.22178908020488447,-0.404743942362415,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aeef3d0804bcacee769786046371d8d34eb2ef9676fee1222211e55cdfb7b7ea","episode_index":146,"episode_name":"episode_0146"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0146.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1520/tex_ceiling_textures_7517/tex_floor_textures_6815/tex_table_textures_284/tex_wall_textures_1382","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1815035411453622313,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1815035411453622313,"visual_seed":1815035411453622313,"scene_id":"lab_003","finished_at":"2026-09-03T03:46:07"} +{"episode_id":"ep_000087","started_at":"2026-09-03T03:46:11","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.1367053418466646,1.7167841101970285,0.71338606911949],"aabb_xy":[[0.0717053392088711,1.6653045114975815],[0.20170534448445807,1.7682637088964754]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.585634699119307,0.027890457118765255,0.71338606911949],"aabb_xy":[[-0.6496346998227764,-0.018127925354155756],[-0.5216346984158378,0.07390883959168627]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.49338472973542613,-0.5439935513924499,0.71338606911949],"aabb_xy":[[0.4293847265167882,-0.5907166632914582],[0.557384732954064,-0.4972704394934415]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.5690792221626869,1.681504157862277,0.71338606911949],"aabb_xy":[[-0.5782391011065635,1.6749729398187396],[-0.5599193432188103,1.6880353759058138]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.05701362909821128,-1.6628382813118001,0.71338606911949],"aabb_xy":[[-0.007986372007731994,-1.6878036543799284],[0.12201363020415457,-1.6378729082436718]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.389156603931496,-0.6819764613966961,0.71338606911949],"aabb_xy":[[0.37152376833796835,-0.699599407412319],[0.4067894395250235,-0.664353515381073]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.20030533682531665,-1.8348278183731845,0.71338606911949],"aabb_xy":[[-0.26430533599508654,-1.8815945054921472],[-0.1363053376555467,-1.7880611312542223]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.4168529880926831,-2.2360410918553737,0.71338606911949],"aabb_xy":[[-0.49685298916580345,-2.245819138192758],[-0.3368529870195628,-2.2262630455179893]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.7082520478266741,-0.8447344941056854,0.71338606911949],"aabb_xy":[[0.7042915640569398,-0.8524023586912058],[0.7122125315964085,-0.8370666295201646]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.03436742637294388,-0.8959518339119663,0.71338606911949],"aabb_xy":[[-0.003132574291634826,-0.9116388919121885],[0.07186742703752257,-0.8802647759117441]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.5626670978099577,-0.7696152850775773,0.71338606911949],"aabb_xy":[[0.5241214049847566,-0.8081610561337659],[0.6012127906351586,-0.7310695140213886]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.5866086044820844,-1.544395970771476,0.71338606911949],"aabb_xy":[[-0.6666086014451235,-1.6214716124152493],[-0.5066086075190451,-1.4673203291277024]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.6461999351440724,-0.2121349705538491,0.71338606911949],"aabb_xy":[[0.6284064282091559,-0.2299347161496468],[0.6639934420789888,-0.19433522495805147]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.5592208026118932,1.0178562528484472,0.71338606911949],"aabb_xy":[[-0.5674353477275771,1.0091796625508054],[-0.5510062574962091,1.026532843146088]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[-0.27850484750981747,-0.13357310610990192,0.71338606911949],"aabb_xy":[[-0.3335048466864069,-0.18856278088485953],[-0.22350484833322792,-0.07858343133494425]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.3239798115275552,-2.0907627720394117,0.71338606911949],"aabb_xy":[[0.31902379134267406,-2.1132627722415336],[0.3289358317124364,-2.06826277183729]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[-0.43090234522872184,-1.6342439217361058,0.71338606911949],"aabb_xy":[[-0.4659023465802036,-1.6546036576929266],[-0.3959023438772401,-1.613884185779285]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.22488668417308788,-2.520745210116738,0.71338606911949],"aabb_xy":[[0.1911111249823949,-2.5347837053299025],[0.25866224336378085,-2.5067067149035727]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.10855385403830131,-1.3936369314881953,0.71338606911949],"aabb_xy":[[-0.15854886499775336,-1.4436369305237873],[-0.0585588430788493,-1.3436369324526038]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.1608165183395689,-1.6113871882924524,0.71338606911949],"aabb_xy":[[-0.19425669353558847,-1.6448308141233823],[-0.12737634314354926,-1.5779435624615221]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[0.4849464024142296,-2.3375022053341765,0.71338606911949],"aabb_xy":[[0.42995092459357015,-2.392502206768084],[0.539941880234889,-2.28250220390027]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[-0.47736411446309757,-1.8757673551327607,0.71338606911949],"aabb_xy":[[-0.48699575068352713,-1.8854046679124696],[-0.4677324782426679,-1.8661300423530518]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.644367531665631,-0.37111944881239767,0.71338606911949],"aabb_xy":[[-0.6943675333271256,-0.4211178910681003],[-0.5943675300041361,-0.3211210065566949]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.1681699250273173,0.8227372830631539,0.71338606911949],"aabb_xy":[[-0.18571661994343625,0.7852372814989026],[-0.15062323011119838,0.8602372846274051]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.6288340591536463,0.3781156541007875,0.71338606911949],"aabb_xy":[[0.6038340596019077,0.3679731702356528],[0.6538340587053847,0.38825813796592223]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[0.02804834751455132,1.2656772460920696,0.71338606911949],"aabb_xy":[[-0.016951653951677536,1.2206773892305889],[0.07304834898078016,1.3106771029535502]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.6035325189332528,1.1040016356659783,0.71338606911949],"aabb_xy":[[0.5883696459563158,1.0888361783708598],[0.61869539191019,1.1191670929610973]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.32243749974505964,-1.8973165594193246,0.71338606911949],"aabb_xy":[[-0.3311514687949941,-1.9198165600785124],[-0.3137235306951251,-1.874816558760136]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[-0.3080516245188472,-0.381563621776535,0.71338606911949],"aabb_xy":[[-0.3880516247924542,-0.45451316960225174],[-0.22805162424524025,-0.3086140739508183]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_29","position":[0.054796993447526976,0.9275898609793338,0.71338606911949],"aabb_xy":[[0.026467283498986742,0.9231291187856169],[0.0831267033960672,0.932050603173051]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[0.25364846807238983,0.6869660635069805,0.71338606911949],"aabb_xy":[[0.2036484667115027,0.6369881589315648],[0.3036484694332771,0.736943968082396]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_31","position":[-0.24508141211688167,-1.2085768327692143,0.71338606911949],"aabb_xy":[[-0.3150814155084436,-1.2438926064726452],[-0.17508140872531966,-1.1732610590657835]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_32","position":[-0.27556383867107564,0.4530466922765153,0.71338606911949],"aabb_xy":[[-0.28498131324093845,0.44363051513879626],[-0.26614636410121295,0.4624628694142343]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873067808156069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2559.png","name":"2559"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2559.png","name":"2559"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5238.png","name":"5238"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9287.png","name":"9287"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9935.png","name":"9935"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":774.448139856474,"rotation_z_degrees":171.18550449014566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013324160709746142,-0.013165029510133746,0.016923449487412475]},{"name":"camera_2","offset_m":[-0.004459245704295692,0.012515540392887405,0.005472505368489894]},{"name":"camera_3","offset_m":[0.01749004681576136,-0.004723819797736159,-0.017630509451021306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041390689428381054,-0.0017204591191498308,-0.0010511538242111995],"end_effector_yaw_offset_degrees":-0.16157223982454205},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017978233466677883,0.0015331489419538945,-0.00113792355375506],"end_effector_yaw_offset_degrees":-0.12508396755091433},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016614509967756478,-0.00023428318189948403,-0.0016363645152817443],"end_effector_yaw_offset_degrees":0.19459677762037142}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004511683633834992,-0.004301685529183173],"position_m":[0.287988316366165,0.08489831447081683,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005529066824883641,0.0033681821107976314],"position_m":[0.13845290668248836,0.25956818211079763,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025120328453678,-0.004530652123664036],"position_m":[0.35041203284536776,0.29576934787633596,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004828812750923309,-0.00023908547684676693],"position_m":[0.2311288127509233,-0.40543908547684676,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b8fb35b30931532b008ae070221e4915f06f34311b9579bd2cb637ce4913771c","episode_index":147,"episode_name":"episode_0147"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0147.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2559/tex_ceiling_textures_9935/tex_floor_textures_9287/tex_table_textures_5238/tex_wall_textures_2450","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":1233906834469909556,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":1233906834469909556,"visual_seed":1233906834469909556,"scene_id":"lab_003","finished_at":"2026-09-03T03:48:51"} +{"episode_id":"ep_000088","started_at":"2026-09-03T03:51:26","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.37847248438512837,-0.6877532374897792,0.71338606911949],"aabb_xy":[[0.3434724860744329,-0.6954682524133249],[0.4134724826958238,-0.6800382225662336]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.3693456384900036,-1.1926047962381514,0.71338606911949],"aabb_xy":[[-0.39974374958914716,-1.2230116982398207],[-0.33894752739086,-1.1621978942364817]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.40618568090673424,-2.2843850494912905,0.71338606911949],"aabb_xy":[[-0.4701856802009024,-2.3483711898601447],[-0.34218568161256596,-2.2203989091224363]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.21422360303607824,-1.6979908194958977,0.71338606911949],"aabb_xy":[[0.19679288795707167,-1.715262934159748],[0.2316543181150847,-1.6807187048320464]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.2370503252862708,-0.6215976220380734,0.71338606911949],"aabb_xy":[[0.22271590016010734,-0.6336578375926123],[0.25138475041243424,-0.6095374064835346]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.4548133034027615,-0.9279755718972651,0.71338606911949],"aabb_xy":[[0.44324432265582503,-0.9529755720141968],[0.4663822841496982,-0.9029755717803334]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.5167476472823962,0.16717834325684944,0.71338606911949],"aabb_xy":[[0.4367476486950768,0.08786274131868853],[0.5967476458697156,0.2464939451950103]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.36374357083368714,-2.016402488336766,0.71338606911949],"aabb_xy":[[0.2997435705597089,-2.066468588534054],[0.42774357110766537,-1.966336388139478]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.22454852904534423,-2.28893767405238,0.71338606911949],"aabb_xy":[[-0.23418016526577384,-2.2985749868320884],[-0.2149168928249146,-2.2793003612726705]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.18544056742377213,-2.5081073431890997,0.71338606911949],"aabb_xy":[[0.14419175639385734,-2.5631073427013167],[0.2266893784536868,-2.4531073436768818]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.17217276972302664,0.8004538252879776,0.71338606911949],"aabb_xy":[[0.1386936024619857,0.7669747119168706],[0.20565193698406758,0.8339329386590846]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[-0.1712601620843397,-1.5846830642607697,0.71338606911949],"aabb_xy":[[-0.19484528554823455,-1.6496830665062014],[-0.14767503862044484,-1.5196830620153379]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.22739873201081,-1.8259838939601805,0.71338606911949],"aabb_xy":[[-0.24054997798209943,-1.850983893716867],[-0.2142474860395207,-1.800983894203494]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.5359581551772095,-0.6620330482760728,0.71338606911949],"aabb_xy":[[0.5184582217432261,-0.6795330481963073],[0.5534580886111928,-0.6445330483558382]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.3024688005407983,-0.6210358619297198,0.71338606911949],"aabb_xy":[[-0.3564843968226983,-0.6850358648219769],[-0.24845320425889827,-0.5570358590374626]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6432152969548854,-1.469180437112187,0.71338606911949],"aabb_xy":[[0.6323748187283705,-1.4863667184028357],[0.6540557751814003,-1.4519941558215383]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.4696789378888002,1.1564319333084265,0.71338606911949],"aabb_xy":[[0.4046789393317274,1.1266793998945437],[0.534678936445873,1.186184466722309]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.2950190160149969,-2.1349544660521733,0.71338606911949],"aabb_xy":[[-0.3450190170341322,-2.1714206817900013],[-0.24501901499586165,-2.0984882503143454]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.19436968320673975,-1.9057742719705333,0.71338606911949],"aabb_xy":[[0.1765005754522843,-1.9196071799477443],[0.21223879096119527,-1.8919413639933222]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.46611999612888155,-1.6724702314693713,0.71338606911949],"aabb_xy":[[0.44901791817051345,-1.689577037000641],[0.48322207408724976,-1.6553634259381016]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[-0.06255017185364165,-2.005730641936726,0.71338606911949],"aabb_xy":[[-0.08443991944258243,-2.095730639225975],[-0.04066042426470084,-1.9157306446474769]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.19209158823589512,-0.8057441037729594,0.71338606911949],"aabb_xy":[[0.14211852270337966,-0.8557441035854925],[0.2420646537684106,-0.7557441039604267]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.2372653842262753,0.6898329551807594,0.71338606911949],"aabb_xy":[[-0.2445091502725206,0.609832956977157],[-0.23002161818002995,0.7698329533843618]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.17719395860839948,-1.7118303744702121,0.71338606911949],"aabb_xy":[[-0.19420405589845013,-1.727964862968486],[-0.16018386131834883,-1.6956958859719382]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.6359127934505651,1.6516216285851208,0.71338606911949],"aabb_xy":[[0.6054285433235349,1.6016216288036247],[0.6663970435775952,1.7016216283666166]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.41403852333244306,1.609545409835079,0.71338606911949],"aabb_xy":[[0.35244776410845025,1.5455454117260323],[0.4756292825564359,1.673545407944126]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.21637859079363325,-0.9129394277114242,0.71338606911949],"aabb_xy":[[-0.25137859214511493,-0.9332991636682451],[-0.18137858944215152,-0.8925796917546034]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[-0.5000348200875637,1.6887997333831648,0.71338606911949],"aabb_xy":[[-0.5053723957535683,1.663799732454025],[-0.49469724442155916,1.7137997343123046]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[-0.2923358824735809,1.355284796871083,0.71338606911949],"aabb_xy":[[-0.29729190265846206,1.3327847966689614],[-0.2873798622886997,1.3777847970732047]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[-0.5986303829538628,-0.09963548894497709,0.71338606911949],"aabb_xy":[[-0.621130382964011,-0.11373170858458036],[-0.5761303829437144,-0.0855392693053738]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[-0.6049888431371999,1.4017578176320575,0.71338606911949],"aabb_xy":[[-0.6549888440877327,1.370208670628536],[-0.5549888421866671,1.4333069646355787]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_31","position":[-0.05743980572083429,-1.3481660253398615,0.71338606911949],"aabb_xy":[[-0.12143980300648294,-1.3896727442927055],[0.006560191564814355,-1.3066593063870175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839169794624148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4803.png","name":"4803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1137.png","name":"1137"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6376.png","name":"6376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4142.png","name":"4142"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":613.7626626466017,"rotation_z_degrees":267.31714262776035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016499302877335923,0.009127030943032913,-0.007654153529114511]},{"name":"camera_2","offset_m":[0.005578355418323945,0.01804876334762665,-0.01719414944708758]},{"name":"camera_3","offset_m":[-0.0033382827753688712,-0.0036235858294667717,-0.013070732985396627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013456662751899033,-0.001996428871206585,0.0003549630164218897],"end_effector_yaw_offset_degrees":0.2226856338103449},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004317709635167713,0.0008918278321892945,-0.00035132849896824946],"end_effector_yaw_offset_degrees":0.4070839023036641},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00026827452078104,-0.0016006806478265027,-0.00013755298966515645],"end_effector_yaw_offset_degrees":-0.1479284144416182}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035305942615456143,-0.003712749502584607],"position_m":[0.28896940573845437,0.0854872504974154,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000235048829590679,-0.0026857253232502377],"position_m":[0.1376649511704093,0.25351427467674975,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031159417665291645,-0.0006619127227939356],"position_m":[0.3447840582334708,0.2996380872772061,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002024751297130123,3.120240617599836e-05],"position_m":[0.22427524870286988,-0.405168797593824,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a36bcfe779b61c83e8e029c54eb488e387c700d7b898ccc72473b432716b0556","episode_index":149,"episode_name":"episode_0149"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0149.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3351/tex_ceiling_textures_4142/tex_floor_textures_6376/tex_table_textures_4803/tex_wall_textures_1137","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2700900278977273316,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2700900278977273316,"visual_seed":2700900278977273316,"scene_id":"lab_003","finished_at":"2026-09-03T03:53:45"} +{"episode_id":"ep_000089","started_at":"2026-09-03T03:55:10","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.19641891673228595,1.2258886605569357,0.71338606911949],"aabb_xy":[[-0.2058363913021487,1.2164724834192167],[-0.1870014421624232,1.2353048376946547]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.08709616304232193,-2.1573857711989834,0.71338606911949],"aabb_xy":[[-0.09193975780355189,-2.162237423677968],[-0.08225256828109194,-2.15253411872]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.47795567187519106,0.917642017192017,0.71338606911949],"aabb_xy":[[-0.49616149553643885,0.9066166166100255],[-0.4597498482139435,0.9286674177740087]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.3224776919340693,-0.6608793580987484,0.71338606911949],"aabb_xy":[[0.25847769263990106,-0.7248654984676025],[0.3864776912282375,-0.5968932177298941]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.21018070804914868,-0.8513109635339318,0.71338606911949],"aabb_xy":[[0.2021544374185227,-0.8600624585112844],[0.2182069786797747,-0.8425594685565791]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.09202351056800895,-1.356190874409585,0.71338606911949],"aabb_xy":[[-0.09665862572024232,-1.3600582094867335],[-0.08738839541577555,-1.352323539332436]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.6374889962109895,-0.6287316034177526,0.71338606911949],"aabb_xy":[[0.6031727190363716,-0.6787316033909303],[0.6718052733856075,-0.5787316034445749]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.5897087614897836,-1.2078594467288513,0.71338606911949],"aabb_xy":[[-0.6697025850683419,-1.2878594493216928],[-0.5097149379112255,-1.1278594441360097]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.12313170293768172,-1.0496532416537492,0.71338606911949],"aabb_xy":[[0.08935614374698876,-1.063691736866914],[0.1569072621283747,-1.0356147464405843]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.6487591990392294,1.3917682649549912,0.71338606911949],"aabb_xy":[[-0.6540917136938424,1.3864439367097556],[-0.6434266843846164,1.3970925932002267]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.3720388439985876,1.0585621189330912,0.71338606911949],"aabb_xy":[[-0.46203884259305755,1.0423115326196701],[-0.28203884540411767,1.0748127052465122]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.3618482513301788,-0.3343669319350209,0.71338606911949],"aabb_xy":[[-0.39888236075823846,-0.3687441392687303],[-0.324814141902119,-0.29998972460131135]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.4234676631714923,-0.9656188834183976,0.71338606911949],"aabb_xy":[[-0.4459640846053564,-0.9881188832251451],[-0.4009712417376282,-0.9431188836116502]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.3535224148715055,0.9700742924090262,0.71338606911949],"aabb_xy":[[0.34089562758430914,0.9605282187074532],[0.36614920215870184,0.979620366110599]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.12372821077461493,-1.277620997954935,0.71338606911949],"aabb_xy":[[0.059728213662509244,-1.3266533677493455],[0.18772820788672062,-1.2285886281605243]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.5315760774765769,0.745533879964607,0.71338606911949],"aabb_xy":[[-0.5674895819015664,0.7096203717478522],[-0.49566257305158706,0.7814473881813615]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.15415263800822054,-0.13135166735535986,0.71338606911949],"aabb_xy":[[-0.15973430964234928,-0.14385166717313533],[-0.14857096637409176,-0.11885166753758435]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.3871262461889733,0.8279674944265882,0.71338606911949],"aabb_xy":[[0.3371312352295213,0.7779674953909967],[0.4371212571484254,0.8779674934621802]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.4963347407911616,-0.9848039068587415,0.71338606911949],"aabb_xy":[[0.4588347423677611,-0.9979681208265722],[0.5338347392145618,-0.9716396928909109]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.6079175242623645,-2.1796743974274793,0.71338606911949],"aabb_xy":[[0.5991362971151283,-2.1884541447160095],[0.6166987514096008,-2.170894650138949]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.37405483358134184,1.4368688831999346,0.71338606911949],"aabb_xy":[[0.3652527782723691,1.4290575570450055],[0.38285688889031455,1.4446802093548636]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.5362890598283538,0.13948778597959421,0.71338606911949],"aabb_xy":[[0.502848884632334,0.1060441601486641],[0.5697292350243732,0.17293141181052424]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.6421502247400162,1.3607293335442447,0.71338606911949],"aabb_xy":[[0.6342269445012678,1.3382293333062414],[0.6500735049787645,1.383229333782248]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.37658007572927343,-1.0501604677693614,0.71338606911949],"aabb_xy":[[0.3704854478411551,-1.0587298623210302],[0.38267470361739175,-1.0415910732176927]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.5218702759183537,-1.6021355297035311,0.71338606911949],"aabb_xy":[[-0.5718702775798484,-1.6521339719592338],[-0.47187027425685896,-1.5521370874478284]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.4915956280069034,0.5962194487133483,0.71338606911949],"aabb_xy":[[0.45409562943128257,0.5834831530497903],[0.5290956265825242,0.6089557443769061]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.26844129572199504,0.3941876194612761,0.71338606911949],"aabb_xy":[[-0.27859431127614437,0.3581180778885357],[-0.2582882801678456,0.43025716103401634]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[-0.031243855410564403,1.0772155514938153,0.71338606911949],"aabb_xy":[[-0.043115938422065514,0.992215551800165],[-0.01937177239906329,1.1622155511874657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882845318093842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5293.png","name":"5293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5293.png","name":"5293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4622.png","name":"4622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8000.png","name":"8000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8594.png","name":"8594"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":730.3895460528124,"rotation_z_degrees":69.17914503465522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01356596469929475,0.015917109596333006,-0.018215254984870866]},{"name":"camera_2","offset_m":[0.001999269421954098,0.007742065624384498,0.016708202286221326]},{"name":"camera_3","offset_m":[0.014141965536881216,-0.01473634329716921,-8.583052058563911e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016637987290536631,0.001181117991877628,0.00018443241127593995],"end_effector_yaw_offset_degrees":0.9224143725748708},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019967043084739436,-0.0012012927726046923,-0.00012839765039499343],"end_effector_yaw_offset_degrees":-0.06780136387377955},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016908106303311866,0.0010636088412265716,0.0015149522862623332],"end_effector_yaw_offset_degrees":0.03748306194751572}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003334727942027025,-0.0015804656678441963],"position_m":[0.28916527205797293,0.0876195343321558,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012079623392353992,0.0027300226208214484],"position_m":[0.1391079623392354,0.25893002262082143,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.722881377677943e-05,0.002730309524582846],"position_m":[0.34798722881377675,0.3030303095245829,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004298539986782472,0.004431796326648412],"position_m":[0.22200146001321752,-0.4007682036733516,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"237bb169e3d4de1410666f93676011a87798f6a22481fefdcb1db8064894507f","episode_index":151,"episode_name":"episode_0151"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0151.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5293/tex_ceiling_textures_8594/tex_floor_textures_6430/tex_table_textures_4622/tex_wall_textures_8000","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2005499638493069050,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2005499638493069050,"visual_seed":2005499638493069050,"scene_id":"lab_003","finished_at":"2026-09-03T03:57:48"} +{"episode_id":"ep_000090","started_at":"2026-09-03T03:57:51","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.41124839874701297,0.0798895253127232,0.71338606911949],"aabb_xy":[[-0.44472756600805396,0.04641041194161621],[-0.3777692314859721,0.11336863868383022]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.07589651603315939,-0.47015881688896943,0.71338606911949],"aabb_xy":[[-0.1129306254612191,-0.5045360242226788],[-0.038862406605099674,-0.43578160955525996]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.46010816902430207,0.5552929208760293,0.71338606911949],"aabb_xy":[[-0.46815152895025725,0.4702929197806629],[-0.4520648090983469,0.6402929219713958]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.5725142660668283,-0.6707955453171137,0.71338606911949],"aabb_xy":[[-0.6175068527852787,-0.7157955445915624],[-0.5275216793483779,-0.6257955460426649]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.1339570105066874,1.3545496484725823,0.71338606911949],"aabb_xy":[[0.12592067580540253,1.3465115291681655],[0.14199334520797222,1.362587767776999]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.5488933356148218,0.2405261245240835,0.71338606911949],"aabb_xy":[[0.4588933319379035,0.17909371794697912],[0.6388933392917399,0.3019585311011878]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.5989629161908445,-0.5579190402636751,0.71338606911949],"aabb_xy":[[-0.6208715983301956,-0.5798197070837658],[-0.5770542340514935,-0.5360183734435844]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.6193125134726563,0.0647800398685594,0.71338606911949],"aabb_xy":[[0.5393125154918711,0.05717849890670746],[0.6993125114534412,0.07238158083041135]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.24053332013447803,-0.9635262677679717,0.71338606911949],"aabb_xy":[[0.20403749950719927,-1.0000102101947292],[0.2770291407617568,-0.927042325341214]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.014357897524272634,-1.4018555749301411,0.71338606911949],"aabb_xy":[[-0.048654808542013255,-1.4361524611400822],[0.019939013493467987,-1.3675586887201996]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.40914910953887457,0.262762267179951,0.71338606911949],"aabb_xy":[[-0.47314910684122097,0.21839584021209424],[-0.34514911223652817,0.30712869414780775]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.45244653562591264,1.2302384388419445,0.71338606911949],"aabb_xy":[[-0.46007080371609094,1.222605215305401],[-0.44482226753573445,1.2378716623784884]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.14139770490908754,-0.7145565929460942,0.71338606911949],"aabb_xy":[[0.061397706252201534,-0.729061451870357],[0.22139770356597355,-0.7000517340218314]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.6256689735914123,-2.141478225299452,0.71338606911949],"aabb_xy":[[-0.6485846864764623,-2.164382522435876],[-0.6027532607063625,-2.118573928163029]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.26645095137297686,0.8066138592696297,0.71338606911949],"aabb_xy":[[-0.3464509485325521,0.7950662583118127],[-0.18645095421340152,0.8181614602274467]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.4299696738325893,-1.6080433586927518,0.71338606911949],"aabb_xy":[[0.3499696705747464,-1.6880398664847358],[0.5099696770904323,-1.5280468509007679]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.12866556096316906,-0.940521199373133,0.71338606911949],"aabb_xy":[[-0.20865938454172728,-1.0205212019659746],[-0.048671737384610836,-0.8605211967802915]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.6421885699322987,-0.35845540030301226,0.71338606911949],"aabb_xy":[[-0.6646877056585256,-0.38095540108127524],[-0.6196894342060717,-0.3359553995247493]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.48862966860899665,-1.1072897384335272,0.71338606911949],"aabb_xy":[[-0.5386296699698837,-1.1572676430089426],[-0.43862966724810937,-1.0573118338581113]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.08546428600873535,-1.5950871843515546,0.71338606911949],"aabb_xy":[[0.06024344914889567,-1.6203109352044411],[0.110685122868575,-1.5698634334986676]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[0.4462593983144463,1.062208064170595,0.71338606911949],"aabb_xy":[[0.3662594009108528,0.9822154929724124],[0.5262593957180396,1.142200635368778]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.1472063435965002,-1.7672642087498303,0.71338606911949],"aabb_xy":[[0.13921235501879678,-1.7752642888449206],[0.15520033217420356,-1.75926412865474]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.23581622506086308,-2.0356224005444394,0.71338606911949],"aabb_xy":[[0.18082301372372636,-2.090622400883233],[0.2908094363979999,-1.9806224002056458]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.22417395474134932,1.023616047965334,0.71338606911949],"aabb_xy":[[-0.27417395640284403,0.9736176057096312],[-0.17417395307985456,1.0736144902210365]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.07604925857934242,-1.9397576273534045,0.71338606911949],"aabb_xy":[[-0.10056288267634828,-1.964022220655441],[-0.051535634482336556,-1.915493034051368]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[-0.5650315881384796,-2.327604658713757,0.71338606911949],"aabb_xy":[[-0.6025315884867073,-2.3393960542948404],[-0.5275315877902518,-2.3158132631326733]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.34855221621524374,1.7329478963099807,0.71338606911949],"aabb_xy":[[-0.41255221350089233,1.6914411773571367],[-0.28455221892959504,1.7744546152628247]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.5868446126078015,-1.188882170524659,0.71338606911949],"aabb_xy":[[0.5717423111467832,-1.20398369215572],[0.6019469140688194,-1.1737806488935967]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.47138999462916764,-2.5261070908778653,0.71338606911949],"aabb_xy":[[-0.5353899966788995,-2.5662015739671733],[-0.4073899925794356,-2.4860126077885574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6869588230139425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6814.png","name":"6814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6814.png","name":"6814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2192.png","name":"2192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9063.png","name":"9063"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4264.png","name":"4264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":555.0781701483273,"rotation_z_degrees":52.16499669213975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006416152662606853,0.013464092210367488,0.0031851150474043917]},{"name":"camera_2","offset_m":[0.007532948347979646,0.0002211992433966449,0.008182661719306306]},{"name":"camera_3","offset_m":[-0.0017877430017571166,-0.0037874437239994972,-0.005665630688394905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.26716206334204e-05,0.0009155659356909177,-0.001032891985385339],"end_effector_yaw_offset_degrees":0.2920451751523594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[3.0888237578630996e-05,0.001971488082587694,-0.0013653448888796497],"end_effector_yaw_offset_degrees":0.7963105833874047},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009113699037190588,-0.000765664380721454,0.0019131854646795574],"end_effector_yaw_offset_degrees":-0.778400865844995}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013691490159984665,0.00046748365742961453],"position_m":[0.2938691490159985,0.08966748365742962,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000884587744406801,-0.0035900563304491805],"position_m":[0.1387845877444068,0.2526099436695508,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007734759687645408,0.001473531993326671],"position_m":[0.34712652403123545,0.3017735319933267,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002226731087641931,-0.0034642392026157454],"position_m":[0.22852673108764193,-0.40866423920261574,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a349e632e4a4feedf18368cc793843731e47955a4cfa912f19c42a682ef15f3c","episode_index":152,"episode_name":"episode_0152"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0152.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6814/tex_ceiling_textures_3992/tex_floor_textures_4264/tex_table_textures_2192/tex_wall_textures_9063","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":2755813084275900583,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":2755813084275900583,"visual_seed":2755813084275900583,"scene_id":"lab_003","finished_at":"2026-09-03T04:00:30"} +{"episode_id":"ep_000091","started_at":"2026-09-03T04:00:33","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.0888608935540276,1.246524603097145,0.71338606911949],"aabb_xy":[[0.08327922191989884,1.2340246032793694],[0.09444256518815636,1.2590246029149204]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.34609248576825324,-1.9687218304469773,0.71338606911949],"aabb_xy":[[0.256092486045079,-1.9917951829821567],[0.4360924854914274,-1.945648477911797]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.6040082953244754,1.3404915543438403,0.71338606911949],"aabb_xy":[[0.5400082989289022,1.2765282659251067],[0.6680082917200484,1.4044548427625738]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.22651340912994522,-1.6725221479678714,0.71338606911949],"aabb_xy":[[0.13651341262907343,-1.7184337903863296],[0.3165134056308169,-1.626610505549413]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.501926128874853,-0.31348235466041574,0.71338606911949],"aabb_xy":[[-0.5240986558515037,-0.33565802181653887],[-0.47975360189820204,-0.2913066875042925]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.5576770617287734,-0.17521619416046352,0.71338606911949],"aabb_xy":[[0.5351770619148711,-0.1796908105309442],[0.5801770615426759,-0.17074157778998283]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.507341873074922,0.31403306757182614,0.71338606911949],"aabb_xy":[[0.48487710310351684,0.29153306669296564],[0.5298066430463271,0.33653306845068665]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.4654450818024869,-1.1487948490849431,0.71338606911949],"aabb_xy":[[-0.49974199282022747,-1.1830917352948842],[-0.4311481707847462,-1.1144979628750016]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.5294143070032069,0.9785902183465902,0.71338606911949],"aabb_xy":[[-0.5401872809245747,0.9435902201275511],[-0.5186413330818391,1.0135902165656292]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.12519919846042393,0.8048644011029773,0.71338606911949],"aabb_xy":[[-0.18919919488774584,0.7576947772808811],[-0.06119920203310203,0.852034024925074]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.49701800567555443,-2.3116277843582096,0.71338606911949],"aabb_xy":[[-0.5470180052518892,-2.3616083633103155],[-0.44701800609921977,-2.2616472054061036]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.5643281812639245,0.7231663514160882,0.71338606911949],"aabb_xy":[[-0.5986444584385424,0.6731663514429104],[-0.5300119040893065,0.7731663513892658]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.6044448724954271,-0.6359656358736421,0.71338606911949],"aabb_xy":[[-0.6409406931227059,-0.6724495783003996],[-0.5679490518681484,-0.5994816934468845]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.6562277965001186,-1.3940572677393401,0.71338606911949],"aabb_xy":[[0.6373434127316083,-1.4129431925196931],[0.6751121802686287,-1.3751713429589876]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.5361501256185935,0.14043747408344487,0.71338606911949],"aabb_xy":[[-0.5961501264794062,0.08901104407695844],[-0.4761501247577807,0.1918639040899312]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.00952440800857246,-1.4177969361086393,0.71338606911949],"aabb_xy":[[-0.04398688602166023,-1.4244606132915623],[0.024938070004515315,-1.4111332589257164]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.6344856275804701,-1.802373447907695,0.71338606911949],"aabb_xy":[[-0.6471124148676665,-1.8119195216092678],[-0.6218588402932738,-1.792827374206122]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.379773398601549,1.3590732022322949,0.71338606911949],"aabb_xy":[[0.34518231574750374,1.2940732019472636],[0.4143644814555942,1.4240732025173257]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.28981269584871305,-0.8605557626500937,0.71338606911949],"aabb_xy":[[0.2837756828480483,-0.8665824637190421],[0.2958497088493778,-0.8545290615811457]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.325620250590178,0.44924575688543866,0.71338606911949],"aabb_xy":[[-0.3519090749106186,0.4229743232307873],[-0.2993314262697373,0.4755171905400898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905292163979148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/27.png","name":"27"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/27.png","name":"27"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3244.png","name":"3244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9434.png","name":"9434"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/304.png","name":"304"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.9087023695349,"rotation_z_degrees":250.77820373690798,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009378200586569522,-0.003469666835429021,-0.005472574376378474]},{"name":"camera_2","offset_m":[-0.006318157087537539,0.003257532698685641,0.006562219822441765]},{"name":"camera_3","offset_m":[0.005995453223727281,0.004780460216590381,-0.017295550033785675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016987082789535293,-0.0004692160500883876,0.0019754552003125314],"end_effector_yaw_offset_degrees":0.5524817973047138},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-3.270640381555301e-05,-0.0002420783056608436,0.0016551680069163501],"end_effector_yaw_offset_degrees":-0.7215247729889616},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002621380644300653,0.0007596076831473037,0.0011425512990003539],"end_effector_yaw_offset_degrees":0.4732341158190674}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004916912929207402,0.003976261748044022],"position_m":[0.2974169129292074,0.09317626174804403,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[5.57841736021393e-05,-0.0013408684965140493],"position_m":[0.13795578417360213,0.25485913150348594,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001802256658234704,0.004330429363912592],"position_m":[0.3497022566582347,0.3046304293639126,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034293475885704148,-0.00044620330930803843],"position_m":[0.22972934758857042,-0.40564620330930806,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"34cb327dc90eebeeef3b9725dd0d66d8f5dad4b11b086aed87d757f2eebc1b97","episode_index":153,"episode_name":"episode_0153"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0153.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_27/tex_ceiling_textures_304/tex_floor_textures_9128/tex_table_textures_3244/tex_wall_textures_9434","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":8864420417390361310,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":8864420417390361310,"visual_seed":8864420417390361310,"scene_id":"lab_003","finished_at":"2026-09-03T04:03:09"} +{"episode_id":"ep_000092","started_at":"2026-09-03T04:03:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.11471326453806163,-0.8762679863470544,0.71338606911949],"aabb_xy":[[0.0863835545895214,-0.8807287285407716],[0.14304297448660186,-0.8718072441533374]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.23646493221211773,1.4613541872583604,0.71338606911949],"aabb_xy":[[-0.2664324891219434,1.4313541869604747],[-0.20649737530229206,1.4913541875562462]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.617376339476007,1.4328806327555923,0.71338606911949],"aabb_xy":[[0.5573763386151941,1.3814542027491057],[0.6773763403368197,1.4843070627620785]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.25003119213729486,-1.3343638293230815,0.71338606911949],"aabb_xy":[[-0.3300311924109018,-1.407313377148798],[-0.17003119186368784,-1.2614142814973646]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.26691426990704226,1.5796004639386418,0.71338606911949],"aabb_xy":[[-0.2844142690414094,1.5697208369010538],[-0.24941427077267506,1.5894800909762294]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.6195808533493172,1.1360935511671668,0.71338606911949],"aabb_xy":[[0.5595808517063953,1.0840934018752226],[0.679580854992239,1.188093700459111]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.15109142433342992,0.7750985619654722,0.71338606911949],"aabb_xy":[[0.08709142228369793,0.7350040788761641],[0.21509142638316192,0.8151930450547801]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.4534309191533925,-0.1489057364641524,0.71338606911949],"aabb_xy":[[0.41843091780191083,-0.16926547242097323],[0.4884309205048743,-0.12854600050733156]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.5310143379719863,-0.2900409353246318,0.71338606911949],"aabb_xy":[[0.5121299542034761,-0.3089268601049846],[0.5498987217404965,-0.27115501054427904]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.43813025076875833,-0.8724915926990855,0.71338606911949],"aabb_xy":[[0.3953635438893382,-0.936491596120888],[0.4808969576481786,-0.808491589277283]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.40141233752889693,-1.9386424740324275,0.71338606911949],"aabb_xy":[[0.3514123380887013,-1.988610398516744],[0.45141233696909255,-1.8886745495481114]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.39279314137388877,-0.4667105372426614,0.71338606911949],"aabb_xy":[[0.36757230451404904,-0.4919342880955481],[0.4180139782337284,-0.4414867863897746]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.08656213512393685,1.5389140363493898,0.71338606911949],"aabb_xy":[[-0.12156213343463229,1.5311990214258442],[-0.0515621368132414,1.5466290512729355]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.49397860671756,-2.424529976110907,0.71338606911949],"aabb_xy":[[0.4689786067850421,-2.4314126443318305],[0.5189786066500779,-2.4176473078899834]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.05484647432678558,-0.7726455685125972,0.71338606911949],"aabb_xy":[[-0.11484647483463849,-0.8294923021985184],[0.005153526181067346,-0.7157988348266758]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.2693672187302746,0.8376594713316208,0.71338606911949],"aabb_xy":[[-0.2825981642649559,0.8244320523096212],[-0.2561362731955933,0.8508868903536201]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.4635234176648253,-1.4111454257721863,0.71338606911949],"aabb_xy":[[0.4372345933443846,-1.4374168594268375],[0.4898122419852659,-1.384873992117535]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.5047907246397165,1.8151939088349462,0.71338606911949],"aabb_xy":[[0.43479072303743704,1.801761115633289],[0.574790726241996,1.828626702036604]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.6493094441816627,0.03960280133954219,0.71338606911949],"aabb_xy":[[0.6149931670070448,-0.010397198633635522],[0.6836257213562806,0.08960280131271992]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.45657508443482486,-1.7003293479839428,0.71338606911949],"aabb_xy":[[0.42211260642173715,-1.706993025166866],[0.4910375624479127,-1.69366567080102]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.13385381658491946,-2.3391771594177664,0.71338606911949],"aabb_xy":[[0.11796932331959431,-2.35353009971659],[0.1497383098502446,-2.3248242191189417]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.01818169691757643,-0.9483695408088777,0.71338606911949],"aabb_xy":[[0.005030450946287066,-0.9733695405655644],[0.03133294288886579,-0.9233695410521913]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_22","position":[-0.07012482955389843,-1.7220038910229936,0.71338606911949],"aabb_xy":[[-0.15012483281791156,-1.735563923331907],[0.009875173710114704,-1.7084438587140802]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.1613019505608465,-1.611115390964129,0.71338606911949],"aabb_xy":[[-0.19630194975366475,-1.6220824369617914],[-0.12630195136802821,-1.6001483449664664]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.42437056386527733,1.1848935544747534,0.71338606911949],"aabb_xy":[[-0.44043249132379503,1.0998935526621614],[-0.40830863640675974,1.269893556287345]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.492023163461327,1.2111475043119673,0.71338606911949],"aabb_xy":[[-0.49926692950757234,1.131147506108365],[-0.4847793974150817,1.2911475025155696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855020204111341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6231.png","name":"6231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6231.png","name":"6231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3226.png","name":"3226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1829.png","name":"1829"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6192.png","name":"6192"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":717.6958747231473,"rotation_z_degrees":251.93210535838494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019793989018418987,0.01755415583344271,0.002556725816690572]},{"name":"camera_2","offset_m":[0.0034503628254500505,-0.009347953840876163,-0.015607380804709825]},{"name":"camera_3","offset_m":[0.005091502770313058,0.015092077340353897,-0.009253654984149913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016773802809634324,0.001554505443055455,0.0009641394684314023],"end_effector_yaw_offset_degrees":-0.8922829952938993},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003445756521340735,-0.0011262815418774017,-0.0013564176607963846],"end_effector_yaw_offset_degrees":0.40138781061459006},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008575893269588447,0.0010047927973555076,0.0013464899329374198],"end_effector_yaw_offset_degrees":-0.23272531889864378}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034082616153383594,0.0009990985600115245],"position_m":[0.2890917383846616,0.09019909856001153,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016842175475819962,-0.003810715312057387],"position_m":[0.139584217547582,0.2523892846879426,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004542148965864253,-0.003614670251067207],"position_m":[0.34335785103413574,0.2966853297489328,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002217054849316308,-0.0018190253554229495],"position_m":[0.2285170548493163,-0.40701902535542295,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c8e00d6c3344a5315889347a0ae0377d25bfab4506445018b47a14d403f0301","episode_index":154,"episode_name":"episode_0154"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0154.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6231/tex_ceiling_textures_6192/tex_floor_textures_7455/tex_table_textures_3226/tex_wall_textures_1829","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":6773035203354909657,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":6773035203354909657,"visual_seed":6773035203354909657,"scene_id":"lab_003","finished_at":"2026-09-03T04:05:48"} +{"episode_id":"ep_000093","started_at":"2026-09-03T04:05:51","dimensions":{"distractor":{"count":26,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.3117543832955936,-1.0241914956752562,0.71338606911949],"aabb_xy":[[0.28791816565498857,-1.1141914964837427],[0.3355906009361987,-0.9341914948667698]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.23772275305054813,1.571549845239279,0.71338606911949],"aabb_xy":[[0.18272275342880231,1.5165661524518064],[0.292722752672294,1.6265335380267518]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.5264108713194906,0.06002660626880152,0.71338606911949],"aabb_xy":[[0.5169933967496279,0.050610429131082484],[0.5358283458893534,0.06944278340652055]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.18571853931304172,-0.604187845252568,0.71338606911949],"aabb_xy":[[0.13571853765154696,-0.6541862875082706],[0.23571854097453648,-0.5541894029968651]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.02061941059319028,-1.8174329122178365,0.71338606911949],"aabb_xy":[[-0.02718675702057837,-1.8824329149248953],[0.06842557820695892,-1.7524329095107773]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.2668029476153206,-1.0264005218520824,0.71338606911949],"aabb_xy":[[-0.2750174927310045,-1.0350771121497233],[-0.25858840249963655,-1.0177239315544406]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.051648087716056224,0.7761832287656083,0.71338606911949],"aabb_xy":[[0.047217458361216054,0.7707348570309258],[0.05607871707089641,0.781631600500291]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.5378576014676586,-0.0076137845992660935,0.71338606911949],"aabb_xy":[[-0.555357534901642,-0.025113784519500637],[-0.5203576680336752,0.00988621532096845]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.20674510889412012,-1.6740129953908158,0.71338606911949],"aabb_xy":[[0.14274510567548224,-1.720736107289824],[0.270745112112758,-1.6272898834918073]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.07501311467118554,1.2634798697179948,0.71338606911949],"aabb_xy":[[-0.12501311331710674,1.2135603260585324],[-0.025013116025264362,1.3133994133774571]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.595661014922907,1.0957378110561349,0.71338606911949],"aabb_xy":[[-0.6325115628598947,1.0582378102331014],[-0.5588104669859195,1.1332378118791688]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.09752037933612512,-2.514015206930805,0.71338606911949],"aabb_xy":[[0.07300675523911927,-2.5382798002328415],[0.12203400343313099,-2.4897506136287686]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.49995234913321795,0.3717906924293879,0.71338606911949],"aabb_xy":[[-0.5092993567155133,0.3574870702117438],[-0.4906053415509228,0.38609431464703187]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.5105293511164479,-0.6963873416810769,0.71338606911949],"aabb_xy":[[0.43052935371285456,-0.7763799128792596],[0.5905293485200414,-0.6163947704828939]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.4274993593141237,1.7367945878969793,0.71338606911949],"aabb_xy":[[-0.49149936165692526,1.6918537366528468],[-0.36349935697132213,1.7817354391411118]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.27242163111012996,-2.1770870450644106,0.71338606911949],"aabb_xy":[[0.2349216312930964,-2.1817252563755525],[0.3099216309271635,-2.172448833753269]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.3959420886079881,0.07085287876351165,0.71338606911949],"aabb_xy":[[-0.45106729423757885,0.010852877322224506],[-0.3408168829783973,0.13085288020479877]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.6293001401721428,1.2403467262261367,0.71338606911949],"aabb_xy":[[0.5843001387059139,1.195346869364656],[0.6743001416383716,1.2853465830876174]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.5546152198565412,-1.7892666577146832,0.71338606911949],"aabb_xy":[[-0.589615219833037,-1.7987312737622998],[-0.5196152198800453,-1.7798020416670666]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.13884545111298752,-0.4763937217609926,0.71338606911949],"aabb_xy":[[-0.143744743419551,-0.5040706410635613],[-0.13394615880642402,-0.4487168024584237]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.4925371208386645,0.4881168536690845,0.71338606911949],"aabb_xy":[[-0.5575371189945837,0.4618206091191722],[-0.4275371226827455,0.5144130982189966]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.6434148181213744,-2.5009075589303555,0.71338606911949],"aabb_xy":[[0.6096392589306814,-2.5149460541435205],[0.6771903773120673,-2.4868690637171906]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.6975048053778923,-2.1302168366530414,0.71338606911949],"aabb_xy":[[0.6857366185832349,-2.215216836558263],[0.7092729921725499,-2.04521683674782]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.2506190816932316,1.429049242654012,0.71338606911949],"aabb_xy":[[-0.3306190838559941,1.3490940590278682],[-0.17061907953046912,1.5090044262801554]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.30110502929624916,-1.4702678561696634,0.71338606911949],"aabb_xy":[[0.2211050307089297,-1.5495834581078243],[0.38110502788356854,-1.3909522542315025]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[-0.041384886004641075,0.740553118251253,0.71338606911949],"aabb_xy":[[-0.05888488513900824,0.7306734912136651],[-0.0238848868702739,0.7504327452888407]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.682281043347196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8370.png","name":"8370"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/206.png","name":"206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3476.png","name":"3476"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":596.5845197728318,"rotation_z_degrees":141.18009091052167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0036769824434436313,-0.01789286340966662,-0.004499392195877543]},{"name":"camera_2","offset_m":[0.006190418503340615,-0.0075770590790786765,-0.0068882350141781234]},{"name":"camera_3","offset_m":[-0.009337800213564904,0.012216210287661216,-0.019457042066002836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010595446172061893,-0.0006640772321587893,-0.0010394609907613123],"end_effector_yaw_offset_degrees":0.486114778391159},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013397726189473423,-0.001668516916985907,-0.0017517453042263473],"end_effector_yaw_offset_degrees":0.7730493526670454},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005500077737470095,-0.0009312106448806827,-0.0005363330969854684],"end_effector_yaw_offset_degrees":0.8055127100243509}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00061248126510852,0.0033340685834648736],"position_m":[0.2931124812651085,0.09253406858346487,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022382943055377124,0.0025616855089121886],"position_m":[0.1356617056944623,0.25876168550891215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004888222323538476,-0.0007604043084170238],"position_m":[0.3430117776764615,0.299539595691583,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002258716907204099,0.003417140739727229],"position_m":[0.2240412830927959,-0.4017828592602728,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"31ffa633b9408148b4c9c533e21adbd31d738919bf8afa1e13c6b1bc7da27ea9","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0155.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_394/tex_ceiling_textures_9184/tex_floor_textures_3476/tex_table_textures_8370/tex_wall_textures_206","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3369692189230544701,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3369692189230544701,"visual_seed":3369692189230544701,"scene_id":"lab_003","finished_at":"2026-09-03T04:08:33"} +{"episode_id":"ep_000094","started_at":"2026-09-03T04:09:57","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.6544499700331613,-2.47114685165112,0.71338606911949],"aabb_xy":[[-0.6719966649492802,-2.508646853215371],[-0.6369032751170424,-2.433646850086869]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.3237883804412198,1.3240393567982793,0.71338606911949],"aabb_xy":[[0.3086860789802016,1.3089378351672172],[0.3388906819022378,1.339140878429341]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.1132394319227541,-1.9287362757842321,0.71338606911949],"aabb_xy":[[0.023552355614638643,-2.0187362760386827],[0.20292650823086955,-1.8387362755297816]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.17852541171974556,-1.2619348399031223,0.71338606911949],"aabb_xy":[[0.174611538524323,-1.270683855309679],[0.18243928491516806,-1.2531858244965655]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.5366659466165146,0.3305252096710585,0.71338606911949],"aabb_xy":[[-0.60666594842526,0.3091714409068711],[-0.46666594480776913,0.35187897843524585]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.5234585383740492,-0.21828524370357494,0.71338606911949],"aabb_xy":[[-0.5412520453089655,-0.23608498929937258],[-0.5056650314391327,-0.20048549810777724]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.15443260186330698,-0.11138246798522067,0.71338606911949],"aabb_xy":[[-0.19193260304809973,-0.1158006906812812],[-0.11693260067851415,-0.10696424528916011]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.29977243473750875,1.3840592187362808,0.71338606911949],"aabb_xy":[[-0.38977243841442677,1.3226268121591762],[-0.20977243106059046,1.445491625313385]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.17697810872029096,-1.80218428681595,0.71338606911949],"aabb_xy":[[-0.2119781070309864,-1.8098993017394958],[-0.14197811040959551,-1.7944692718924045]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[0.5017959166284607,0.5829932344404716,0.71338606911949],"aabb_xy":[[0.46429591652286767,0.5761710725874903],[0.5392959167340535,0.5898153962934526]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.09620198079406483,1.2643173847199103,0.71338606911949],"aabb_xy":[[0.0162019803238489,1.256006677105562],[0.1762019812642808,1.2726280923342586]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.2535892270557645,1.6819406016276628,0.71338606911949],"aabb_xy":[[0.24559523847806108,1.6739405215325722],[0.26158321563346787,1.689940681722753]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.5569251018960834,1.586640816799029,0.71338606911949],"aabb_xy":[[-0.5656230641867986,1.5745158424915542],[-0.5482271396053681,1.5987657911065036]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.6103370096955385,0.02879335111086956,0.71338606911949],"aabb_xy":[[-0.6403045666053643,-0.0012066491870161844],[-0.580369452785713,0.0587933514087553]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[-0.035601939341909916,-0.7251745010524779,0.71338606911949],"aabb_xy":[[-0.04993636446807336,-0.7372347166070169],[-0.021267514215746457,-0.7131142854979392]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.3093241785366785,-2.1201337556731086,0.71338606911949],"aabb_xy":[[0.29343968527135333,-2.1344866959719324],[0.32520867180200363,-2.1057808153742847]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[0.08180884658773135,-1.2833457065592562,0.71338606911949],"aabb_xy":[[0.031808847147535735,-1.3333136310435723],[0.13180884602792697,-1.2333777820749396]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.138621024386142,0.7404053219456475,0.71338606911949],"aabb_xy":[[0.11233220006570131,0.7141338882909961],[0.16490984870658262,0.7666767556002986]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.23891921470902278,-2.506916998089,0.71338606911949],"aabb_xy":[[-0.30291921705182434,-2.5518578493331323],[-0.1749192123662212,-2.4619761468448673]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.6411939491142503,-0.45166670567825484,0.71338606911949],"aabb_xy":[[-0.6839606559936704,-0.5156667091000573],[-0.59842724223483,-0.38766670225645244]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.35529007843674876,-2.5472343551825993,0.71338606911949],"aabb_xy":[[0.3202900792439304,-2.558201401180262],[0.3902900776295669,-2.536267309184937]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.526775598619402,-1.5910830385627202,0.71338606911949],"aabb_xy":[[0.4717833479838912,-1.6460830403060334],[0.5817678492549131,-1.5360830368194078]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.32850318485840146,1.0611493788818738,0.71338606911949],"aabb_xy":[[0.3060031846148861,1.0489447442221018],[0.3510031851019169,1.0733540135416457]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.04948514295019968,-1.689299249716681,0.71338606911949],"aabb_xy":[[-0.059896701630683384,-1.694644983052579],[-0.03907358426971596,-1.6839535163807822]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[0.547447885708322,-2.1671508445368532,0.71338606911949],"aabb_xy":[[0.5249478861846145,-2.189646791987474],[0.5699478852320293,-2.1446548970862325]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.6384548281862661,0.07079292299921036,0.71338606911949],"aabb_xy":[[0.6324178151856014,0.06476622193026217],[0.6444918411869308,0.07681962406815858]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.5862413029154764,0.8956866678723179,0.71338606911949],"aabb_xy":[[-0.6084138298921271,0.8735110007161946],[-0.5640687759388254,0.917862335028441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918804614537933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2070.png","name":"2070"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2070.png","name":"2070"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6873.png","name":"6873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4221.png","name":"4221"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":683.9823741249056,"rotation_z_degrees":267.96845443034925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009924331960959095,0.016809504203766177,0.007271382093477073]},{"name":"camera_2","offset_m":[0.009571999736291567,-0.006532312349756483,-0.013055386614602829]},{"name":"camera_3","offset_m":[-0.012451400511703316,-0.00735761818210535,-0.003893459510976697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011290357451049838,0.0007017771611831638,0.0019839909007352205],"end_effector_yaw_offset_degrees":0.6233957666588645},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[7.601535368306723e-05,-4.716978198959429e-05,0.00042500013970116603],"end_effector_yaw_offset_degrees":-0.3870261309502294},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015663876330945935,-0.0006826004194524988,0.0003259295406724755],"end_effector_yaw_offset_degrees":0.015438796265266896}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010761693090268597,-0.0006159158897476435],"position_m":[0.29357616930902686,0.08858408411025236,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010666362232879508,-0.004398671409340188],"position_m":[0.13896663622328795,0.2518013285906598,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003349611502232415,0.004244709064644292],"position_m":[0.3512496115022324,0.3045447090646443,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002154746159407397,0.00027817676723880785],"position_m":[0.2241452538405926,-0.4049218232327612,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a5fe6a891ca6c4bcd1dcde234ed5868928c073093922859d51afdf8e3cdcbf2","episode_index":157,"episode_name":"episode_0157"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0157.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2070/tex_ceiling_textures_7400/tex_floor_textures_4221/tex_table_textures_6873/tex_wall_textures_9258","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3998349874142912965,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3998349874142912965,"visual_seed":3998349874142912965,"scene_id":"lab_003","finished_at":"2026-09-03T04:12:31"} +{"episode_id":"ep_000095","started_at":"2026-09-03T04:13:56","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.47196600550612794,-2.0767064358519334,0.71338606911949],"aabb_xy":[[-0.4760819556182005,-2.0808219908847785],[-0.46785005539405516,-2.0725908808190874]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.10632807431102897,-0.41822281260651817,0.71338606911949],"aabb_xy":[[-0.15632807533016424,-0.45468902834434616],[-0.05632807329189371,-0.3817565968686903]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.23680148591376138,1.3684462009301162,0.71338606911949],"aabb_xy":[[0.16680148431148192,1.3550134077284588],[0.30680148751604086,1.381878994131774]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.11077933664936124,1.4182088848145775,0.71338606911949],"aabb_xy":[[-0.145241684047503,1.3837150024167544],[-0.07631698925121942,1.4527027672123998]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.11837976055590005,0.84544842831236,0.71338606911949],"aabb_xy":[[0.0633797609341542,0.7904647355248873],[0.1733797601776459,0.9004321210998327]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.6265814710878139,-1.9210574430550056,0.71338606911949],"aabb_xy":[[0.6150124903408775,-1.9460574431719373],[0.6381504518347506,-1.8960574429380739]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.5026051434533607,-1.3210811015498414,0.71338606911949],"aabb_xy":[[0.49331152521621013,-1.3585811000379753],[0.5118987616905113,-1.2835811030617075]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.03449796679077799,-1.483226526046909,0.71338606911949],"aabb_xy":[[-0.04550203119000706,-1.490828067008761],[0.11449796477156303,-1.4756249850850571]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.6089894728904521,-1.0780125272165044,0.71338606911949],"aabb_xy":[[0.5389894707590224,-1.1007744928421999],[0.6789894750218815,-1.0552505615908085]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.6749278932671008,-1.5105569431760006,0.71338606911949],"aabb_xy":[[0.641487718071081,-1.5440005690069303],[0.7083680684631202,-1.4771133173450701]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[0.3979121308682103,-1.048132455204717,0.71338606911949],"aabb_xy":[[0.3329121329865626,-1.0992561189112582],[0.4629121287498582,-0.9970087914981764]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.5137548808753793,-0.3052087266255188,0.71338606911949],"aabb_xy":[[-0.5787548809096821,-0.3519094033058461],[-0.4487548808410766,-0.2585080499451915]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.6444850956399202,-0.6981217292089752,0.71338606911949],"aabb_xy":[[-0.6619850290739034,-0.7156217291292097],[-0.6269851622059367,-0.6806217292887407]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.15986933222961197,-1.2162150434015369,0.71338606911949],"aabb_xy":[[-0.21986933282562815,-1.2710275159467603],[-0.09986933163359579,-1.1614025708563134]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.26863137322264874,-1.7841301468496518,0.71338606911949],"aabb_xy":[[0.26060510259202274,-1.7928816418270044],[0.27665764385327474,-1.7753786518722992]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.22660689857148864,-1.3404941161532158,0.71338606911949],"aabb_xy":[[0.19876186179088157,-1.3712786148915275],[0.2544519353520958,-1.309709617414904]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.5540700979480424,1.435129973346879,0.71338606911949],"aabb_xy":[[0.5315700979378941,1.4210337537072755],[0.5765700979581907,1.449226192986482]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.1869325935633117,-1.882466922275786,0.71338606911949],"aabb_xy":[[-0.21741684369034187,-1.9324669220572817],[-0.15644834343628156,-1.8324669224942898]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.6158411180304528,0.5143774123051998,0.71338606911949],"aabb_xy":[[0.5783411179248598,0.5075552504522186],[0.6533411181360457,0.5211995741581809]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[-0.10976064022937992,-0.727504519454685,0.71338606911949],"aabb_xy":[[-0.19976064390629805,-0.7889369260317889],[-0.01976063655246175,-0.6660721128775803]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.33934877433698263,-0.8389419966393925,0.71338606911949],"aabb_xy":[[-0.40334877461096086,-0.8890080968366805],[-0.2753487740630044,-0.7888758964421045]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.6453033415927365,-2.045920937872176,0.71338606911949],"aabb_xy":[[-0.6561438198192514,-2.0631072191628244],[-0.6344628633662216,-2.028734656581527]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.4002388212419745,0.6772278927540456,0.71338606911949],"aabb_xy":[[-0.4221285688309153,0.5872278954647964],[-0.3783490736530337,0.7672278900432946]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.18125552269741008,-2.243679001326904,0.71338606911949],"aabb_xy":[[-0.18521600646714445,-2.251346865912425],[-0.1772950389276757,-2.236011136741384]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.15034862274235872,-2.194162510855633,0.71338606911949],"aabb_xy":[[0.11301734621711612,-2.2288155656504847],[0.18767989926760137,-2.15950945606078]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.3010256128506993,-2.129276594470089,0.71338606911949],"aabb_xy":[[0.2360256118935721,-2.1812248064037947],[0.3660256138078265,-2.0773283825363835]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.14795985509199028,1.8046381479534888,0.71338606911949],"aabb_xy":[[-0.1701323820686411,1.7824624807973655],[-0.1257873281153394,1.8268138151096116]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.2804882642706042,0.6250160728181786,0.71338606911949],"aabb_xy":[[-0.31548826258129964,0.617301057894633],[-0.24548826595990875,0.6327310877417243]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.48079421655571997,1.4906675238852665,0.71338606911949],"aabb_xy":[[-0.4982942168007693,1.4731677360456994],[-0.4632942163106705,1.508167311724833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881987109850181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5510.png","name":"5510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5510.png","name":"5510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4401.png","name":"4401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4371.png","name":"4371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7694.png","name":"7694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9939.png","name":"9939"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.9898191820823,"rotation_z_degrees":258.6022515246635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026349231844733575,-0.010598057205072479,-0.01095248696266999]},{"name":"camera_2","offset_m":[0.011479957692953669,-0.007349216874600453,-0.00490084002334616]},{"name":"camera_3","offset_m":[0.018107462429664826,0.015729113502415622,-0.018858767645455545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015111536176503296,-0.0008936769771513791,-0.0012657549098382824],"end_effector_yaw_offset_degrees":0.552033414750702},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009183070958535087,-0.0011806369190371347,-0.0011410453641050315],"end_effector_yaw_offset_degrees":0.03266017955889211},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010517840360619222,-0.001791843874366355,0.00023398162652249954],"end_effector_yaw_offset_degrees":-0.6570534968253074}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003366779804013862,-0.0035582113389473757],"position_m":[0.28913322019598614,0.08564178866105263,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002638814924901223,0.0024000604603954334],"position_m":[0.14053881492490122,0.2586000604603954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003533573238894306,-0.004772953077953869],"position_m":[0.3443664267611057,0.2955270469220461,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034314542447382726,-0.004711859199469292],"position_m":[0.2297314542447383,-0.4099118591994693,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc26cf87ebfbd9790a6ca4bd8d9cf1b002b7acfb0c4d95c64f4efd33f054330b","episode_index":159,"episode_name":"episode_0159"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0159.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5510/tex_ceiling_textures_9939/tex_floor_textures_7694/tex_table_textures_4401/tex_wall_textures_4371","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":4130772984715689499,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":4130772984715689499,"visual_seed":4130772984715689499,"scene_id":"lab_003","finished_at":"2026-09-03T04:16:30"} +{"episode_id":"ep_000096","started_at":"2026-09-03T04:16:33","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.37199775765686516,0.21230207071240903,0.71338606911949],"aabb_xy":[[-0.40932903418210775,0.17764901591755672],[-0.33466648113162256,0.24695512550726134]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.374799113117225,-1.6451564589720395,0.71338606911949],"aabb_xy":[[0.3667557531912699,-1.7301564600674062],[0.38284247304318025,-1.5601564578766733]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.4717368077713615,0.6786740881572744,0.71338606911949],"aabb_xy":[[-0.5517368047856094,0.6585395364838631],[-0.3917368107571134,0.6988086398306856]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.09521524264131564,-0.820045189601958,0.71338606911949],"aabb_xy":[[-0.10612101872887834,-0.9000451860007872],[-0.08430946655375292,-0.7400451932031289]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.19428312404433845,-0.24202901841343527,0.71338606911949],"aabb_xy":[[-0.2029970930942729,-0.26452901907262344],[-0.18556915499440393,-0.21952901775424702]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.46675541492892725,-2.1733074717658676,0.71338606911949],"aabb_xy":[[0.4027597175338306,-2.237307470066576],[0.5307511123240238,-2.1093074734651585]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.590273072290316,-0.7333962122458524,0.71338606911949],"aabb_xy":[[0.5002730686133977,-0.7948286188229566],[0.6802730759672341,-0.671963805668748]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.6485547510960108,-0.021591126258523552,0.71338606911949],"aabb_xy":[[0.6384730440174372,-0.1015911241506382],[0.6586364581745842,0.0584088716335911]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.6159928326430819,1.0039541605292936,0.71338606911949],"aabb_xy":[[0.5509928316859547,0.9520059485955882],[0.6809928336002091,1.0559023724629992]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.36908695021014576,0.021063428682760232,0.71338606911949],"aabb_xy":[[-0.37550076385333064,0.014653608435091886],[-0.36267313656696076,0.027473248930428566]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.5714873725045357,1.2590597824212342,0.71338606911949],"aabb_xy":[[0.4914873755414966,1.1819841407774607],[0.6514873694675749,1.3361354240650076]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.3772358681769752,0.7835053159622083,0.71338606911949],"aabb_xy":[[0.2872358687586043,0.7501298191180186],[0.4672358675953461,0.816880812806398]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.3435472771297601,-1.2088215898073873,0.71338606911949],"aabb_xy":[[-0.34797790648460025,-1.21426996154207],[-0.3391166477749199,-1.203373218072705]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.38902955464555755,-1.191102569544974,0.71338606911949],"aabb_xy":[[0.3715295553674706,-1.2084406696113197],[0.40652955392364437,-1.1737644694786278]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.3035889520810623,1.210596968828634,0.71338606911949],"aabb_xy":[[0.24358895043814044,1.1585968195366898],[0.36358895372398414,1.2625971181205782]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.12674302297048212,1.1504246528611421,0.71338606911949],"aabb_xy":[[-0.16103993398822275,1.1161277666512008],[-0.0924461119527415,1.1847215390710835]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.5473482713118556,-1.063761321479444,0.71338606911949],"aabb_xy":[[-0.5885970823417702,-1.1187613209916611],[-0.5060994602819407,-1.0087613219672262]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.3458710780369619,-1.4202389942898046,0.71338606911949],"aabb_xy":[[-0.40987108025736885,-1.4646120784150929],[-0.2818710758165548,-1.3758659101645163]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.16472749579040413,-0.9539498010424141,0.71338606911949],"aabb_xy":[[-0.17243068646448118,-0.961659171741152],[-0.1570243051163271,-0.946240430343676]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.4375292768751412,-1.1760022070805416,0.71338606911949],"aabb_xy":[[-0.4421643920273745,-1.1798695421576901],[-0.4328941617229078,-1.1721348720033926]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.5968436109769056,0.407287026886614,0.71338606911949],"aabb_xy":[[-0.6508592072588055,0.34328702399435684],[-0.5428280146950055,0.47128702977887116]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.11258399930687657,-0.9520270098437256,0.71338606911949],"aabb_xy":[[0.042583997704597074,-0.9654598030453831],[0.18258400090915605,-0.938594216642068]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[-0.4701695238750627,1.2140606136211614,0.71338606911949],"aabb_xy":[[-0.5076695241672375,1.2100191382205576],[-0.43266952358288785,1.2181020890217646]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.6322203630985977,-2.1307970624466437,0.71338606911949],"aabb_xy":[[-0.6363562194312979,-2.168297061891001],[-0.6280845067658976,-2.093297063002287]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[0.33443653934335305,1.7434385674028055,0.71338606911949],"aabb_xy":[[0.3303583814363033,1.739357587154542],[0.3385146972504028,1.7475195476510685]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.4662124418361807,-0.05897872013719896,0.71338606911949],"aabb_xy":[[-0.5072303852225517,-0.10897872076815629],[-0.4251944984498099,-0.008978719506241635]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[-0.0620249865721354,0.029693491396120653,0.71338606911949],"aabb_xy":[[-0.06799152551287119,0.023732346736756615],[-0.056058447631399604,0.03565463605548469]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.2196050012931966,-0.46322599661801034,0.71338606911949],"aabb_xy":[[-0.27960500180104947,-0.5200727303039316],[-0.15960500078534365,-0.40637926293208904]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[0.09897233112220216,1.618127654744408,0.71338606911949],"aabb_xy":[[0.0744587070251963,1.5938630614423717],[0.12348595521920802,1.6423922480464446]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.08087950642054886,-1.9227645346584215,0.71338606911949],"aabb_xy":[[0.030902089555295272,-1.97276453614767],[0.13085692328580242,-1.872764533169173]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[0.4250660086955702,-1.3864238052418167,0.71338606911949],"aabb_xy":[[0.4187539091592318,-1.3921907444950357],[0.43137810823190864,-1.3806568659885978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860333953338001,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9662.png","name":"9662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9985.png","name":"9985"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5550.png","name":"5550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.1017111684107,"rotation_z_degrees":124.03663654470063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01748274699871233,-0.013745393118722308,0.014495863534538373]},{"name":"camera_2","offset_m":[0.0008593105274115158,0.01958170702724313,0.0028180321460490147]},{"name":"camera_3","offset_m":[0.009419334627062237,-0.00696264356423479,0.002910374298760482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012502575542374253,-0.0007139634286216796,-0.0009342671220582957],"end_effector_yaw_offset_degrees":-0.24022108304803558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015010721232272704,0.0012802945689510308,-0.0007011645984112561],"end_effector_yaw_offset_degrees":0.5122371598343529},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013006458218689971,5.4707110666428905e-05,-0.0007439840773410897],"end_effector_yaw_offset_degrees":0.7365946751808485}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003999613627004563,-0.000640484336514373],"position_m":[0.29649961362700455,0.08855951566348563,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002334254116855802,0.0019527622019680927],"position_m":[0.13556574588314418,0.2581527622019681,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008092657075442879,-0.003920765294204978],"position_m":[0.3487092657075443,0.296379234705795,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044218624069015,0.0012948158195884244],"position_m":[0.2307218624069015,-0.4039051841804116,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bbf8e09dcf5b1e10eca36e3c6ea3f0e09a1d3eb4f433ff813485d69bacb9b48e","episode_index":160,"episode_name":"episode_0160"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0160.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3949/tex_ceiling_textures_341/tex_floor_textures_5550/tex_table_textures_9662/tex_wall_textures_9985","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7568436799698531353,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7568436799698531353,"visual_seed":7568436799698531353,"scene_id":"lab_003","finished_at":"2026-09-03T04:19:14"} +{"episode_id":"ep_000097","started_at":"2026-09-03T04:19:19","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.33140714371917684,-0.5776832560943861,0.71338606911949],"aabb_xy":[[-0.381407145080064,-0.6276611606698016],[-0.28140714235828956,-0.5277053515189704]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.4892113969705878,-1.6968178133845355,0.71338606911949],"aabb_xy":[[0.45806447812700474,-1.7668178120713425],[0.5203583158141709,-1.6268178146977281]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.618210299112314,1.540110962821275,0.71338606911949],"aabb_xy":[[0.5832102991358181,1.5306463467736584],[0.6532102990888098,1.5495755788688916]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.6108983398935479,-1.5299281765065842,0.71338606911949],"aabb_xy":[[0.5980264363926078,-1.6099281769204201],[0.623770243394488,-1.4499281760927478]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.15935680685033182,-1.268264695846062,0.71338606911949],"aabb_xy":[[-0.1818559425765588,-1.2907646966243247],[-0.13685767112410485,-1.2457646950677987]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.6489540937373974,-1.7338140842479737,0.71338606911949],"aabb_xy":[[0.5991373142725627,-1.783814082732277],[0.6987708732022322,-1.6838140857636703]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.6446262774251448,0.5928221024578426,0.71338606911949],"aabb_xy":[[0.5946488605598912,0.542822100968594],[0.6946036942903984,0.642822103947091]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.4817343252138553,0.6355978587070639,0.71338606911949],"aabb_xy":[[0.46472422792380463,0.6194633702087899],[0.49874442250390594,0.6517323472053378]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.22178009808721844,1.4494883674927963,0.71338606911949],"aabb_xy":[[-0.30178009836082537,1.3765388196670796],[-0.14178009781361142,1.522437915318513]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.5921362589142997,-2.3323230350556203,0.71338606911949],"aabb_xy":[[-0.6009383142232723,-2.340134361210549],[-0.5833342036053268,-2.324511708900691]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.2446663506346074,0.2620952754761601,0.71338606911949],"aabb_xy":[[-0.2597686520956254,0.24699375384509822],[-0.22956404917358925,0.27719679710722184]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[0.49881361907312183,0.1798606919884871,0.71338606911949],"aabb_xy":[[0.4914011635317334,0.17400948156685916],[0.5062260746145104,0.18571190241011507]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.5287679610250412,-1.4714759282600227,0.71338606911949],"aabb_xy":[[-0.6087679590058261,-1.4790774692218744],[-0.4487679630442561,-1.4638743872981705]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.36445844152032936,-0.9119374413025612,0.71338606911949],"aabb_xy":[[0.284458440447209,-0.9217154876399455],[0.4444584425934497,-0.9021593949651766]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.2361984104056437,-2.478464940113016,0.71338606911949],"aabb_xy":[[0.21862010821669686,-2.4960394296871207],[0.25377671259459056,-2.4608904505389106]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.45205146970459753,1.687135436846122,0.71338606911949],"aabb_xy":[[-0.4745514695184999,1.6826608204756413],[-0.42955146989069515,1.6916100532166027]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.5572394067116171,-2.246300805372542,0.71338606911949],"aabb_xy":[[0.4922394088299694,-2.2974244690790826],[0.622239404593265,-2.195177141666001]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.666677543733101,-0.5447304656142675,0.71338606911949],"aabb_xy":[[0.6515146707561639,-0.5598959229093864],[0.681840416710038,-0.5295650083191489]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.4028204979918678,-1.7821568295793913,0.71338606911949],"aabb_xy":[[-0.46282049885268056,-1.8335832595858774],[-0.34282049713105495,-1.7307303995729046]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[0.12398532359727721,-1.9953054993232766,0.71338606911949],"aabb_xy":[[0.08807181917228753,-2.0312190075400314],[0.1598988280222669,-1.959391991106522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847876759604697,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1164.png","name":"1164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8548.png","name":"8548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8460.png","name":"8460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/966.png","name":"966"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.3681679285864,"rotation_z_degrees":185.50659502536345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007634755068603014,0.00693453846958815,-0.0010411671697949064]},{"name":"camera_2","offset_m":[-0.01772708764473602,0.0011446760083288557,0.006284788168536167]},{"name":"camera_3","offset_m":[-0.0008654725682009541,-0.005637318389797743,0.010546594047724879]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011467349352641864,-0.0009152246976307894,-0.0006814492500865832],"end_effector_yaw_offset_degrees":-0.29818748583364796},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009078768286562783,0.0012004617256786438,0.0006785082824714564],"end_effector_yaw_offset_degrees":0.47982101934948695},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003089644012493804,0.0014393905466823895,0.001311403160576622],"end_effector_yaw_offset_degrees":-0.8767062637811633}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030617911991156566,0.0030293451267621027],"position_m":[0.28943820880088433,0.0922293451267621,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008842579926909219,-0.001805078333958602],"position_m":[0.13701574200730907,0.2543949216660414,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002527341469149551,0.000117441363762745],"position_m":[0.3453726585308504,0.30041744136376275,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003124078895374715,0.0012870647478683854],"position_m":[0.22942407889537472,-0.4039129352521316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"796b3a3066f84984c1782232db33b1915d89a889258773904bd38a104d5a5a4b","episode_index":161,"episode_name":"episode_0161"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0161.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1164/tex_ceiling_textures_966/tex_floor_textures_666/tex_table_textures_8548/tex_wall_textures_8460","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":5214781589062222538,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":5214781589062222538,"visual_seed":5214781589062222538,"scene_id":"lab_003","finished_at":"2026-09-03T04:21:50"} +{"episode_id":"ep_000098","started_at":"2026-09-03T04:25:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.06552860202094757,-1.351530308537039,0.71338606911949],"aabb_xy":[[-0.07149514096168336,-1.3574914531964029],[-0.05956206308021178,-1.3455691638776746]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.6866596557797713,0.1580455295905887,0.71338606911949],"aabb_xy":[[0.6705977283212536,0.07304552777799687],[0.7027215832382889,0.2430455314031805]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.15741544932737694,-2.276124299949672,0.71338606911949],"aabb_xy":[[0.1422432800457436,-2.2912931568778756],[0.17258761860901028,-2.2609554430214684]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.05792156081305533,-2.0623349009141547,0.71338606911949],"aabb_xy":[[0.00792844870386344,-2.1123349015883504],[0.10791467292224724,-2.012334900239959]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.5204275963070182,0.8081727042054729,0.71338606911949],"aabb_xy":[[0.5165137231115956,0.7994236887989161],[0.5243414695024405,0.8169217196120298]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.46481667126322823,-1.2763134967323095,0.71338606911949],"aabb_xy":[[0.4280220381383219,-1.3132193718288916],[0.5016113043881345,-1.239407621635727]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.5394665033638495,-2.0262818243404808,0.71338606911949],"aabb_xy":[[-0.5769665045486422,-2.030700047036541],[-0.5019665021790566,-2.02186360164442]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.395300157446366,1.5321737636558317,0.71338606911949],"aabb_xy":[[-0.42961643462098387,1.482173763682654],[-0.360983880271748,1.5821737636290094]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.1886937888064537,-0.9852352861905787,0.71338606911949],"aabb_xy":[[-0.25269378810062193,-1.0492214265594328],[-0.12469378951228552,-0.9212491458217243]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[0.12698373648510297,-1.3028632501313326,0.71338606911949],"aabb_xy":[[0.056983734676357534,-1.32421701889552],[0.1969837382938484,-1.2815094813671453]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.10903188630240657,1.0980138210891024,0.71338606911949],"aabb_xy":[[0.10090419810909335,1.0891002126783944],[0.11715957449571979,1.10692742949981]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.3484980208108558,1.1261219772396682,0.71338606911949],"aabb_xy":[[-0.3709980208210041,1.1120257576000647],[-0.3259980208007075,1.1402181968792713]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.34538478448707544,1.6771605425884517,0.71338606911949],"aabb_xy":[[0.32775194889354786,1.6595375965728287],[0.363017620080603,1.6947834886040747]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.003550229438650798,1.1440297976435412,0.71338606911949],"aabb_xy":[[-0.0056096495052258,1.1374985796000041],[0.012710108382527396,1.1505610156870782]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.39711904110805096,-0.5642573824593784,0.71338606911949],"aabb_xy":[[-0.40972174024512753,-0.5768527786842441],[-0.3845163419709746,-0.5516619862345131]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.6030129319672175,-2.0909420552043323,0.71338606911949],"aabb_xy":[[0.5558835529653817,-2.1549420562487334],[0.6501423109690531,-2.0269420541599295]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.4323963582214724,-1.589161929353574,0.71338606911949],"aabb_xy":[[-0.44755923119840957,-1.6043273866486927],[-0.4172334852445354,-1.5739964720584552]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.10703756825859634,0.9162536735097992,0.71338606911949],"aabb_xy":[[0.0994133001684181,0.9086204499732556],[0.11466183634877458,0.9238868970463431]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.0883203933025889,1.3311724041307476,0.71338606911949],"aabb_xy":[[-0.17832039563660795,1.2536900495456351],[0.0016796090314301626,1.4086547587158604]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.10055279622451607,-0.7841009025282566,0.71338606911949],"aabb_xy":[[-0.11643728948984121,-0.7984538428270808],[-0.08466830295919091,-0.7697479622294326]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.3208803771633425,1.6819585290044787,0.71338606911949],"aabb_xy":[[-0.33999268452132136,1.6628237501272367],[-0.30176806980536364,1.7010933078817208]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.47070294031751403,-0.8914149998698304,0.71338606911949],"aabb_xy":[[0.45979716422995126,-0.9714149962686595],[0.4816087164050767,-0.8114150034710012]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.4174556124555462,-1.5781354823081217,0.71338606911949],"aabb_xy":[[0.37995561216337137,-1.582176957708725],[0.454955612747721,-1.574094006907518]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.5203752942430294,0.1755641128673231,0.71338606911949],"aabb_xy":[[-0.5385811179042771,0.16453871228533146],[-0.5021694705817817,0.18658951344931474]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.6101331383034849,-0.029136803598690975,0.71338606911949],"aabb_xy":[[0.520133139709015,-0.045387389912112],[0.7001331368979549,-0.012886217285269952]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.39627897627926495,0.026291767325658633,0.71338606911949],"aabb_xy":[[-0.44145029412743403,-0.037708229818879786],[-0.35110765843109604,0.09029176447019706]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.4395455917925819,-0.4582461545950989,0.71338606911949],"aabb_xy":[[0.40454559044110017,-0.47860589055191965],[0.47454559314406364,-0.437886418638278]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.599172359155778,-1.0552577876373894,0.71338606911949],"aabb_xy":[[-0.6045048738103911,-1.060582115882625],[-0.593839844501165,-1.0499334593921539]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[0.280009188639307,1.3599786131290483,0.71338606911949],"aabb_xy":[[0.23870464557557097,1.295978613560931],[0.32131373170304295,1.4239786126971652]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.19653002245562823,-1.9047593771987148,0.71338606911949],"aabb_xy":[[0.18188661690159524,-1.9194180968554988],[0.2111734280096612,-1.8901006575419304]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[-0.06546527417226611,0.34973287192883085,0.71338606911949],"aabb_xy":[[-0.12946527585026346,0.3012154804495166],[-0.0014652724942687406,0.39825026340814507]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_31","position":[0.4465008684899008,1.321336254450618,0.71338606911949],"aabb_xy":[[0.41272530929920775,1.3072977592374533],[0.4802764276805937,1.3353747496637831]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_32","position":[-0.0004917200256820964,-1.8307603295114696,0.71338606911949],"aabb_xy":[[-0.012424454387510164,-1.843142482319329],[0.011441014336145972,-1.8183781767036102]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_33","position":[-0.5944404395548767,1.5195923860248999,0.71338606911949],"aabb_xy":[[-0.6584404399324103,1.4698471191740876],[-0.5304404391773431,1.5693376528757121]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909613966116683,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1068.png","name":"1068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1068.png","name":"1068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9655.png","name":"9655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3756.png","name":"3756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4780.png","name":"4780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":667.144191024798,"rotation_z_degrees":152.4339172838014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018864235825991216,-0.018564014678072973,0.017096793433866542]},{"name":"camera_2","offset_m":[-0.004954117276138339,0.003350505558596336,0.019458759848587536]},{"name":"camera_3","offset_m":[0.0038980779698838293,-0.013904271728595822,-0.0085364509446419]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009567451976971167,-0.0018594989851823235,-0.0016039423052914522],"end_effector_yaw_offset_degrees":0.5667009328687633},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00136682538769113,4.737564563448262e-05,-0.0010781417685852583],"end_effector_yaw_offset_degrees":0.6548089043993952},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-9.067248831879206e-05,0.0018406812371055286,-0.0012496755923404376],"end_effector_yaw_offset_degrees":-0.09049879932524973}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004106430550879405,-0.002914790445816865],"position_m":[0.2966064305508794,0.08628520955418313,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00165671685558219,0.004431880060163966],"position_m":[0.13955671685558219,0.26063188006016397,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004032579393916502,0.0007440249378010168],"position_m":[0.3519325793939165,0.301044024937801,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002758687650402012,-0.003906252196076949],"position_m":[0.22905868765040202,-0.40910625219607694,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"301f4254346033c74e40feaf60401c42a0937d17e144869d993a17bbc2dd12e0","episode_index":164,"episode_name":"episode_0164"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0164.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1068/tex_ceiling_textures_2167/tex_floor_textures_4780/tex_table_textures_9655/tex_wall_textures_3756","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":3012307143020993424,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":3012307143020993424,"visual_seed":3012307143020993424,"scene_id":"lab_003","finished_at":"2026-09-03T04:28:23"} +{"episode_id":"ep_000099","started_at":"2026-09-03T04:32:35","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.32331950966230405,-0.9313391324388001,0.71338606911949],"aabb_xy":[[0.31207445409168616,-0.9425809301628952],[0.33456456523292183,-0.9200973347147047]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.011392924542621863,-1.9761621303355157,0.71338606911949],"aabb_xy":[[-0.047888745169900604,-2.012646072762273],[0.02510289608465688,-1.939678187908758]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.15068872141183487,-2.5116697345989945,0.71338606911949],"aabb_xy":[[0.11318872074725615,-2.527356792599216],[0.18818872207641354,-2.495982676598772]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.5044577365588037,-2.0727792652460986,0.71338606911949],"aabb_xy":[[0.4404577401632306,-2.136742553664832],[0.5684577329543767,-2.008815976827365]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.5318990671094033,-2.461119944370166,0.71338606911949],"aabb_xy":[[0.46689906855233043,-2.4908724777840483],[0.5968990656664761,-2.431367410956283]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.5708567244987215,-1.3545245223841604,0.71338606911949],"aabb_xy":[[0.5486841975220705,-1.3767001895402835],[0.5930292514753722,-1.3323488552280374]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.04825335866217051,1.103927075126232,0.71338606911949],"aabb_xy":[[-0.06575335779653767,1.094047448088644],[-0.030753359527803333,1.1138067021638196]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.613211617455514,-0.08516874070927027,0.71338606911949],"aabb_xy":[[-0.6632116188164012,-0.13514664528468587],[-0.5632116160946268,-0.035190836133854646]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.3405074621489541,0.5781778999687051,0.71338606911949],"aabb_xy":[[0.301961769323753,0.5396321289125166],[0.3790531549741551,0.6167236710248938]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.3509475035555826,0.37343119920412304,0.71338606911949],"aabb_xy":[[-0.4159475046615258,0.34846582613599475],[-0.28594750244963923,0.39839657227225134]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.6970426375300156,0.3549816839072495,0.71338606911949],"aabb_xy":[[0.6814868681197505,0.33943125066284235],[0.712598406940281,0.37053211715165674]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.2080026893268344,0.7150077339253302,0.71338606911949],"aabb_xy":[[0.17050268882947617,0.7110390503772118],[0.24550268982419265,0.7189764174734486]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.3190584102290497,-0.5559083313137165,0.71338606911949],"aabb_xy":[[0.2845960628309078,-0.590402213711539],[0.35352075762719143,-0.5214144489158936]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.6553735099848166,-0.9221051340173558,0.71338606911949],"aabb_xy":[[-0.6878352108667439,-0.9522379661322583],[-0.622911809102889,-0.8919723019024531]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.17446292401393015,0.8497903078620483,0.71338606911949],"aabb_xy":[[-0.17941894419881138,0.8272903076599268],[-0.16950690382904898,0.8722903080641701]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.37380544475941013,0.7720883516378252,0.71338606911949],"aabb_xy":[[0.35492106099089993,0.7532024268574725],[0.39268982852792034,0.7909742764181781]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.17485811144637242,-2.309915137671423,0.71338606911949],"aabb_xy":[[0.1676143454001271,-2.3899151358750252],[0.18210187749261775,-2.2299151394678205]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.004966909959019494,-2.52818629616437,0.71338606911949],"aabb_xy":[[-0.045016040228459835,-2.57818629580693],[0.05494986014649882,-2.4781862965218093]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.3280275923679092,-2.044900099684012,0.71338606911949],"aabb_xy":[[-0.3585118424949393,-2.0949000994655074],[-0.29754334224087897,-1.9949000999025155]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.24928550352402762,-0.12315604858752716,0.71338606911949],"aabb_xy":[[-0.26678550280211444,-0.1404941486538731],[-0.23178550424594072,-0.10581794852118119]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.3921638994611285,-1.5952722600133118,0.71338606911949],"aabb_xy":[[-0.39706319176769195,-1.6229491793158803],[-0.38726460715456495,-1.5675953407107428]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.3601516241359626,0.768753546025728,0.71338606911949],"aabb_xy":[[-0.430151625944708,0.7473997772615406],[-0.29015162232721714,0.7901073147899154]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.08602666466760811,1.743503732840241,0.71338606911949],"aabb_xy":[[-0.11950583192864905,1.710024619469134],[-0.052547497406567174,1.776982846211348]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.3961257658545694,1.2284669032785365,0.71338606911949],"aabb_xy":[[0.3786950507755628,1.2111947886146854],[0.41355648093357583,1.245739017942387]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.3983615496828514,0.8955553203979321,0.71338606911949],"aabb_xy":[[-0.42086154969299966,0.8814591007583288],[-0.3758615496727031,0.9096515400375353]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.19054577705425468,-1.4224907903693977,0.71338606911949],"aabb_xy":[[0.1005457733773365,-1.4839231969465019],[0.28054578073117287,-1.3610583837922932]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.05801323370004896,0.7192483494374691,0.71338606911949],"aabb_xy":[[-0.08916015254363208,0.6492483507506619],[-0.026866314856465838,0.7892483481242762]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.5772750013102909,-1.4271416918937432,0.71338606911949],"aabb_xy":[[-0.599771422744155,-1.4496416917004906],[-0.5547785798764268,-1.4046416920869957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690135933435594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6104.png","name":"6104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6104.png","name":"6104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7993.png","name":"7993"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6240.png","name":"6240"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":596.9931153235514,"rotation_z_degrees":34.88534150596655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017284182639358856,0.003093255852528204,-0.004982324417309548]},{"name":"camera_2","offset_m":[0.01950988601409483,0.01294037665695166,-0.01357096848310393]},{"name":"camera_3","offset_m":[0.003141578487676315,-0.01852369251246926,-0.01570813255589866]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019062257146153076,0.001515557055470516,0.00013161703751715355],"end_effector_yaw_offset_degrees":-0.015061647545834722},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00047899664622067157,0.000560814824999113,0.0008989158238555633],"end_effector_yaw_offset_degrees":-0.2056474283520211},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018993730000010825,0.00160318633393187,0.0006476359866357138],"end_effector_yaw_offset_degrees":0.7454577920864693}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00013","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020677080060480836,-0.0025133428337946527],"position_m":[0.2945677080060481,0.08668665716620536,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004872759668892313,-0.004312781984153501],"position_m":[0.1427727596688923,0.25188721801584646,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020609600579419643,0.0029095007088899743],"position_m":[0.34996096005794197,0.30320950070888997,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.683754783967083e-06,0.0047098518977626855],"position_m":[0.22630368375478396,-0.4004901481022373,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44f97117a09b871b8c05f4fab4f2f9dfd6be3077ded214ca82400e028660165f","episode_index":167,"episode_name":"episode_0167"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/dataset/episode_0167.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6104/tex_ceiling_textures_9663/tex_floor_textures_6240/tex_table_textures_901/tex_wall_textures_7993","seeds":{"action_seed":6120436585598675838,"physical_seed":1711303898980266923,"visual_seed":7351399535847067466,"layout_id":"layout_00013","physical_randomization_enabled":true},"episode_seed":7351399535847067466,"visual_seed":7351399535847067466,"scene_id":"lab_003","finished_at":"2026-09-03T04:35:06"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b0c8822b45ab3ce20309c7038915e5d960d7d7fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_lbk_00013 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at home. + layout_id: layout_00013 + reproducibility: + enabled: true + layout_id: layout_00013 + action_seed: 6120436585598675838 + step_seeds: + - 5975741771095771893 + - 3504213630932996537 + - 7867242958540830227 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2925 + - 0.2925 + 'y': + - 0.0892 + - 0.0892 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1379 + - 0.1379 + 'y': + - 0.2562 + - 0.2562 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3479 + - 0.3479 + 'y': + - 0.3003 + - 0.3003 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2263 + - 0.2263 + 'y': + - -0.4052 + - -0.4052 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb4b26a855c5759665d20429cfac2759f37b14a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31310719678213805, + 0.0940087988805936, + 1.0522141320664868 + ], + "current_z": 1.0522141320664868, + "required_z": 0.861106634216408, + "initial_z": 0.761106634216408, + "lift_margin": 0.19110749785007886, + "gripper_z": 1.0555329835283953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30811712307096134, + 0.0891780830814441, + 1.0555329835283953 + ], + "object_minus_gripper": [ + 0.004990073711176712, + 0.004830715799149496, + -0.0033188514619084675 + ], + "object_to_gripper_xy": 0.0069452610300210806, + "object_to_gripper_z": -0.0033188514619084675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31310719678213805, + 0.06964902062815609, + 1.0522141320664868 + ], + "finger_b": [ + 0.30128234223972594, + 0.0940087988805936, + 1.0522141320664868 + ], + "finger_midpoint": [ + 0.307194769510932, + 0.08182890975437485, + 1.0522141320664868 + ], + "object_minus_finger_midpoint": [ + 0.0059124272712060555, + 0.012179889126218757, + 0.0 + ], + "finger_gap": 0.0270781458275328, + "fingertip_max_gap": 0.09336274044156498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0135390729137664, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522141320664868, + "object_top_z": 1.1037533036342655, + "finger_top_clearance": 0.05153917156777865, + "fingertip_min_top_clearance": 0.015461751470333594, + "object_projection_between_fingers": 0.8092986494132036, + "object_to_finger_line_xy": 0.010637760663346436, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04918137022078249, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1235062986885864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31349424903020995, + 0.09139353005850581, + 1.2455708331951278 + ], + "held_position": [ + 0.31882848591371526, + 0.09573291974499029, + 1.2420785855772078 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007712339424933544, + "max_held_gripper_dist": 0.007722219925036562, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003492247617919997, + "max_held_gripper_z_dist": 0.0035162323379187566, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744543092397791, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31882848591371526, + 0.07021220992850433, + 1.2420785855772078 + ], + "held_grasp_finger_b": [ + 0.30935846496692054, + 0.09573291974499029, + 1.2420785855772078 + ], + "held_grasp_midpoint": [ + 0.3140934754403179, + 0.08297256483674731, + 1.2420785855772078 + ], + "held_grasp_object_position": [ + 0.31882848591371526, + 0.09573291974499029, + 1.2420785855772078 + ], + "held_grasp_finger_gap": 0.02722109340695215, + "held_grasp_max_gap": 0.1249658665060997, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02466007831222726, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0808867278837584, + -0.9962919331961254, + 0.029321001016102466 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003706853920496964, + "held_grasp_line_xy_max_dist": 0.04748293325304985, + "held_grasp_object_top_z": 0.0497206375002861, + "held_grasp_top_clearance": 0.0366245993367956, + "held_grasp_min_top_clearance": 0.01491619125008583 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27548355165727845, + 0.09804999285157476, + 0.761112728046165 + ], + "target_position": [ + 0.2886029322137272, + 0.09072249495650991, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015026988107638363, + "xy_threshold": 0.08, + "gripper_dist": 0.20516023683411022, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761112728046165, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753372945220441, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660382762714554, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782503264893823, + "release_required_pad_clearance": 0.05330191381357277, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6031891252341925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "944e0eac404e558f41c588911c6cf436da9fd299e2ec859bdcfc4999f3c2a03c", + "visual_seed": 5415377452721373539, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc89a812951a7a16a3ad8c9b2080284d2b2fc95 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.314280486330715, + 0.09249085874972378, + 1.0487471527932133 + ], + "current_z": 1.0487471527932133, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18764064477844733, + "gripper_z": 1.0522171104967835, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3093183976151276, + 0.08769293197575001, + 1.0522171104967835 + ], + "object_minus_gripper": [ + 0.004962088715587398, + 0.004797926773973768, + -0.00346995770357017 + ], + "object_to_gripper_xy": 0.006902349292072528, + "object_to_gripper_z": -0.00346995770357017, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.314280486330715, + 0.0681278071852799, + 1.0487471527932133 + ], + "finger_b": [ + 0.3025360220133376, + 0.09249085874972378, + 1.0487471527932133 + ], + "finger_midpoint": [ + 0.30840825417202633, + 0.08030933296750184, + 1.0487471527932133 + ], + "object_minus_finger_midpoint": [ + 0.0058722321586886506, + 0.012181525782221939, + 0.0 + ], + "finger_gap": 0.02704608518129567, + "fingertip_max_gap": 0.0933368431830616, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013523042590647823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487471527932133, + "object_top_z": 1.0998836483213834, + "finger_top_clearance": 0.05113649552817012, + "fingertip_min_top_clearance": 0.015340948658451002, + "object_projection_between_fingers": 0.8114365122541419, + "object_to_finger_line_xy": 0.010579386548664563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491684215915308, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1325802028568486, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31449225775949163, + 0.09037618732128075, + 1.2431662808708905 + ], + "held_position": [ + 0.3197659133002598, + 0.09471928445874224, + 1.239537235645817 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007735884225719124, + "max_held_gripper_dist": 0.0077455787516248036, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036290452250735683, + "max_held_gripper_z_dist": 0.0036517786826897325, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08734366763632324, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3197659133002598, + 0.06928792175546362, + 1.239537235645817 + ], + "held_grasp_finger_b": [ + 0.31019280159307583, + 0.09471928445874224, + 1.239537235645817 + ], + "held_grasp_midpoint": [ + 0.31497935744666783, + 0.08200360310710293, + 1.239537235645817 + ], + "held_grasp_object_position": [ + 0.3197659133002598, + 0.09471928445874224, + 1.239537235645817 + ], + "held_grasp_finger_gap": 0.027173492169832218, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024742177452939974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06553605555699547, + -0.9975698797439847, + 0.023650802303566865 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00395466515106672, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036721777362929746, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27842066909329827, + 0.08510952878958633, + 0.7611064581166196 + ], + "target_position": [ + 0.28988886619051507, + 0.09001592432286261, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012473662725501494, + "xy_threshold": 0.08, + "gripper_dist": 0.20723643063131197, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064581166196, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593165621886191, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08802531211745339, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17645334553907494, + "release_required_pad_clearance": 0.054012656058726696, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.036533180081779, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5644f40cc3d6dad8e4764586a3e473ff910fc84c98a1e202e7dc8c7c316628a", + "visual_seed": 919760010581109267, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7317de517dabc3a7632143db6470aea1cd4ed9de --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3128177430384748, + 0.0945374464733387, + 1.049710481028459 + ], + "current_z": 1.049710481028459, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.18860397301369325, + "gripper_z": 1.0532842748030253, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3074466094682105, + 0.08957689273721454, + 1.0532842748030253 + ], + "object_minus_gripper": [ + 0.005371133570264308, + 0.004960553736124154, + -0.0035737937745663473 + ], + "object_to_gripper_xy": 0.007311372593336734, + "object_to_gripper_z": -0.0035737937745663473, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3128177430384748, + 0.06981717868786692, + 1.049710481028459 + ], + "finger_b": [ + 0.30091486161230846, + 0.0945374464733387, + 1.049710481028459 + ], + "finger_midpoint": [ + 0.30686630232539164, + 0.08217731258060282, + 1.049710481028459 + ], + "object_minus_finger_midpoint": [ + 0.005951440713083178, + 0.01236013389273588, + 0.0 + ], + "finger_gap": 0.027436658426834883, + "fingertip_max_gap": 0.09477901157643628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013718329213417436, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049710481028459, + "object_top_z": 1.101424334543681, + "finger_top_clearance": 0.05171385351522195, + "fingertip_min_top_clearance": 0.015514156054566602, + "object_projection_between_fingers": 0.8117903957656514, + "object_to_finger_line_xy": 0.010724426119828137, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049889505788218144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7517306486673259, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3128460274639354, + 0.09185026629967823, + 1.2439833402812812 + ], + "held_position": [ + 0.3185258863274439, + 0.09633230063749383, + 1.240227196367452 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008152180420975102, + "max_held_gripper_dist": 0.008161758926986368, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037561439138291686, + "max_held_gripper_z_dist": 0.0037824609920400487, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697693766825607, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3185258863274439, + 0.07063798773228491, + 1.240227196367452 + ], + "held_grasp_finger_b": [ + 0.30875693557371514, + 0.09633230063749383, + 1.240227196367452 + ], + "held_grasp_midpoint": [ + 0.3136414109505795, + 0.08348514418488936, + 1.240227196367452 + ], + "held_grasp_object_position": [ + 0.3185258863274439, + 0.09633230063749383, + 1.240227196367452 + ], + "held_grasp_finger_gap": 0.027488727044000474, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025112475597891322, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05439652753416867, + -0.9980369076671348, + 0.031037859566139907 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004197778463606591, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663261527249426, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27693177676886327, + 0.10250022790985427, + 0.7611063962814245 + ], + "target_position": [ + 0.28795793282873683, + 0.09237818692115342, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014967692916198764, + "xy_threshold": 0.08, + "gripper_dist": 0.20760821747047448, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063962814245, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752121627307168, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0917355524131704, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1811838775742014, + "release_required_pad_clearance": 0.0558677762065852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.946102073147944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64dc4657e2a27edc3b383055a2f7a54cad12e1828662d410d6984b2b3c71652a", + "visual_seed": 6809495470245389581, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f1888e5707540cba7b832d5cff3385121928edec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3169527482592608, + 0.08954382582793391, + 1.0498459094392527 + ], + "current_z": 1.0498459094392527, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18873946102913153, + "gripper_z": 1.0529821875759395, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3119915246388484, + 0.08468106514406319, + 1.0529821875759395 + ], + "object_minus_gripper": [ + 0.004961223620412403, + 0.004862760683870718, + -0.003136278136686821 + ], + "object_to_gripper_xy": 0.006946954820663278, + "object_to_gripper_z": -0.003136278136686821, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3169527482592608, + 0.06530832102143719, + 1.0498459094392527 + ], + "finger_b": [ + 0.30493902666689277, + 0.08954382582793391, + 1.0498459094392527 + ], + "finger_midpoint": [ + 0.3109458874630768, + 0.07742607342468555, + 1.0498459094392527 + ], + "object_minus_finger_midpoint": [ + 0.00600686079618401, + 0.01211775240324836, + 0.0 + ], + "finger_gap": 0.027049754152758124, + "fingertip_max_gap": 0.09170372275607327, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013524877076379062, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498459094392527, + "object_top_z": 1.1003704064946083, + "finger_top_clearance": 0.050524497055355555, + "fingertip_min_top_clearance": 0.015157349116606666, + "object_projection_between_fingers": 0.8027447903382436, + "object_to_finger_line_xy": 0.01076381714049923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835186137803664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.667033128207464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31754288027954924, + 0.08661621699589801, + 1.241697544516943 + ], + "held_position": [ + 0.3228866595224582, + 0.09092907396642982, + 1.2383528630064133 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007638298649050583, + "max_held_gripper_dist": 0.007647140973757437, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003344681510529579, + "max_held_gripper_z_dist": 0.003365424688579477, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700711962029664, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3228866595224582, + 0.06532448077108749, + 1.2383528630064133 + ], + "held_grasp_finger_b": [ + 0.3136001230173589, + 0.09092907396642982, + 1.2383528630064133 + ], + "held_grasp_midpoint": [ + 0.3182433912699085, + 0.07812677736875866, + 1.2383528630064133 + ], + "held_grasp_object_position": [ + 0.3228866595224582, + 0.09092907396642982, + 1.2383528630064133 + ], + "held_grasp_finger_gap": 0.027236647241529438, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02464314138101508, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09145061811691882, + -0.9956182740372146, + 0.019520165193752544 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034623648333191232, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03654941987603086, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2802645473911873, + 0.09079670354119382, + 0.7611210730540936 + ], + "target_position": [ + 0.2924575598824066, + 0.08757166891211463, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012612311523657785, + "xy_threshold": 0.08, + "gripper_dist": 0.20686929679286006, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611210730540936, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573176571338452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0905260668126149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17852978693710936, + "release_required_pad_clearance": 0.05526303340630745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.570901672903241, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dddf54b211381899ec59fe6ed4a457264b852191b912daba90f8436c9ebbc876", + "visual_seed": 5088905655238578919, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e32dbfd6a50677b9a4babf5592e1d564cd99b4bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31429087828551217, + 0.09472922461274479, + 1.0523384477742588 + ], + "current_z": 1.0523384477742588, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.19123199936413782, + "gripper_z": 1.0558576245395466, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30944607264856894, + 0.08993486583701196, + 1.0558576245395466 + ], + "object_minus_gripper": [ + 0.004844805636943228, + 0.004794358775732824, + -0.0035191767652877903 + ], + "object_to_gripper_xy": 0.006816011864001061, + "object_to_gripper_z": -0.0035191767652877903, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31429087828551217, + 0.07057306878741185, + 1.0523384477742588 + ], + "finger_b": [ + 0.30238481136095763, + 0.09472922461274479, + 1.0523384477742588 + ], + "finger_midpoint": [ + 0.3083378448232349, + 0.08265114670007831, + 1.0523384477742588 + ], + "object_minus_finger_midpoint": [ + 0.0059530334622772685, + 0.012078077912666477, + 0.0 + ], + "finger_gap": 0.026930917063288765, + "fingertip_max_gap": 0.09372146692081526, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01346545853164439, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0523384477742588, + "object_top_z": 1.103817145033699, + "finger_top_clearance": 0.05147869725944032, + "fingertip_min_top_clearance": 0.015443609177832062, + "object_projection_between_fingers": 0.8045505944300968, + "object_to_finger_line_xy": 0.010679354409673403, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936073346040763, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3112599213114042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31485556324651776, + 0.09243455941941274, + 1.2468218804666211 + ], + "held_position": [ + 0.3200662761709491, + 0.09671336844026053, + 1.243140817723933 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007681793978839301, + "max_held_gripper_dist": 0.007692050098037267, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036810627426882014, + "max_held_gripper_z_dist": 0.0037031612290707727, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620464183875665, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3200662761709491, + 0.07129901286114329, + 1.243140817723933 + ], + "held_grasp_finger_b": [ + 0.31063302656845393, + 0.09671336844026053, + 1.243140817723933 + ], + "held_grasp_midpoint": [ + 0.3153496513697015, + 0.08400619065070192, + 1.243140817723933 + ], + "held_grasp_object_position": [ + 0.3200662761709491, + 0.09671336844026053, + 1.243140817723933 + ], + "held_grasp_finger_gap": 0.02710859029099048, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024579050343481897, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07891701812917687, + -0.9964248038690054, + 0.03016147350865528 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003719484688601211, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668628096845695, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28996342325266183, + 0.09602668647985395, + 0.7611156282118593 + ], + "target_position": [ + 0.2899602952248239, + 0.09190098998801097, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004125697677649641, + "xy_threshold": 0.08, + "gripper_dist": 0.21235049190969074, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611156282118593, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587804197049393, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08903473917751935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18280385996223655, + "release_required_pad_clearance": 0.054517369588759676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.065375758962042, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f3fc3a77c75e7ba59e7e42082eabc047cd7fff18816cd10ad128d58be1ff457b", + "visual_seed": 777224857891007355, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..363aca0110a9bceebe3d8eea5f913511a52ee16d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3199481632069556, + 0.08735338868842897, + 1.048751047037928 + ], + "current_z": 1.048751047037928, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1876445986278069, + "gripper_z": 1.0521339377185421, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.314962531464128, + 0.0825346048472085, + 1.0521339377185421 + ], + "object_minus_gripper": [ + 0.004985631742827623, + 0.004818783841220475, + -0.003382890680614148 + ], + "object_to_gripper_xy": 0.0069337725361810045, + "object_to_gripper_z": -0.003382890680614148, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3199481632069556, + 0.06298212410232057, + 1.048751047037928 + ], + "finger_b": [ + 0.3081554523412715, + 0.08735338868842897, + 1.048751047037928 + ], + "finger_midpoint": [ + 0.31405180777411357, + 0.07516775639537476, + 1.048751047037928 + ], + "object_minus_finger_midpoint": [ + 0.00589635543284206, + 0.012185632293054208, + 0.0 + ], + "finger_gap": 0.027074463375803513, + "fingertip_max_gap": 0.09577867242404511, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013537231687901764, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048751047037928, + "object_top_z": 1.10139336627205, + "finger_top_clearance": 0.052642319234122104, + "fingertip_min_top_clearance": 0.015792695770236613, + "object_projection_between_fingers": 0.8102824156645048, + "object_to_finger_line_xy": 0.010615289865797142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05038933621202256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.968972672795026, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3204068239210205, + 0.08457903515503887, + 1.2443139632133566 + ], + "held_position": [ + 0.32575244643864887, + 0.08888909738247741, + 1.2407667880109776 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007728827105178423, + "max_held_gripper_dist": 0.007737388671027349, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003547175202379016, + "max_held_gripper_z_dist": 0.003570562616689754, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716985955530439, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32575244643864887, + 0.06334585471627997, + 1.2407667880109776 + ], + "held_grasp_finger_b": [ + 0.31634350145409473, + 0.08888909738247741, + 1.2407667880109776 + ], + "held_grasp_midpoint": [ + 0.3210479739463718, + 0.07611747604937869, + 1.2407667880109776 + ], + "held_grasp_object_position": [ + 0.32575244643864887, + 0.08888909738247741, + 1.2407667880109776 + ], + "held_grasp_finger_gap": 0.027221048687121066, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024757573359459252, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07368176980828968, + -0.996382542754852, + 0.042341767692122396 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037904837048351086, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664819567187466, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.279095906845089, + 0.09304298851940103, + 0.7611064780600266 + ], + "target_position": [ + 0.29548257823098434, + 0.08515791536881476, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018185086683857668, + "xy_threshold": 0.08, + "gripper_dist": 0.2035388346138455, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064780600266, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536272436086747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08725015672762236, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17699360085211754, + "release_required_pad_clearance": 0.05362507836381118, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.259730699473599, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b78cadda32d11067c01c8d30262299c6747f6bd4a1427b9b06a209a866d6bd76", + "visual_seed": 8314089717719161225, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c7b87f49de60a4ae5957847d5a4897213b711e7c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3220188961892662, + 0.09629356471143471, + 1.0503003946352019 + ], + "current_z": 1.0503003946352019, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.18919400582972523, + "gripper_z": 1.0534597823879441, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3169307898559234, + 0.09137921356341006, + 1.0534597823879441 + ], + "object_minus_gripper": [ + 0.0050881063333428345, + 0.004914351148024659, + -0.003159387752742271 + ], + "object_to_gripper_xy": 0.007073872579110734, + "object_to_gripper_z": -0.003159387752742271, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3220188961892662, + 0.07194209706535913, + 1.0503003946352019 + ], + "finger_b": [ + 0.3099636193583916, + 0.09629356471143471, + 1.0503003946352019 + ], + "finger_midpoint": [ + 0.3159912577738289, + 0.08411783088839692, + 1.0503003946352019 + ], + "object_minus_finger_midpoint": [ + 0.0060276384154372975, + 0.012175733823037799, + 0.0 + ], + "finger_gap": 0.027172112100219366, + "fingertip_max_gap": 0.09297117591031764, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358605605010969, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503003946352019, + "object_top_z": 1.1014276327915549, + "finger_top_clearance": 0.051127238156353005, + "fingertip_min_top_clearance": 0.0153381714469059, + "object_projection_between_fingers": 0.8031626179740675, + "object_to_finger_line_xy": 0.010803859583265777, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048985587955158824, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1004928756149295, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32253394833714366, + 0.09336941354160462, + 1.242250326145571 + ], + "held_position": [ + 0.3280030183645501, + 0.09773658127794553, + 1.2388906090969511 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007763412886662653, + "max_held_gripper_dist": 0.007772720376751905, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033597170486199257, + "max_held_gripper_z_dist": 0.0033820948220624203, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0876566578778129, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3280030183645501, + 0.07210019016134771, + 1.2388906090969511 + ], + "held_grasp_finger_b": [ + 0.3185590371954484, + 0.09773658127794553, + 1.2388906090969511 + ], + "held_grasp_midpoint": [ + 0.32328102777999923, + 0.08491838571964662, + 1.2388906090969511 + ], + "held_grasp_object_position": [ + 0.3280030183645501, + 0.09773658127794553, + 1.2388906090969511 + ], + "held_grasp_finger_gap": 0.027320566059390546, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024745209636891377, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08385902292063209, + -0.9961297810626514, + 0.026327239788309746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036465717773811706, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036555682218327654, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2919395955275465, + 0.09695827006241962, + 0.7611063602328526 + ], + "target_position": [ + 0.2974288336313393, + 0.09407365619531924, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00620102669905547, + "xy_threshold": 0.08, + "gripper_dist": 0.21145293522642758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063602328526, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530710050689038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08905385975272677, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18304137797415637, + "release_required_pad_clearance": 0.054526929876363386, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.086886275319399, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39676da5522131143b112baf2ec4c0f807683fda7c3013a1f11ee506a860cfd9", + "visual_seed": 2122673564923285831, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8293c2f85a6f6dda7c194295111349b478a8aa5b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31723190176351224, + 0.09019769147089729, + 1.0513295019824371 + ], + "current_z": 1.0513295019824371, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.19022287475838162, + "gripper_z": 1.0546618464308701, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3121358457486753, + 0.08534073476771338, + 1.0546618464308701 + ], + "object_minus_gripper": [ + 0.005096056014836925, + 0.0048569567031839095, + -0.003332344448433 + ], + "object_to_gripper_xy": 0.007039873246228138, + "object_to_gripper_z": -0.003332344448433, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31723190176351224, + 0.06572906752483404, + 1.0513295019824371 + ], + "finger_b": [ + 0.3054131868552731, + 0.09019769147089729, + 1.0513295019824371 + ], + "finger_midpoint": [ + 0.31132254430939266, + 0.07796337949786566, + 1.0513295019824371 + ], + "object_minus_finger_midpoint": [ + 0.005909357454119579, + 0.012234311973031625, + 0.0 + ], + "finger_gap": 0.0271734351876257, + "fingertip_max_gap": 0.09338427123809731, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358671759381285, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0513295019824371, + "object_top_z": 1.102676205700659, + "finger_top_clearance": 0.05134670371822181, + "fingertip_min_top_clearance": 0.015404011115466541, + "object_projection_between_fingers": 0.8108303653417179, + "object_to_finger_line_xy": 0.010642294160405847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04919213561904866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1269523159679742, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31745247341674004, + 0.08798837235947723, + 1.2459874907274104 + ], + "held_position": [ + 0.3228643968952503, + 0.09238354355222854, + 1.242498038218403 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007796327620326127, + "max_held_gripper_dist": 0.007806491947399664, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034894525090074513, + "max_held_gripper_z_dist": 0.0035138447734970324, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623177797443096, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3228643968952503, + 0.06688808728403432, + 1.242498038218403 + ], + "held_grasp_finger_b": [ + 0.31316597651067274, + 0.09238354355222854, + 1.242498038218403 + ], + "held_grasp_midpoint": [ + 0.3180151867029615, + 0.07963581541813143, + 1.242498038218403 + ], + "held_grasp_object_position": [ + 0.3228643968952503, + 0.09238354355222854, + 1.242498038218403 + ], + "held_grasp_finger_gap": 0.027277786718855942, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024767279598624136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06799985801984777, + -0.9973059724964525, + 0.027510298656787877 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003986997061131628, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036677119061614916, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2832953820960307, + 0.09250109047499626, + 0.7611078289688215 + ], + "target_position": [ + 0.2926991802410493, + 0.08756466269445945, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010620722140453082, + "xy_threshold": 0.08, + "gripper_dist": 0.20839226175195666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078289688215, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523084332988522, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08904586101148258, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1807834695554728, + "release_required_pad_clearance": 0.05452293050574129, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.076721185405537, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "264b8b61e684cc5f1acf1c3d94f61df2cebbd1d0f0d74c1f502bde9b4b57853c", + "visual_seed": 4265003581707498034, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..12946d312dd3c62b1eb21a6757de51dab29223da --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31384437330020354, + 0.09557085906846063, + 1.0502056315604147 + ], + "current_z": 1.0502056315604147, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18909918315029361, + "gripper_z": 1.053576806744278, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30890155178605283, + 0.09070654803774025, + 1.053576806744278 + ], + "object_minus_gripper": [ + 0.004942821514150708, + 0.004864311030720381, + -0.0033711751838632065 + ], + "object_to_gripper_xy": 0.006934912135300567, + "object_to_gripper_z": -0.0033711751838632065, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31384437330020354, + 0.07135837792103555, + 1.0502056315604147 + ], + "finger_b": [ + 0.3018266640978258, + 0.09557085906846063, + 1.0502056315604147 + ], + "finger_midpoint": [ + 0.3078355186990147, + 0.0834646184947481, + 1.0502056315604147 + ], + "object_minus_finger_midpoint": [ + 0.006008854601188829, + 0.01210624057371254, + 0.0 + ], + "finger_gap": 0.027030900425019676, + "fingertip_max_gap": 0.0927331615123804, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013515450212509826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502056315604147, + "object_top_z": 1.1010570251851943, + "finger_top_clearance": 0.05085139362477964, + "fingertip_min_top_clearance": 0.015255418087433907, + "object_projection_between_fingers": 0.8023383772042705, + "object_to_finger_line_xy": 0.010764663881802446, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488665807561902, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0670153960398796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3142535222820845, + 0.09331359284359705, + 1.2442016242957068 + ], + "held_position": [ + 0.3195717691567773, + 0.09765405511646798, + 1.2406633649229706 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077228648797678535, + "max_held_gripper_dist": 0.00773294172089165, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003538259372736219, + "max_held_gripper_z_dist": 0.003561951758060067, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611500051010126, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3195717691567773, + 0.07218354448696482, + 1.2406633649229706 + ], + "held_grasp_finger_b": [ + 0.3100281956268266, + 0.09765405511646798, + 1.2406633649229706 + ], + "held_grasp_midpoint": [ + 0.31479998239180196, + 0.0849187998017164, + 1.2406633649229706 + ], + "held_grasp_object_position": [ + 0.3195717691567773, + 0.09765405511646798, + 1.2406633649229706 + ], + "held_grasp_finger_gap": 0.02719975565054233, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02463755538206179, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07837628576090616, + -0.9966641657674772, + 0.02275298893208899 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037704459936752253, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665348253290053, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27754659957376676, + 0.09766922840909095, + 0.7611063281390381 + ], + "target_position": [ + 0.28942518141568174, + 0.09265248180289029, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012894512518350516, + "xy_threshold": 0.08, + "gripper_dist": 0.2077305361705206, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063281390381, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544758493460177, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701874753164714, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801422376052296, + "release_required_pad_clearance": 0.05350937376582357, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.03097076506449, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5860b86628ee1045d94823e212cc8fb00ddf1c9133517a9d140ea796748088fc", + "visual_seed": 4809947189455581921, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9734f5acb9a0c4e078d98d3b173142bc0ff873 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3152302906637825, + 0.09641622010550555, + 1.051933219354043 + ], + "current_z": 1.051933219354043, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19082671133927676, + "gripper_z": 1.0552678001804874, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3100456394161856, + 0.09148973748787467, + 1.0552678001804874 + ], + "object_minus_gripper": [ + 0.005184651247596872, + 0.004926482617630873, + -0.0033345808264444443 + ], + "object_to_gripper_xy": 0.0071519815115132215, + "object_to_gripper_z": -0.0033345808264444443, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3152302906637825, + 0.07194684596525026, + 1.051933219354043 + ], + "finger_b": [ + 0.3032260169350429, + 0.09641622010550555, + 1.051933219354043 + ], + "finger_midpoint": [ + 0.3092281537994127, + 0.0841815330353779, + 1.051933219354043 + ], + "object_minus_finger_midpoint": [ + 0.006002136864369789, + 0.012234687070127648, + 0.0 + ], + "finger_gap": 0.027255327159480237, + "fingertip_max_gap": 0.09164192749605862, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013627663579740126, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051933219354043, + "object_top_z": 1.1022121573075738, + "finger_top_clearance": 0.05027893795353089, + "fingertip_min_top_clearance": 0.015083681386059233, + "object_projection_between_fingers": 0.8060146284799282, + "object_to_finger_line_xy": 0.010777234976186875, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048320963748029314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7148702685059548, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31542924741713363, + 0.09389438317108172, + 1.2457536213529377 + ], + "held_position": [ + 0.3209489664001267, + 0.09832024601257111, + 1.2422321668860663 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00790292357960894, + "max_held_gripper_dist": 0.007912623054701263, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035214544668713543, + "max_held_gripper_z_dist": 0.003543558090970622, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0874108346172014, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3209489664001267, + 0.0727244892409995, + 1.2422321668860663 + ], + "held_grasp_finger_b": [ + 0.31127876220216066, + 0.09832024601257111, + 1.2422321668860663 + ], + "held_grasp_midpoint": [ + 0.3161138643011437, + 0.0855223676267853, + 1.2422321668860663 + ], + "held_grasp_object_position": [ + 0.3209489664001267, + 0.09832024601257111, + 1.2422321668860663 + ], + "held_grasp_finger_gap": 0.027361571847023227, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02480497556184569, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07414904312343815, + -0.9971188653534797, + 0.0159964921175777 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038784003227759476, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660072590108478, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27023793032344084, + 0.08798012928394724, + 0.7611067640503414 + ], + "target_position": [ + 0.2905732855945202, + 0.09249520253449871, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020830567934140953, + "xy_threshold": 0.08, + "gripper_dist": 0.20251531904051903, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067640503414, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550153338417105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557012553041123, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17355709122051702, + "release_required_pad_clearance": 0.052785062765205615, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6167523888261535, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "047ee70a9c10c93a61b468af85f71368f1b93b315d70f45c6bb3d6fdf8570471", + "visual_seed": 104402243264611124, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..668a8a2566fb4f53edc7834b111b545c3b8ef315 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.318204248791113, + 0.09662401734126122, + 1.0528416617550487 + ], + "current_z": 1.0528416617550487, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1917352133449275, + "gripper_z": 1.0559596490805163, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31353341083138847, + 0.09193486279623302, + 1.0559596490805163 + ], + "object_minus_gripper": [ + 0.004670837959724505, + 0.004689154545028204, + -0.0031179873254676416 + ], + "object_to_gripper_xy": 0.006618526844635598, + "object_to_gripper_z": -0.0031179873254676416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.318204248791113, + 0.07256564181019615, + 1.0528416617550487 + ], + "finger_b": [ + 0.30648345992891135, + 0.09662401734126122, + 1.0528416617550487 + ], + "finger_midpoint": [ + 0.31234385436001216, + 0.08459482957572868, + 1.0528416617550487 + ], + "object_minus_finger_midpoint": [ + 0.005860394431100813, + 0.012029187765532537, + 0.0 + ], + "finger_gap": 0.02676158300149788, + "fingertip_max_gap": 0.09662873113570994, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01338079150074894, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528416617550487, + "object_top_z": 1.105734625802365, + "finger_top_clearance": 0.05289296404731636, + "fingertip_min_top_clearance": 0.01586788921419489, + "object_projection_between_fingers": 0.8081816783163143, + "object_to_finger_line_xy": 0.010536863232320304, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05081436556785497, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.251978496517198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31899611238922665, + 0.09418333528995639, + 1.2462482793637502 + ], + "held_position": [ + 0.32403373394071344, + 0.09837459577174723, + 1.2429544846663783 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073343969643496305, + "max_held_gripper_dist": 0.007343283227079204, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003293794697371899, + "max_held_gripper_z_dist": 0.0033153948796940114, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08735728671736184, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32403373394071344, + 0.07299914505443558, + 1.2429544846663783 + ], + "held_grasp_finger_b": [ + 0.3148696826744867, + 0.09837459577174723, + 1.2429544846663783 + ], + "held_grasp_midpoint": [ + 0.31945170830760006, + 0.0856868704130914, + 1.2429544846663783 + ], + "held_grasp_object_position": [ + 0.32403373394071344, + 0.09837459577174723, + 1.2429544846663783 + ], + "held_grasp_finger_gap": 0.02697949841484724, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024618989563944402, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07252753008260275, + -0.9963817332546991, + 0.044308001720666394 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003693914529035412, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03674610928423308, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27698140879120203, + 0.09992170202025596, + 0.7611063899618593 + ], + "target_position": [ + 0.29404674401427233, + 0.09261826836964161, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018562483922274248, + "xy_threshold": 0.08, + "gripper_dist": 0.20201667841627305, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063899618593, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555584882138851, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09043766873745947, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17540217559820562, + "release_required_pad_clearance": 0.055218834368729736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.539029449408342, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe79a7a5df1a71f11024bb10e878a3fc9a298782f4331040f77a96f0453fcad2", + "visual_seed": 4709627780272756538, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4f7481299dfd6416fe7c845aac6a1a5f67d3b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3204196430015572, + 0.09135690837861339, + 1.0496401276107492 + ], + "current_z": 1.0496401276107492, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18853355999133858, + "gripper_z": 1.0527941423968652, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31550744395619984, + 0.08661838987377825, + 1.0527941423968652 + ], + "object_minus_gripper": [ + 0.004912199045357335, + 0.004738518504835143, + -0.0031540147861159884 + ], + "object_to_gripper_xy": 0.006825192823787076, + "object_to_gripper_z": -0.0031540147861159884, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3204196430015572, + 0.06698557051953895, + 1.0496401276107492 + ], + "finger_b": [ + 0.30880167883135307, + 0.09135690837861339, + 1.0496401276107492 + ], + "finger_midpoint": [ + 0.3146106609164551, + 0.07917123944907617, + 1.0496401276107492 + ], + "object_minus_finger_midpoint": [ + 0.005808982085102055, + 0.012185668929537222, + 0.0 + ], + "finger_gap": 0.026998874059880752, + "fingertip_max_gap": 0.09367946592210716, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013499437029940376, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496401276107492, + "object_top_z": 1.1013748841628028, + "finger_top_clearance": 0.05173475655205362, + "fingertip_min_top_clearance": 0.015520426965616068, + "object_projection_between_fingers": 0.8148307960837875, + "object_to_finger_line_xy": 0.010487301411113583, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04933973296105358, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2575544431401087, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3210187000287186, + 0.08864847766401261, + 1.2411657030861387 + ], + "held_position": [ + 0.3262481931429389, + 0.09291056588479603, + 1.23780428810979 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007537380504965933, + "max_held_gripper_dist": 0.007546428989745265, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033614149763487866, + "max_held_gripper_z_dist": 0.00338179928968807, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697034033361857, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3262481931429389, + 0.06735777265975781, + 1.23780428810979 + ], + "held_grasp_finger_b": [ + 0.31708033111136485, + 0.09291056588479603, + 1.23780428810979 + ], + "held_grasp_midpoint": [ + 0.3216642621271519, + 0.08013416927227693, + 1.23780428810979 + ], + "held_grasp_object_position": [ + 0.3262481931429389, + 0.09291056588479603, + 1.23780428810979 + ], + "held_grasp_finger_gap": 0.02714765065031477, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0247213723432025, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08030201738303208, + -0.9962734772370125, + 0.03147609502919957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035665618973056224, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662336608226911, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28594142477625767, + 0.09006210120527264, + 0.7611065234993929 + ], + "target_position": [ + 0.2960138753314471, + 0.08902898770245357, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010125294252338666, + "xy_threshold": 0.08, + "gripper_dist": 0.2086210650915432, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065234993929, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589413763981648, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09408227393008538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1790654217372445, + "release_required_pad_clearance": 0.05704113696504269, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.619809709537918, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09d6f90932949de7c70d7c49d3d37e01a2bf366f442ebbd7e2e94a6c43d978f7", + "visual_seed": 3981783165052987641, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_115_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2fab242fb56273d25a808f84d2b31d52d3fd8624 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_115_success.json @@ -0,0 +1,684 @@ +{ + "episode": 115, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3205394643351519, + 0.09258111821642494, + 1.04927119292674 + ], + "current_z": 1.04927119292674, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1881647445166189, + "gripper_z": 1.05248590233341, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31545727919865874, + 0.08764100042604571, + 1.05248590233341 + ], + "object_minus_gripper": [ + 0.005082185136493167, + 0.004940117790379228, + -0.0032147094066701243 + ], + "object_to_gripper_xy": 0.007087550320414904, + "object_to_gripper_z": -0.0032147094066701243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3205394643351519, + 0.06827647865614503, + 1.04927119292674 + ], + "finger_b": [ + 0.3084016688303396, + 0.09258111821642494, + 1.04927119292674 + ], + "finger_midpoint": [ + 0.31447056658274575, + 0.08042879843628498, + 1.04927119292674 + ], + "object_minus_finger_midpoint": [ + 0.006068897752406155, + 0.012152319780139961, + 0.0 + ], + "finger_gap": 0.02716692076536767, + "fingertip_max_gap": 0.09312071700053817, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583460382683842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04927119292674, + "object_top_z": 1.1002686149724579, + "finger_top_clearance": 0.05099742204571789, + "fingertip_min_top_clearance": 0.015299226613715383, + "object_projection_between_fingers": 0.800382413489807, + "object_to_finger_line_xy": 0.010858968793287767, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906035850026909, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.247890952445294, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3207841076488281, + 0.08990967315351739, + 1.2411098152159146 + ], + "held_position": [ + 0.3262312255122747, + 0.09432641512328431, + 1.2376979352098467 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007798693981788559, + "max_held_gripper_dist": 0.007808101505284502, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034118800060678467, + "max_held_gripper_z_dist": 0.003437724847068724, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0865445254954585, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3262312255122747, + 0.06873998301564682, + 1.2376979352098467 + ], + "held_grasp_finger_b": [ + 0.31664001431402766, + 0.09432641512328431, + 1.2376979352098467 + ], + "held_grasp_midpoint": [ + 0.32143561991315117, + 0.08153319906946557, + 1.2376979352098467 + ], + "held_grasp_object_position": [ + 0.3262312255122747, + 0.09432641512328431, + 1.2376979352098467 + ], + "held_grasp_finger_gap": 0.02732502223691907, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024784528220561628, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.075381510931945, + -0.9969161821799665, + 0.021811774740656986 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038280618588171058, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036604985968023, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2872557644065652, + 0.0882183519426209, + 0.7611145602443222 + ], + "target_position": [ + 0.2960054729033401, + 0.0875841580101134, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008772662122900014, + "xy_threshold": 0.08, + "gripper_dist": 0.209059002004333, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611145602443222, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580098487266378, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09402467694782989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1798526597326731, + "release_required_pad_clearance": 0.057012338473914945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.50917844031694, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 115, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f7142724cdc1e1ee78134217bec176bba6fc78730ce5135238d73b27d8b881b", + "visual_seed": 5063519649479663047, + "episode_index": 115, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4cea8d1d04b5482423f67d7ae8026e2b532388a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31871843573747327, + 0.09591690890500905, + 1.0520320522083777 + ], + "current_z": 1.0520320522083777, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19092554419361163, + "gripper_z": 1.0554076658790597, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3132704288519079, + 0.09090365795680358, + 1.0554076658790597 + ], + "object_minus_gripper": [ + 0.0054480068855653485, + 0.005013250948205469, + -0.003375613670681954 + ], + "object_to_gripper_xy": 0.0074036115575339635, + "object_to_gripper_z": -0.003375613670681954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31871843573747327, + 0.07116837742586107, + 1.0520320522083777 + ], + "finger_b": [ + 0.30670570816054477, + 0.09591690890500905, + 1.0520320522083777 + ], + "finger_midpoint": [ + 0.312712071949009, + 0.08354264316543505, + 1.0520320522083777 + ], + "object_minus_finger_midpoint": [ + 0.006006363788464253, + 0.012374265739573995, + 0.0 + ], + "finger_gap": 0.02750991519819494, + "fingertip_max_gap": 0.09526989668426347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013754957599097476, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520320522083777, + "object_top_z": 1.1039424583030772, + "finger_top_clearance": 0.051910406094699546, + "fingertip_min_top_clearance": 0.015573121828409897, + "object_projection_between_fingers": 0.8093201711929224, + "object_to_finger_line_xy": 0.010806916867833553, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05013494834213174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9752591523375147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31875306532329606, + 0.09306048156629021, + 1.2446725881861165 + ], + "held_position": [ + 0.32451214735489775, + 0.09758997817666734, + 1.2410911493001762 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008155370615972077, + "max_held_gripper_dist": 0.008164808790260646, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035814388859403135, + "max_held_gripper_z_dist": 0.0036075062309686157, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695382405261239, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32451214735489775, + 0.07182792617231683, + 1.2410911493001762 + ], + "held_grasp_finger_b": [ + 0.31471503054514394, + 0.09758997817666734, + 1.2410911493001762 + ], + "held_grasp_midpoint": [ + 0.31961358895002084, + 0.08470895217449209, + 1.2410911493001762 + ], + "held_grasp_object_position": [ + 0.32451214735489775, + 0.09758997817666734, + 1.2410911493001762 + ], + "held_grasp_finger_gap": 0.027562054010157173, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025200110781833464, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.052415767762553446, + -0.9981205758351, + 0.031747494144738646 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004236833324989483, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660667127973566, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2831021650602862, + 0.10149257881442184, + 0.7611066225387375 + ], + "target_position": [ + 0.2938002992888386, + 0.09119876700672469, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014846300465247568, + "xy_threshold": 0.08, + "gripper_dist": 0.2051647947689656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066225387375, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526967598381133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0912966952109983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17892702614829079, + "release_required_pad_clearance": 0.05564834760549915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.4648109845416695, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4076c42fdc895668c3076f33eb01066e3a30a724430ce7d41bcfe26d4aabc493", + "visual_seed": 3157730318609117613, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee4467e7e27e42cb8a9d07fd2df645750b1c9a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3184667653753175, + 0.09577419146442921, + 1.050422086060914 + ], + "current_z": 1.050422086060914, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18931557804614796, + "gripper_z": 1.0534918714384982, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3134625281951632, + 0.09092589868648977, + 1.0534918714384982 + ], + "object_minus_gripper": [ + 0.005004237180154303, + 0.004848292777939439, + -0.0030697853775842887 + ], + "object_to_gripper_xy": 0.006967663354084956, + "object_to_gripper_z": -0.0030697853775842887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3184667653753175, + 0.07143340665690695, + 1.050422086060914 + ], + "finger_b": [ + 0.30657619314268725, + 0.09577419146442921, + 1.050422086060914 + ], + "finger_midpoint": [ + 0.31252147925900237, + 0.08360379906066809, + 1.050422086060914 + ], + "object_minus_finger_midpoint": [ + 0.005945286116315118, + 0.012170392403761124, + 0.0 + ], + "finger_gap": 0.02708984151052759, + "fingertip_max_gap": 0.09233877446124425, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01354492075526379, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050422086060914, + "object_top_z": 1.1012543369370156, + "finger_top_clearance": 0.05083225087610166, + "fingertip_min_top_clearance": 0.015249675262830498, + "object_projection_between_fingers": 0.8073395445556114, + "object_to_finger_line_xy": 0.010683925922574217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866938723062213, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8251227882677991, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3189273427715736, + 0.09319373592898204, + 1.2430825365886988 + ], + "held_position": [ + 0.3242859933879918, + 0.09753404280492897, + 1.2398212459921423 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007628198775688773, + "max_held_gripper_dist": 0.007637067355895943, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003261290596556554, + "max_held_gripper_z_dist": 0.003283449428594709, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692013089722947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3242859933879918, + 0.07197739219494392, + 1.2398212459921423 + ], + "held_grasp_finger_b": [ + 0.3148620770804294, + 0.09753404280492897, + 1.2398212459921423 + ], + "held_grasp_midpoint": [ + 0.3195740352342106, + 0.08475571749993645, + 1.2398212459921423 + ], + "held_grasp_object_position": [ + 0.3242859933879918, + 0.09753404280492897, + 1.2398212459921423 + ], + "held_grasp_finger_gap": 0.02723880667306829, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024699444191306, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08130925247084862, + -0.9964410505213944, + 0.022226972318600827 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036687029741003935, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036604276384126326, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28814749177121124, + 0.0930193484268295, + 0.7611087285539271 + ], + "target_position": [ + 0.2939790402547658, + 0.09282394636194914, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005834821306861665, + "xy_threshold": 0.08, + "gripper_dist": 0.20902172647463568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611087285539271, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556990710706976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856983453456736, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17967537929146182, + "release_required_pad_clearance": 0.0528491726728368, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7327260094899765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 214, + "max_placed_release_frames": 214 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ad95554fd4eb4e68af6798d7af926796b52108fd503e83e986ecbcdbf0b74441", + "visual_seed": 4170206037287429905, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64077402f57c1cc973d3aa6a3f9a66eb22a09196 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3157991883755858, + 0.09632612978563818, + 1.0187507411417585 + ], + "current_z": 1.0187507411417585, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.15764411391770283, + "gripper_z": 1.0533026265677696, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3091877668202847, + 0.09075054219098988, + 1.0533026265677696 + ], + "object_minus_gripper": [ + 0.006611421555301089, + 0.005575587594648296, + -0.034551885426011175 + ], + "object_to_gripper_xy": 0.00864858786204406, + "object_to_gripper_z": -0.034551885426011175, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3157991883755858, + 0.07079907225631095, + 1.0397322070980468 + ], + "finger_b": [ + 0.3027964292737694, + 0.09632612978563818, + 1.0398321866764257 + ], + "finger_midpoint": [ + 0.3092978088246776, + 0.08356260102097457, + 1.0397821968872363 + ], + "object_minus_finger_midpoint": [ + 0.006501379550908182, + 0.012763528764663606, + -0.021031455745477823 + ], + "finger_gap": 0.028648078579226643, + "fingertip_max_gap": 0.09867579151523573, + "finger_z_skew": 9.997957837892812e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014323952059098855, + "object_to_finger_midpoint_z": 0.021031455745477823, + "finger_midpoint_minus_object_z": 0.021031455745477823, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0187507411417585, + "object_top_z": 1.0712407604499443, + "finger_top_clearance": 0.03145856356270804, + "fingertip_min_top_clearance": 0.01574700579245576, + "object_projection_between_fingers": 0.7939914125698943, + "object_to_finger_line_xy": 0.011586263981566685, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051837895757617866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.187333750016531, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 190, + "max_stable_success_frames": 190, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31690057813043515, + 0.08663960149429054, + 1.2148908881577536 + ], + "held_position": [ + 0.32335472405146953, + 0.08986930110331452, + 1.1799224166550855 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03570547518753178, + "max_held_gripper_dist": 0.03572727208698986, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03496847150266813, + "max_held_gripper_z_dist": 0.03500164195506428, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0883722538273727, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32335472405146953, + 0.06348148367891197, + 1.2014949002779054 + ], + "held_grasp_finger_b": [ + 0.3164696488824364, + 0.09727043499593166, + 1.2001487566421971 + ], + "held_grasp_midpoint": [ + 0.31991218646695296, + 0.08037595933742181, + 1.2008218284600511 + ], + "held_grasp_object_position": [ + 0.32335472405146953, + 0.08986930110331452, + 1.1799224166550855 + ], + "held_grasp_finger_gap": 0.034509558007530625, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03270342180618252, + "held_grasp_world_z_skew": 0.0013461436357082857, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.12324382352305926, + -0.9906660782044442, + 0.05823814435954322 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020414276199730852, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03867410395755888, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27707865227318323, + 0.09372856805599564, + 0.7611066551240395 + ], + "target_position": [ + 0.28875507794385696, + 0.09355099632481391, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011677775822582113, + "xy_threshold": 0.08, + "gripper_dist": 0.20656703722601277, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066551240395, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578912163043841, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09029148524847448, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17713425777694797, + "release_required_pad_clearance": 0.05514574262423724, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.383182340109651, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b18d039b13e391ecba103876462e16a1a5568dc7cc75634c06cbb05ed0d63b4", + "visual_seed": 6526394957458898689, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1257b55c6a2869218b51ad716499da5610420ff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_120_success.json @@ -0,0 +1,684 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31448734113746196, + 0.09081759382184285, + 1.0213308252430222 + ], + "current_z": 1.0213308252430222, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.16022437683290114, + "gripper_z": 1.055938421237495, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3092540568646447, + 0.08564550191443847, + 1.055938421237495 + ], + "object_minus_gripper": [ + 0.0052332842728172735, + 0.0051720919074043775, + -0.03460759599447272 + ], + "object_to_gripper_xy": 0.007357839287369252, + "object_to_gripper_z": -0.03460759599447272, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31448734113746196, + 0.06572260286510939, + 1.042368943737795 + ], + "finger_b": [ + 0.30288059676814605, + 0.09081759382184285, + 1.0424706420314134 + ], + "finger_midpoint": [ + 0.30868396895280403, + 0.07827009834347612, + 1.0424197928846042 + ], + "object_minus_finger_midpoint": [ + 0.005803372184657929, + 0.012547495478366727, + -0.021088967641581968 + ], + "finger_gap": 0.027649329621459277, + "fingertip_max_gap": 0.1035094133710718, + "finger_z_skew": 0.00010169829361839078, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013824571295099708, + "object_to_finger_midpoint_z": 0.021088967641581968, + "finger_midpoint_minus_object_z": 0.021088967641581968, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0213308252430222, + "object_top_z": 1.0751709755304255, + "finger_top_clearance": 0.03275118264582133, + "fingertip_min_top_clearance": 0.01615204508622099, + "object_projection_between_fingers": 0.8237790644502798, + "object_to_finger_line_xy": 0.010534545295026418, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.054254706685535906, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.047157385199835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 190, + "max_stable_success_frames": 190, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31578465658644206, + 0.08429176938348995, + 1.216775091055781 + ], + "held_position": [ + 0.32089689560927737, + 0.08807580237453948, + 1.1818952118272135 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03545504010015239, + "max_held_gripper_dist": 0.035468361546252755, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03487987922856761, + "max_held_gripper_z_dist": 0.03490539964413797, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748247238685503, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32089689560927737, + 0.06204494170908125, + 1.2032713035419056 + ], + "held_grasp_finger_b": [ + 0.3135351845846682, + 0.0916749676356143, + 1.202542032347074 + ], + "held_grasp_midpoint": [ + 0.3172160400969728, + 0.07685995467234777, + 1.2029066679444897 + ], + "held_grasp_object_position": [ + 0.32089689560927737, + 0.08807580237453948, + 1.1818952118272135 + ], + "held_grasp_finger_gap": 0.03053956551905222, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.029373115899774604, + "held_grasp_world_z_skew": 0.0007292711948316821, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03262578751597744, + -0.9981938840572845, + 0.050443312932387685 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020680196345021717, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03734468122333899, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2773601846107614, + 0.08663730759266547, + 0.7611091910039165 + ], + "target_position": [ + 0.2893087729867211, + 0.08795389723349127, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012020905642273748, + "xy_threshold": 0.08, + "gripper_dist": 0.2082048752227136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091910039165, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533792781086857, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09496855584589882, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17945736415610875, + "release_required_pad_clearance": 0.05748427792294941, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.666658210399673, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df38bb25408484c8922b7e5428bb64739e5b54fa2ccf60ae32ad02b9c9d10d87", + "visual_seed": 888606977254801812, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_122_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4e3fcd5891532347dfdab8daebb428a6d6f4ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_122_success.json @@ -0,0 +1,684 @@ +{ + "episode": 122, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3184233857165276, + 0.09544619469904525, + 1.0493260491406355 + ], + "current_z": 1.0493260491406355, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18821954112586958, + "gripper_z": 1.0523815094839453, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31333300848465045, + 0.09062162903174235, + 1.0523815094839453 + ], + "object_minus_gripper": [ + 0.005090377231877163, + 0.004824565667302896, + -0.003055460343309724 + ], + "object_to_gripper_xy": 0.007013442395923078, + "object_to_gripper_z": -0.003055460343309724, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3184233857165276, + 0.07095187061672388, + 1.0493260491406355 + ], + "finger_b": [ + 0.3066819343943954, + 0.09544619469904525, + 1.0493260491406355 + ], + "finger_midpoint": [ + 0.3125526600554615, + 0.08319903265788456, + 1.0493260491406355 + ], + "object_minus_finger_midpoint": [ + 0.005870725661066112, + 0.012247162041160692, + 0.0 + ], + "finger_gap": 0.027163092449126427, + "fingertip_max_gap": 0.09436741938826407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358154622456322, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493260491406355, + "object_top_z": 1.1011022844674638, + "finger_top_clearance": 0.05177623532682829, + "fingertip_min_top_clearance": 0.015532870598048486, + "object_projection_between_fingers": 0.8131534254377675, + "object_to_finger_line_xy": 0.01058785609259142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049683709694132036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4905779720971284, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3187148053765686, + 0.09276112845583502, + 1.2445039716056254 + ], + "held_position": [ + 0.3241390419449577, + 0.09710877942509935, + 1.2412848810271322 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076607411816963485, + "max_held_gripper_dist": 0.0076691903922140574, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032190905784932333, + "max_held_gripper_z_dist": 0.0032439207387231495, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748324743556364, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3241390419449577, + 0.07156044319929125, + 1.2412848810271322 + ], + "held_grasp_finger_b": [ + 0.31460258570769273, + 0.09710877942509935, + 1.2412848810271322 + ], + "held_grasp_midpoint": [ + 0.3193708138263252, + 0.0843346113121953, + 1.2412848810271322 + ], + "held_grasp_object_position": [ + 0.3241390419449577, + 0.09710877942509935, + 1.2412848810271322 + ], + "held_grasp_finger_gap": 0.027270157342270836, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484140168471787, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06669444344522185, + -0.9972246372805089, + 0.03308888052336856 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003929018396702936, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666352058655203, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27637826507854446, + 0.10043194114743437, + 0.7611119527365664 + ], + "target_position": [ + 0.29387700772864256, + 0.09165797206943015, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019575201856331815, + "xy_threshold": 0.08, + "gripper_dist": 0.20294760912694781, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611119527365664, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518345517740838, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595928439099114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770130107646588, + "release_required_pad_clearance": 0.05297964219549557, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9698153389482308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 122, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62eecad80a4493d52a84665dbff5d3930d5bd2a239d1b7197d1cfc29264d5dae", + "visual_seed": 3322643074211782554, + "episode_index": 122, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_126_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4501a9a3f8638eb56c2cb12d709cf77299c2e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_126_success.json @@ -0,0 +1,684 @@ +{ + "episode": 126, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3192904601919714, + 0.08852568828756417, + 1.0508800149224609 + ], + "current_z": 1.0508800149224609, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.189773506907695, + "gripper_z": 1.054009698350046, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31433246601939524, + 0.08368325681981345, + 1.054009698350046 + ], + "object_minus_gripper": [ + 0.004957994172576141, + 0.004842431467750721, + -0.003129683427585128 + ], + "object_to_gripper_xy": 0.00693042918838086, + "object_to_gripper_z": -0.003129683427585128, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3192904601919714, + 0.06424187777321391, + 1.0508800149224609 + ], + "finger_b": [ + 0.30737886015165317, + 0.08852568828756417, + 1.0508800149224609 + ], + "finger_midpoint": [ + 0.3133346601718123, + 0.07638378303038904, + 1.0508800149224609 + ], + "object_minus_finger_midpoint": [ + 0.005955800020159108, + 0.012141905257175137, + 0.0 + ], + "finger_gap": 0.0270479143117797, + "fingertip_max_gap": 0.09291184298131858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013523957155889856, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508800149224609, + "object_top_z": 1.1019055525189287, + "finger_top_clearance": 0.051025537596467885, + "fingertip_min_top_clearance": 0.015307661278940399, + "object_projection_between_fingers": 0.8060576555316069, + "object_to_finger_line_xy": 0.01069431953116762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895592149065929, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.058876994989548, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31983841836555904, + 0.08583956253990839, + 1.2425257534063503 + ], + "held_position": [ + 0.3251539260530944, + 0.09016893394924778, + 1.239194832048454 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007621884010449273, + "max_held_gripper_dist": 0.00762995074883913, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003330921357896255, + "max_held_gripper_z_dist": 0.0033530160839032597, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08762150454800212, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3251539260530944, + 0.06459987778891277, + 1.239194832048454 + ], + "held_grasp_finger_b": [ + 0.31580974766673864, + 0.09016893394924778, + 1.239194832048454 + ], + "held_grasp_midpoint": [ + 0.3204818368599165, + 0.07738440586908027, + 1.239194832048454 + ], + "held_grasp_object_position": [ + 0.3251539260530944, + 0.09016893394924778, + 1.239194832048454 + ], + "held_grasp_finger_gap": 0.027222973802404543, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024734448396173125, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0798700639592164, + -0.9965470904266585, + 0.022686327276843166 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036479488673066426, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660670574664394, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2817693183716313, + 0.09621558133672735, + 0.7611083180735438 + ], + "target_position": [ + 0.29483716354061884, + 0.08424830215058304, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017719603507972546, + "xy_threshold": 0.08, + "gripper_dist": 0.20768122568174777, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083180735438, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07607569253377154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855513018911238, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1817194607186626, + "release_required_pad_clearance": 0.0527756509455619, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5987223189735009, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 126, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "753ebd31898b64e22b14be80c8b0d6d3b550d61bad115df4dbd11454d8e595b3", + "visual_seed": 3173995571673449209, + "episode_index": 126, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_127_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f1715f527e1c4af1851b6e348a9eced6599401 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_127_success.json @@ -0,0 +1,684 @@ +{ + "episode": 127, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31808524592349813, + 0.08949616040225766, + 1.0493398772215212 + ], + "current_z": 1.0493398772215212, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.1882332499974656, + "gripper_z": 1.0526273737044947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31263551525735234, + 0.08446919407119167, + 1.0526273737044947 + ], + "object_minus_gripper": [ + 0.005449730666145791, + 0.005026966331065988, + -0.00328749648297344 + ], + "object_to_gripper_xy": 0.007414172565242927, + "object_to_gripper_z": -0.00328749648297344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31808524592349813, + 0.06476565286264682, + 1.0493398772215212 + ], + "finger_b": [ + 0.3060221715459772, + 0.08949616040225766, + 1.0493398772215212 + ], + "finger_midpoint": [ + 0.3120537087347377, + 0.07713090663245224, + 1.0493398772215212 + ], + "object_minus_finger_midpoint": [ + 0.0060315371887604274, + 0.01236525376980542, + 0.0 + ], + "finger_gap": 0.027515736708370177, + "fingertip_max_gap": 0.09376387199591082, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013757868354185077, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493398772215212, + "object_top_z": 1.1005050617874215, + "finger_top_clearance": 0.051165184565900246, + "fingertip_min_top_clearance": 0.01534955536977009, + "object_projection_between_fingers": 0.8077998506222557, + "object_to_finger_line_xy": 0.010842012154935965, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049381935997955415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6066676587913538, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31819581906465183, + 0.08623900307749376, + 1.2446470115371568 + ], + "held_position": [ + 0.3240046820121334, + 0.09072764672293014, + 1.2411702278769483 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008122735692993693, + "max_held_gripper_dist": 0.008131206664525697, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003476783660208538, + "max_held_gripper_z_dist": 0.0035031302549326515, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086717085603505, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3240046820121334, + 0.06492293875062634, + 1.2411702278769483 + ], + "held_grasp_finger_b": [ + 0.314274294372746, + 0.09072764672293014, + 1.2411702278769483 + ], + "held_grasp_midpoint": [ + 0.3191394881924397, + 0.07782529273677824, + 1.2411702278769483 + ], + "held_grasp_object_position": [ + 0.3240046820121334, + 0.09072764672293014, + 1.2411702278769483 + ], + "held_grasp_finger_gap": 0.027578313892415943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025129150020906266, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06312585958148598, + -0.9976237333254864, + 0.027604574943614124 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00405705661241487, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036541435975844534, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29091830186845813, + 0.0891982113310484, + 0.7611067950753335 + ], + "target_position": [ + 0.29312227265616464, + 0.0844943713662653, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005194573865809817, + "xy_threshold": 0.08, + "gripper_dist": 0.21282707006046342, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067950753335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577601143001492, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573407915368712, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838267524557379, + "release_required_pad_clearance": 0.052867039576843564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7753075594538992, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 127, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62713225160e17709f28e2a3f9f98fb31a8ed05dbff1c794981a7a4de06fa0bc", + "visual_seed": 7324569682798630919, + "episode_index": 127, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33e86d1d48987cc7b53f5b335472552474540d2c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32196368378208035, + 0.0944346136385019, + 1.049665028713139 + ], + "current_z": 1.049665028713139, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18855840148908332, + "gripper_z": 1.0527710445355456, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3167648851650273, + 0.08944654940288192, + 1.0527710445355456 + ], + "object_minus_gripper": [ + 0.005198798617053024, + 0.004988064235619982, + -0.0031060158224065493 + ], + "object_to_gripper_xy": 0.007204740930758274, + "object_to_gripper_z": -0.0031060158224065493, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32196368378208035, + 0.07001292905525133, + 1.049665028713139 + ], + "finger_b": [ + 0.30980185449556435, + 0.0944346136385019, + 1.049665028713139 + ], + "finger_midpoint": [ + 0.31588276913882235, + 0.08222377134687661, + 1.049665028713139 + ], + "object_minus_finger_midpoint": [ + 0.006080914643257995, + 0.012210842291625293, + 0.0 + ], + "finger_gap": 0.027282389365268885, + "fingertip_max_gap": 0.0929881818116087, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013641194682634448, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049665028713139, + "object_top_z": 1.1007774526403271, + "finger_top_clearance": 0.051112423927188066, + "fingertip_min_top_clearance": 0.015333727178156419, + "object_projection_between_fingers": 0.8012839249810797, + "object_to_finger_line_xy": 0.010886596287960612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899409090580435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0570561927656843, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32221339445060304, + 0.09174664264904206, + 1.2421730812651424 + ], + "held_position": [ + 0.3277844857980148, + 0.09620262131280906, + 1.2388730399865615 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007860221186041157, + "max_held_gripper_dist": 0.007868711484895185, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033000412785808564, + "max_held_gripper_z_dist": 0.003325477981520608, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08683631121880911, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3277844857980148, + 0.07055476866746818, + 1.2388730399865615 + ], + "held_grasp_finger_b": [ + 0.31810524721170114, + 0.09620262131280906, + 1.2388730399865615 + ], + "held_grasp_midpoint": [ + 0.322944866504858, + 0.08337869499013861, + 1.2388730399865615 + ], + "held_grasp_object_position": [ + 0.3277844857980148, + 0.09620262131280906, + 1.2388730399865615 + ], + "held_grasp_finger_gap": 0.02741350041362653, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0247874714660231, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07966487670762763, + -0.9965187794880906, + 0.024572943387491386 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003816048194735899, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655541898848112, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2856901800463228, + 0.09776842533746109, + 0.7611098707606704 + ], + "target_position": [ + 0.2972992484261782, + 0.09110278768422472, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013386605020407583, + "xy_threshold": 0.08, + "gripper_dist": 0.20667295751397727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098707606704, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518448739296539, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08547195254503391, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1797876466491089, + "release_required_pad_clearance": 0.05273597627251696, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5127649087252846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "385fa67922647ffb3d523170e0e57784e382a875ef82e97cf035628bc6fcfa0e", + "visual_seed": 4397218473028676121, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_130_success.json new file mode 100644 index 0000000000000000000000000000000000000000..916dcdf744db234fd966155daa4ad623839561c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_130_success.json @@ -0,0 +1,684 @@ +{ + "episode": 130, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3134517189584156, + 0.09259462034703954, + 1.0518278800580942 + ], + "current_z": 1.0518278800580942, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19072143164797317, + "gripper_z": 1.0553697784842948, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3082791014347832, + 0.08762679010481537, + 1.0553697784842948 + ], + "object_minus_gripper": [ + 0.005172617523632406, + 0.004967830242224164, + -0.0035418984262005626 + ], + "object_to_gripper_xy": 0.007171841420538106, + "object_to_gripper_z": -0.0035418984262005626, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3134517189584156, + 0.06819058777251505, + 1.0518278800580942 + ], + "finger_b": [ + 0.3013152819038561, + 0.09259462034703954, + 1.0518278800580942 + ], + "finger_midpoint": [ + 0.3073835004311358, + 0.0803926040597773, + 1.0518278800580942 + ], + "object_minus_finger_midpoint": [ + 0.0060682185272797895, + 0.012202016287262238, + 0.0 + ], + "finger_gap": 0.02725527307288881, + "fingertip_max_gap": 0.09252810839373624, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01362763653644441, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0518278800580942, + "object_top_z": 1.1027600159686772, + "finger_top_clearance": 0.05093213591058299, + "fingertip_min_top_clearance": 0.015279640773174896, + "object_projection_between_fingers": 0.8017188905303694, + "object_to_finger_line_xy": 0.01086681481510265, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876405419686812, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.933156312498341, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3137721402908604, + 0.08981087958395954, + 1.2468297164225923 + ], + "held_position": [ + 0.31933882249113255, + 0.09422911717912763, + 1.2431234204316945 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00801532308383936, + "max_held_gripper_dist": 0.008025757408075096, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003706295990897779, + "max_held_gripper_z_dist": 0.00373106701810344, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701277473958094, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31933882249113255, + 0.06860185440609752, + 1.2431234204316945 + ], + "held_grasp_finger_b": [ + 0.30967184631110667, + 0.09422911717912763, + 1.2431234204316945 + ], + "held_grasp_midpoint": [ + 0.3145053344011196, + 0.08141548579261257, + 1.2431234204316945 + ], + "held_grasp_object_position": [ + 0.31933882249113255, + 0.09422911717912763, + 1.2431234204316945 + ], + "held_grasp_finger_gap": 0.02738990736937828, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024714918560508534, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08415686833552619, + -0.9961446615734378, + 0.02476761455404785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037518622134994394, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03654924834825569, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2711115835544213, + 0.0874636141643044, + 0.761109166030873 + ], + "target_position": [ + 0.28875546786955747, + 0.08930358329968931, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017739564260293376, + "xy_threshold": 0.08, + "gripper_dist": 0.20159691165253144, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761109166030873, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548807294105463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0889283163820367, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17291579292084713, + "release_required_pad_clearance": 0.05446415819101835, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9471507604483396, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 130, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a87238f67c0dc9b0e7bdad317389cb6b50d1d1fb8ebaedde420b7b1831d25f72", + "visual_seed": 112780801581024973, + "episode_index": 130, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_131_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_131_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fff9f8d086ada674dd9091f112f014fff2355d54 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_131_success.json @@ -0,0 +1,684 @@ +{ + "episode": 131, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3119253871395632, + 0.09154505708247515, + 1.0522672637146633 + ], + "current_z": 1.0522672637146633, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.191160815304542, + "gripper_z": 1.0555334912225405, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30707293140338654, + 0.08677260186928042, + 1.0555334912225405 + ], + "object_minus_gripper": [ + 0.004852455736176653, + 0.0047724552131947345, + -0.003266227507877195 + ], + "object_to_gripper_xy": 0.006806074891852374, + "object_to_gripper_z": -0.003266227507877195, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3119253871395632, + 0.0673138370518212, + 1.0522672637146633 + ], + "finger_b": [ + 0.3001414551645343, + 0.09154505708247515, + 1.0522672637146633 + ], + "finger_midpoint": [ + 0.30603342115204873, + 0.07942944706714818, + 1.0522672637146633 + ], + "object_minus_finger_midpoint": [ + 0.005891965987514458, + 0.012115610015326975, + 0.0 + ], + "finger_gap": 0.026944629835387868, + "fingertip_max_gap": 0.0925239631836978, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013472314917693934, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522672637146633, + "object_top_z": 1.103030896839113, + "finger_top_clearance": 0.05076363312444965, + "fingertip_min_top_clearance": 0.015229089937334893, + "object_projection_between_fingers": 0.8087347773784002, + "object_to_finger_line_xy": 0.01059725259755359, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487619815918489, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9896152657954937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3125306657863136, + 0.08894101142152025, + 1.244645832808647 + ], + "held_position": [ + 0.3177341629958522, + 0.09320746705340875, + 1.241191122014542 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007563997193247407, + "max_held_gripper_dist": 0.007572876052101565, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003454710794104976, + "max_held_gripper_z_dist": 0.0034769985184051055, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692224372594634, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3177341629958522, + 0.0677056733749205, + 1.241191122014542 + ], + "held_grasp_finger_b": [ + 0.3084892534217001, + 0.09320746705340875, + 1.241191122014542 + ], + "held_grasp_midpoint": [ + 0.31311170820877615, + 0.08045657021416464, + 1.241191122014542 + ], + "held_grasp_object_position": [ + 0.3177341629958522, + 0.09320746705340875, + 1.241191122014542 + ], + "held_grasp_finger_gap": 0.027125814897518433, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024688240647470203, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07882398118660033, + -0.9966734711392159, + 0.020706808474537985 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036129336020075536, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664740916801517, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2741017415806747, + 0.09635605287169352, + 0.7611064332076213 + ], + "target_position": [ + 0.28754345137897175, + 0.08898260612720928, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015331251716522712, + "xy_threshold": 0.08, + "gripper_dist": 0.2067731590333551, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064332076213, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520615771755344, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506788614586662, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18032465372463571, + "release_required_pad_clearance": 0.05253394307293331, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13705603165089916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 131, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f1eb3b5058d7a478463db6622cb57c42dfa22717a0d230e5e6183a4dfe886d77", + "visual_seed": 5587798241588017500, + "episode_index": 131, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_134_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_134_success.json new file mode 100644 index 0000000000000000000000000000000000000000..035fc30f7e3693cdcb870420aaed8b6a720a3726 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_134_success.json @@ -0,0 +1,684 @@ +{ + "episode": 134, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31904504098736586, + 0.0927052075415488, + 1.0518316894068303 + ], + "current_z": 1.0518316894068303, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.19072524099670884, + "gripper_z": 1.0551429343789231, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31411234257105564, + 0.08796617697137599, + 1.0551429343789231 + ], + "object_minus_gripper": [ + 0.004932698416310222, + 0.004739030570172817, + -0.003311244972092897 + ], + "object_to_gripper_xy": 0.006840316104633021, + "object_to_gripper_z": -0.003311244972092897, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31904504098736586, + 0.06829887489098635, + 1.0518316894068303 + ], + "finger_b": [ + 0.3074478975095193, + 0.0927052075415488, + 1.0518316894068303 + ], + "finger_midpoint": [ + 0.31324646924844257, + 0.08050204121626758, + 1.0518316894068303 + ], + "object_minus_finger_midpoint": [ + 0.005798571738923286, + 0.01220316632528122, + 0.0 + ], + "finger_gap": 0.027021524943934422, + "fingertip_max_gap": 0.093742955888614, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013510762471967204, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0518316894068303, + "object_top_z": 1.103752060047867, + "finger_top_clearance": 0.05192037064103672, + "fingertip_min_top_clearance": 0.015576111192310997, + "object_projection_between_fingers": 0.8158030853539394, + "object_to_finger_line_xy": 0.010474750855249544, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049371477944307005, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3900529556752736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3196798001003205, + 0.08993559385550072, + 1.2440572110663992 + ], + "held_position": [ + 0.32492367700250424, + 0.09419553242702026, + 1.240541469502861 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00761615128132096, + "max_held_gripper_dist": 0.007625727440501388, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035157415635382883, + "max_held_gripper_z_dist": 0.003535398412504609, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08684116666501374, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32492367700250424, + 0.06863678739970287, + 1.240541469502861 + ], + "held_grasp_finger_b": [ + 0.3157487959739068, + 0.09419553242702026, + 1.240541469502861 + ], + "held_grasp_midpoint": [ + 0.32033623648820553, + 0.08141615991336157, + 1.240541469502861 + ], + "held_grasp_object_position": [ + 0.32492367700250424, + 0.09419553242702026, + 1.240541469502861 + ], + "held_grasp_finger_gap": 0.027155623529212847, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02470137454504196, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08224540683193696, + -0.995978728246087, + 0.0355255673615007 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003550863577779199, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036614970974742464, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27570841532341256, + 0.09769792118845598, + 0.7611135045119627 + ], + "target_position": [ + 0.29461078960811865, + 0.08921534314882244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02071844308333981, + "xy_threshold": 0.08, + "gripper_dist": 0.20181872224521982, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611135045119627, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545573767899329, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09207212479735423, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17545157224873564, + "release_required_pad_clearance": 0.05603606239867712, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.313966196317071, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 134, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "90988ff0c1b3c29ab19957c2e322c5dfd82d73488f88ce13e07f06b6d1fc4a29", + "visual_seed": 3019751004891762699, + "episode_index": 134, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_135_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_135_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8270cf47f3a5c78aba1bcb024fa44026c5b5703d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_135_success.json @@ -0,0 +1,684 @@ +{ + "episode": 135, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31540063061341816, + 0.0867238609202505, + 1.0506241767842592 + ], + "current_z": 1.0506241767842592, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.18951743035091417, + "gripper_z": 1.0539072174787276, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31040670800258946, + 0.08184615697493747, + 1.0539072174787276 + ], + "object_minus_gripper": [ + 0.004993922610828705, + 0.004877703945313033, + -0.0032830406944683865 + ], + "object_to_gripper_xy": 0.006980777809174886, + "object_to_gripper_z": -0.0032830406944683865, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31540063061341816, + 0.06244588836185065, + 1.0506241767842592 + ], + "finger_b": [ + 0.30339562741217374, + 0.0867238609202505, + 1.0506241767842592 + ], + "finger_midpoint": [ + 0.30939812901279595, + 0.07458487464105057, + 1.0506241767842592 + ], + "object_minus_finger_midpoint": [ + 0.006002501600622212, + 0.012138986279199931, + 0.0 + ], + "finger_gap": 0.02708394456884567, + "fingertip_max_gap": 0.09219343804642297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013541972284422842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506241767842592, + "object_top_z": 1.1011560633078896, + "finger_top_clearance": 0.05053188652363039, + "fingertip_min_top_clearance": 0.015159565957089149, + "object_projection_between_fingers": 0.8035279720688021, + "object_to_finger_line_xy": 0.01076125146920344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048596719023211485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9894159003674954, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3158960904497256, + 0.08405817150864793, + 1.2437154120745944 + ], + "held_position": [ + 0.3212755205019552, + 0.08840250728882662, + 1.2402520397662373 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007733464217546088, + "max_held_gripper_dist": 0.007742443139601341, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034633723083570267, + "max_held_gripper_z_dist": 0.00348630449418863, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0876693281754033, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3212755205019552, + 0.06281889722764866, + 1.2402520397662373 + ], + "held_grasp_finger_b": [ + 0.3118521023443133, + 0.08840250728882662, + 1.2402520397662373 + ], + "held_grasp_midpoint": [ + 0.3165638114231343, + 0.07561070225823764, + 1.2402520397662373 + ], + "held_grasp_object_position": [ + 0.3212755205019552, + 0.08840250728882662, + 1.2402520397662373 + ], + "held_grasp_finger_gap": 0.027263930632544172, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0247317722063998, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08101108341409015, + -0.9965432345102155, + 0.018406143430738427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036677363986136317, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03659096265248058, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27100484111649187, + 0.09399510108442652, + 0.7611081667603214 + ], + "target_position": [ + 0.2908761606334107, + 0.0854062124394465, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02164805643699559, + "xy_threshold": 0.08, + "gripper_dist": 0.2017765840582586, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081667603214, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579960292378105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0906845875642411, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17529709615011532, + "release_required_pad_clearance": 0.05534229378212055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.794240714084269, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 135, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f301a5a74f74141001706160a28a55c7c2373e05578adf865049f0c48fff7589", + "visual_seed": 877170867640154076, + "episode_index": 135, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_137_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6d06bf4b4b318fea829d1d1e1bb8925c896ba68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_137_success.json @@ -0,0 +1,684 @@ +{ + "episode": 137, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32134070094509337, + 0.09771906770907143, + 1.0528086940198875 + ], + "current_z": 1.0528086940198875, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19170218600512134, + "gripper_z": 1.0559973324811904, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31621149083295597, + 0.09274391584108273, + 1.0559973324811904 + ], + "object_minus_gripper": [ + 0.005129210112137406, + 0.004975151867988706, + -0.003188638461302906 + ], + "object_to_gripper_xy": 0.007145693282250794, + "object_to_gripper_z": -0.003188638461302906, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32134070094509337, + 0.07337768972385103, + 1.0528086940198875 + ], + "finger_b": [ + 0.3091632559803608, + 0.09771906770907143, + 1.0528086940198875 + ], + "finger_midpoint": [ + 0.3152519784627271, + 0.08554837871646123, + 1.0528086940198875 + ], + "object_minus_finger_midpoint": [ + 0.006088722482366249, + 0.012170688992610201, + 0.0 + ], + "finger_gap": 0.027217509953859898, + "fingertip_max_gap": 0.0928169100541966, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013608754976929937, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528086940198875, + "object_top_z": 1.103727179707298, + "finger_top_clearance": 0.05091848568741053, + "fingertip_min_top_clearance": 0.015275545706223125, + "object_projection_between_fingers": 0.7998223575568564, + "object_to_finger_line_xy": 0.01089062854328953, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0489084550270983, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0643267568585266, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3216747212296336, + 0.09487669021024751, + 1.2467664715982876 + ], + "held_position": [ + 0.3271983755124339, + 0.09930147954947638, + 1.2434089970628825 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007833399810321507, + "max_held_gripper_dist": 0.007843624069732063, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003357474535405025, + "max_held_gripper_z_dist": 0.0033830419675433543, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08743759727402176, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3271983755124339, + 0.07371457824269673, + 1.2434089970628825 + ], + "held_grasp_finger_b": [ + 0.3175071178985238, + 0.09930147954947638, + 1.2434089970628825 + ], + "held_grasp_midpoint": [ + 0.32235274670547887, + 0.08650802889608655, + 1.2434089970628825 + ], + "held_grasp_object_position": [ + 0.3271983755124339, + 0.09930147954947638, + 1.2434089970628825 + ], + "held_grasp_finger_gap": 0.02736073815930507, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02471930976287164, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08026469745234045, + -0.9964932962175043, + 0.023636601626667142 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038155008734932715, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658272932834606, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29459102048824987, + 0.09108174177351464, + 0.7611064176458655 + ], + "target_position": [ + 0.2967473848307999, + 0.09315404939685844, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0029907133034762752, + "xy_threshold": 0.08, + "gripper_dist": 0.21306136253641242, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064176458655, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591016775364694, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0898867397240135, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1820417029747444, + "release_required_pad_clearance": 0.05494336986200675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.955141784101614, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 246, + "max_placed_release_frames": 246 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 137, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7c8c3b36cfd5e5b5ee9cd136af08e2785d1bcd4c120f7cd6f795d685ef8f3c87", + "visual_seed": 8349436727288164538, + "episode_index": 137, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_139_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1faa4a5d90a24147c51c73054b7ab5419ee3bed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_139_success.json @@ -0,0 +1,684 @@ +{ + "episode": 139, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3143688763439913, + 0.09590576025302755, + 1.04927248718819 + ], + "current_z": 1.04927248718819, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18816591956877915, + "gripper_z": 1.0524720207328406, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3092498130607205, + 0.09104434510747746, + 1.0524720207328406 + ], + "object_minus_gripper": [ + 0.005119063283270775, + 0.004861415145550094, + -0.0031995335446506346 + ], + "object_to_gripper_xy": 0.007059615153499148, + "object_to_gripper_z": -0.0031995335446506346, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3143688763439913, + 0.0714209278813214, + 1.04927248718819 + ], + "finger_b": [ + 0.3025360032961949, + 0.09590576025302755, + 1.04927248718819 + ], + "finger_midpoint": [ + 0.30845243982009307, + 0.08366334406717447, + 1.04927248718819 + ], + "object_minus_finger_midpoint": [ + 0.0059164365238982275, + 0.012242416185853075, + 0.0 + ], + "finger_gap": 0.02719418873281231, + "fingertip_max_gap": 0.09174211594100254, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013597094366406166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04927248718819, + "object_top_z": 1.0998381041356067, + "finger_top_clearance": 0.05056561694741668, + "fingertip_min_top_clearance": 0.015169685084224987, + "object_projection_between_fingers": 0.8106661807589746, + "object_to_finger_line_xy": 0.010653964194246898, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837105797050127, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6388420526073362, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31460397657257233, + 0.09345809926284387, + 1.2452197998187098 + ], + "held_position": [ + 0.32005981390886395, + 0.09783788694320013, + 1.2418631654762333 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007759877271849503, + "max_held_gripper_dist": 0.007769207040449207, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003356634342476461, + "max_held_gripper_z_dist": 0.0033836176228903003, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08632446932440332, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32005981390886395, + 0.07230191449997606, + 1.2418631654762333 + ], + "held_grasp_finger_b": [ + 0.31041253760447307, + 0.09783788694320013, + 1.2418631654762333 + ], + "held_grasp_midpoint": [ + 0.3152361757566685, + 0.0850699007215881, + 1.2418631654762333 + ], + "held_grasp_object_position": [ + 0.32005981390886395, + 0.09783788694320013, + 1.2418631654762333 + ], + "held_grasp_finger_gap": 0.027297542539839754, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024726313826873774, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07573200303705727, + -0.9969043255296975, + 0.021128877305102267 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003852569160324764, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036626485598274715, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2890787286959837, + 0.09641517897339642, + 0.761106427078771 + ], + "target_position": [ + 0.28978451099999897, + 0.0930943932974045, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0033949589344400314, + "xy_threshold": 0.08, + "gripper_dist": 0.21328430460141776, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106427078771, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546650331600155, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782341300148226, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1841104245918578, + "release_required_pad_clearance": 0.05391170650074113, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.833301220219004, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 139, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0319a86b7afa4332c6526fae0a486123af7545ac932aba3bde48630f81db40c6", + "visual_seed": 2820929453482516997, + "episode_index": 139, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_140_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_140_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc268579698255e98ee407b553e1190113a8de7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_140_success.json @@ -0,0 +1,684 @@ +{ + "episode": 140, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31538030527929173, + 0.09709204865185213, + 1.0517359581002985 + ], + "current_z": 1.0517359581002985, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1906295096901771, + "gripper_z": 1.0552551101382759, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3101676999201142, + 0.09215006153440909, + 1.0552551101382759 + ], + "object_minus_gripper": [ + 0.005212605359177502, + 0.004941987117443036, + -0.003519152037977369 + ], + "object_to_gripper_xy": 0.007182930550931071, + "object_to_gripper_z": -0.003519152037977369, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31538030527929173, + 0.07260096119543537, + 1.0517359581002985 + ], + "finger_b": [ + 0.30335407760002675, + 0.09709204865185213, + 1.0517359581002985 + ], + "finger_midpoint": [ + 0.30936719143965924, + 0.08484650492364375, + 1.0517359581002985 + ], + "object_minus_finger_midpoint": [ + 0.006013113839632489, + 0.01224554372820838, + 0.0 + ], + "finger_gap": 0.027284492243605588, + "fingertip_max_gap": 0.09303382495441001, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013642246121802794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517359581002985, + "object_top_z": 1.1029711975099386, + "finger_top_clearance": 0.05123523940964003, + "fingertip_min_top_clearance": 0.01537057182289201, + "object_projection_between_fingers": 0.8057204490435572, + "object_to_finger_line_xy": 0.01079497434784356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04901691247720501, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.015155228489947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3155930685541637, + 0.09441880998820122, + 1.2464467514832143 + ], + "held_position": [ + 0.3211591900300655, + 0.09883985640682243, + 1.2427585291107222 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008008142355693356, + "max_held_gripper_dist": 0.008017944568087926, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036882223724921115, + "max_held_gripper_z_dist": 0.0037113241472215286, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08746661524434012, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3211591900300655, + 0.07323642526692133, + 1.2427585291107222 + ], + "held_grasp_finger_b": [ + 0.3114501152815471, + 0.09883985640682243, + 1.2427585291107222 + ], + "held_grasp_midpoint": [ + 0.3163046526558063, + 0.08603814083687188, + 1.2427585291107222 + ], + "held_grasp_object_position": [ + 0.3211591900300655, + 0.09883985640682243, + 1.2427585291107222 + ], + "held_grasp_finger_gap": 0.02738250935557176, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02475508264253398, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07823325280037781, + -0.9965326522986927, + 0.02832368370825522 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038557353538007768, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036583136249569465, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2794893386270347, + 0.10126102767899266, + 0.7611066919285602 + ], + "target_position": [ + 0.2906849668668938, + 0.093528505850232, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013606395022833628, + "xy_threshold": 0.08, + "gripper_dist": 0.2069392045758568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066919285602, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515783149101825, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08808687990224244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18021927221749434, + "release_required_pad_clearance": 0.05404343995112122, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.097783948783473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 140, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69a3f73d3476cee75227a4c4052d955007896e18ee01a937170516987bf22234", + "visual_seed": 7233354574280643153, + "episode_index": 140, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_145_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_145_success.json new file mode 100644 index 0000000000000000000000000000000000000000..548587485ce68f699d7ed00d26c62b6a9e4bf624 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_145_success.json @@ -0,0 +1,684 @@ +{ + "episode": 145, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3144596578437572, + 0.08709553304876345, + 1.0513735752617452 + ], + "current_z": 1.0513735752617452, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19026706724697917, + "gripper_z": 1.054925555011098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3093782813016229, + 0.08222420020504095, + 1.054925555011098 + ], + "object_minus_gripper": [ + 0.005081376542134253, + 0.004871332843722501, + -0.0035519797493528404 + ], + "object_to_gripper_xy": 0.0070391953543911395, + "object_to_gripper_z": -0.0035519797493528404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3144596578437572, + 0.06268854975177979, + 1.0513735752617452 + ], + "finger_b": [ + 0.302547785416218, + 0.08709553304876345, + 1.0513735752617452 + ], + "finger_midpoint": [ + 0.3085037216299876, + 0.07489204140027161, + 1.0513735752617452 + ], + "object_minus_finger_midpoint": [ + 0.005955936213769553, + 0.01220349164849184, + 0.0 + ], + "finger_gap": 0.027158673354735267, + "fingertip_max_gap": 0.09386791011589443, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013579336677367628, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0513735752617452, + "object_top_z": 1.1028578172578527, + "finger_top_clearance": 0.05148424199610746, + "fingertip_min_top_clearance": 0.015445272598832221, + "object_projection_between_fingers": 0.8076275111630725, + "object_to_finger_line_xy": 0.010704973235522858, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943395505794722, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3235431118920864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3147721443323342, + 0.08448004843711483, + 1.243953797448519 + ], + "held_position": [ + 0.32018041540542447, + 0.08885435904369746, + 1.2402066608440707 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007900950703256103, + "max_held_gripper_dist": 0.007910593506427083, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037471366044483645, + "max_held_gripper_z_dist": 0.003767860719787741, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869820988686468, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32018041540542447, + 0.06326705715065219, + 1.2402066608440707 + ], + "held_grasp_finger_b": [ + 0.31068537358655357, + 0.08885435904369746, + 1.2402066608440707 + ], + "held_grasp_midpoint": [ + 0.315432894495989, + 0.07606070809717483, + 1.2402066608440707 + ], + "held_grasp_object_position": [ + 0.32018041540542447, + 0.08885435904369746, + 1.2402066608440707 + ], + "held_grasp_finger_gap": 0.02729223034689443, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024830027121725, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07178701212693041, + -0.9970432955596683, + 0.027409700279348297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003833357644481884, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662361582703556, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2805323484208266, + 0.08503714659895314, + 0.7611071204316209 + ], + "target_position": [ + 0.28987738943528096, + 0.08437993444322511, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009368122510912805, + "xy_threshold": 0.08, + "gripper_dist": 0.20724545031374209, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071204316209, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581633620594933, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09244362359497842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17789686497683813, + "release_required_pad_clearance": 0.05622181179748921, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.732997267796916, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 145, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a743593bf9541ba254135b517cbec43f6c15db6410ce2f4b0a63bab333641f24", + "visual_seed": 7772940490168732779, + "episode_index": 145, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_146_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_146_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19b69a2284369e1981770f1a15d87e1f1e19b16b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_146_success.json @@ -0,0 +1,684 @@ +{ + "episode": 146, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31692968942414396, + 0.09463112791695702, + 1.0488515872312179 + ], + "current_z": 1.0488515872312179, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.187744840797873, + "gripper_z": 1.0519916557428393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31191458159698954, + 0.08978261198906999, + 1.0519916557428393 + ], + "object_minus_gripper": [ + 0.005015107827154419, + 0.004848515927887029, + -0.0031400685116214078 + ], + "object_to_gripper_xy": 0.006975629951549877, + "object_to_gripper_z": -0.0031400685116214078, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31692968942414396, + 0.07029260271519784, + 1.0488515872312179 + ], + "finger_b": [ + 0.3050192050857653, + 0.09463112791695702, + 1.0488515872312179 + ], + "finger_midpoint": [ + 0.3109744472549546, + 0.08246186531607744, + 1.0488515872312179 + ], + "object_minus_finger_midpoint": [ + 0.0059552421691893564, + 0.012169262600879582, + 0.0 + ], + "finger_gap": 0.027096557828835566, + "fingertip_max_gap": 0.09192608610847905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013548278914417788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488515872312179, + "object_top_z": 1.0993909993792625, + "finger_top_clearance": 0.05053941214804469, + "fingertip_min_top_clearance": 0.015161823644413408, + "object_projection_between_fingers": 0.8067895571648073, + "object_to_finger_line_xy": 0.010698171519273167, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846304305423953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7639916827016208, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3173445953755212, + 0.09179701273444647, + 1.2413674332307703 + ], + "held_position": [ + 0.3227143048178186, + 0.09612535178153475, + 1.2380252507079397 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076641034972892525, + "max_held_gripper_dist": 0.0076733453549294155, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033421825228305835, + "max_held_gripper_z_dist": 0.0033640754112882476, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08757022368801023, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3227143048178186, + 0.07053858583887028, + 1.2380252507079397 + ], + "held_grasp_finger_b": [ + 0.31334866441777237, + 0.09612535178153475, + 1.2380252507079397 + ], + "held_grasp_midpoint": [ + 0.3180314846177955, + 0.08333196881020252, + 1.2380252507079397 + ], + "held_grasp_object_position": [ + 0.3227143048178186, + 0.09612535178153475, + 1.2380252507079397 + ], + "held_grasp_finger_gap": 0.027246978025235617, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024727597070858337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0820084676184709, + -0.9964392899619727, + 0.01957939373295092 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036268025240951394, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658838971719246, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28644907483213244, + 0.09364760232064583, + 0.7611063579705409 + ], + "target_position": [ + 0.29241439597838886, + 0.0918570781779352, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0062282447835328054, + "xy_threshold": 0.08, + "gripper_dist": 0.20950359629665874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063579705409, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527953325303897, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709042675029187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18076458513697052, + "release_required_pad_clearance": 0.053545213375145936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.101804270177191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 146, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aeef3d0804bcacee769786046371d8d34eb2ef9676fee1222211e55cdfb7b7ea", + "visual_seed": 1815035411453622313, + "episode_index": 146, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_147_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_147_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d4222bd0efbc822b10601dc37242035bedc9a951 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_147_success.json @@ -0,0 +1,684 @@ +{ + "episode": 147, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31233928739266265, + 0.0862667724973425, + 1.0495437580881886 + ], + "current_z": 1.0495437580881886, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.1884370712594885, + "gripper_z": 1.052979682686726, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.307474782124858, + 0.08159995590866818, + 1.052979682686726 + ], + "object_minus_gripper": [ + 0.004864505267804631, + 0.004666816588674322, + -0.0034359245985373654 + ], + "object_to_gripper_xy": 0.006741111820228533, + "object_to_gripper_z": -0.0034359245985373654, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31233928739266265, + 0.06185942169373014, + 1.0495437580881886 + ], + "finger_b": [ + 0.3009168651603741, + 0.0862667724973425, + 1.0495437580881886 + ], + "finger_midpoint": [ + 0.30662807627651834, + 0.07406309709553632, + 1.0495437580881886 + ], + "object_minus_finger_midpoint": [ + 0.00571121111614431, + 0.012203675401806183, + 0.0 + ], + "finger_gap": 0.026947922051677328, + "fingertip_max_gap": 0.09440445614880624, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013473961025838676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495437580881886, + "object_top_z": 1.1014763316576417, + "finger_top_clearance": 0.05193257356945313, + "fingertip_min_top_clearance": 0.015579772070835973, + "object_projection_between_fingers": 0.8203340182348022, + "object_to_finger_line_xy": 0.010345549683415967, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049702228074403124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.471293801919623, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3127936135912407, + 0.0838821209168317, + 1.2422028550751067 + ], + "held_position": [ + 0.31793261840014986, + 0.08812290395553814, + 1.2385806879170902 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075837791455174546, + "max_held_gripper_dist": 0.007592427554064355, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036221671580165538, + "max_held_gripper_z_dist": 0.0036437802873581226, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694965665749042, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31793261840014986, + 0.06265732495309459, + 1.2385806879170902 + ], + "held_grasp_finger_b": [ + 0.3087237284714097, + 0.08812290395553814, + 1.2385806879170902 + ], + "held_grasp_midpoint": [ + 0.3133281734357798, + 0.07539011445431637, + 1.2385806879170902 + ], + "held_grasp_object_position": [ + 0.31793261840014986, + 0.08812290395553814, + 1.2385806879170902 + ], + "held_grasp_finger_gap": 0.027079500875188695, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02479418800403995, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06552481310651924, + -0.9973305061354438, + 0.03222360003126989 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037830830054363285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671974527657588, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2692863334687009, + 0.09898375822549894, + 0.7611064100109427 + ], + "target_position": [ + 0.287988316366165, + 0.08489831447081683, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023412900078020094, + "xy_threshold": 0.08, + "gripper_dist": 0.2002990587559608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064100109427, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07793751695736008, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09144451657535081, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17536814259863678, + "release_required_pad_clearance": 0.05572225828767541, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.626442378187817, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 147, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8fb35b30931532b008ae070221e4915f06f34311b9579bd2cb637ce4913771c", + "visual_seed": 1233906834469909556, + "episode_index": 147, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_149_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_149_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a936687e395dfbfc7893a0d1bdc1155dcefa146d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_149_success.json @@ -0,0 +1,684 @@ +{ + "episode": 149, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31374089751520473, + 0.08692055753535508, + 1.0509189050878693 + ], + "current_z": 1.0509189050878693, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18981245667774815, + "gripper_z": 1.0544336552650146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30845133917746126, + 0.08194899557395864, + 1.0544336552650146 + ], + "object_minus_gripper": [ + 0.005289558337743472, + 0.004971561961396434, + -0.0035147501771453094 + ], + "object_to_gripper_xy": 0.007259191121908517, + "object_to_gripper_z": -0.0035147501771453094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31374089751520473, + 0.062349021466999215, + 1.0509189050878693 + ], + "finger_b": [ + 0.301708255300012, + 0.08692055753535508, + 1.0509189050878693 + ], + "finger_midpoint": [ + 0.30772457640760836, + 0.07463478950117715, + 1.0509189050878693 + ], + "object_minus_finger_midpoint": [ + 0.006016321107596367, + 0.012285768034177927, + 0.0 + ], + "finger_gap": 0.02735954793919942, + "fingertip_max_gap": 0.0921903553853565, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013679773969599707, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509189050878693, + "object_top_z": 1.1017318945254453, + "finger_top_clearance": 0.05081298943757595, + "fingertip_min_top_clearance": 0.015243896831272818, + "object_projection_between_fingers": 0.8065787559960247, + "object_to_finger_line_xy": 0.010806483456717574, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859517769267825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7773991466792981, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3137972264162312, + 0.08431189951905615, + 1.244281999885136 + ], + "held_position": [ + 0.3194125861575575, + 0.08878922460012437, + 1.240579489509344 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008080054949622427, + "max_held_gripper_dist": 0.008088935776276155, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037025103757919453, + "max_held_gripper_z_dist": 0.003725453270713608, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08681370563228205, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3194125861575575, + 0.06312723127063638, + 1.240579489509344 + ], + "held_grasp_finger_b": [ + 0.30965701172945004, + 0.08878922460012437, + 1.240579489509344 + ], + "held_grasp_midpoint": [ + 0.3145347989435038, + 0.07595822793538037, + 1.240579489509344 + ], + "held_grasp_object_position": [ + 0.3194125861575575, + 0.08878922460012437, + 1.240579489509344 + ], + "held_grasp_finger_gap": 0.02745376356831665, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024845338797875906, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07557961489890215, + -0.9969085810209849, + 0.021470978050852633 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039040869866356093, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03656025811276317, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27949823588566275, + 0.0848106223423011, + 0.7611083933304836 + ], + "target_position": [ + 0.28896940573845437, + 0.0854872504974154, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009495308527937476, + "xy_threshold": 0.08, + "gripper_dist": 0.20827099004224972, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083933304836, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545683138248449, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0905212971119166, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17917245429142437, + "release_required_pad_clearance": 0.0552606485559583, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.620557058731704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 149, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a36bcfe779b61c83e8e029c54eb488e387c700d7b898ccc72473b432716b0556", + "visual_seed": 2700900278977273316, + "episode_index": 149, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e91c4c19872f35d53cc5494f4a2d5119da4aacab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32084922719626097, + 0.09081556055590695, + 1.0520936495620874 + ], + "current_z": 1.0520936495620874, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1909872011519662, + "gripper_z": 1.055180067374611, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3157347821640094, + 0.08597345230216465, + 1.055180067374611 + ], + "object_minus_gripper": [ + 0.005114445032251558, + 0.004842108253742303, + -0.003086417812523612 + ], + "object_to_gripper_xy": 0.007042979506493113, + "object_to_gripper_z": -0.003086417812523612, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32084922719626097, + 0.0663134386355454, + 1.0520936495620874 + ], + "finger_b": [ + 0.30907297386769556, + 0.09081556055590695, + 1.0520936495620874 + ], + "finger_midpoint": [ + 0.31496110053197823, + 0.07856449959572617, + 1.0520936495620874 + ], + "object_minus_finger_midpoint": [ + 0.0058881266642827335, + 0.012251060960180776, + 0.0 + ], + "finger_gap": 0.027185182012611393, + "fingertip_max_gap": 0.09287164877221757, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013592591006305709, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520936495620874, + "object_top_z": 1.1030834137583883, + "finger_top_clearance": 0.05098976419630086, + "fingertip_min_top_clearance": 0.015296929258890223, + "object_projection_between_fingers": 0.8123494727687787, + "object_to_finger_line_xy": 0.01061398796917073, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04893582438610879, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0109226128817932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3210478436801482, + 0.088301115001486, + 1.243814194306279 + ], + "held_position": [ + 0.32645357523714147, + 0.09270632043499906, + 1.2405348612315694 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077059583435553376, + "max_held_gripper_dist": 0.00771499169917955, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032793330747096228, + "max_held_gripper_z_dist": 0.0033034210003568543, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086519497644894, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32645357523714147, + 0.06715081587911313, + 1.2405348612315694 + ], + "held_grasp_finger_b": [ + 0.3168675817359672, + 0.09270632043499906, + 1.2405348612315694 + ], + "held_grasp_midpoint": [ + 0.3216605784865543, + 0.0799285681570561, + 1.2405348612315694 + ], + "held_grasp_object_position": [ + 0.32645357523714147, + 0.09270632043499906, + 1.2405348612315694 + ], + "held_grasp_finger_gap": 0.02729423170764222, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02487271130434191, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06502550285713686, + -0.9976733308624417, + 0.020484356568308715 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003960842848196762, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036660560370125, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28916733816497286, + 0.08934164590332296, + 0.7611063068583854 + ], + "target_position": [ + 0.29630517032347686, + 0.08817133458041698, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00723313739089033, + "xy_threshold": 0.08, + "gripper_dist": 0.21028366832247597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063068583854, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587571502634988, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0923668217627208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18082395030300846, + "release_required_pad_clearance": 0.056183410881360404, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.647645840382828, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dab85ed124126d2aa0db1c229b04ec9dce918add86363e9b7b14b78e1a2e83f1", + "visual_seed": 7025603336889302403, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_151_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_151_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4a7176a511b938c5d0d95d932a4e3f24ca983a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_151_success.json @@ -0,0 +1,684 @@ +{ + "episode": 151, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31375561306317545, + 0.09212112391585768, + 1.05080157466208 + ], + "current_z": 1.05080157466208, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1896951262519586, + "gripper_z": 1.0542998901089005, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3086835508395571, + 0.0871778371351836, + 1.0542998901089005 + ], + "object_minus_gripper": [ + 0.005072062223618334, + 0.004943286780674086, + -0.0034983154468204436 + ], + "object_to_gripper_xy": 0.007082506575799512, + "object_to_gripper_z": -0.0034983154468204436, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31375561306317545, + 0.06783175992280982, + 1.05080157466208 + ], + "finger_b": [ + 0.30160250999785065, + 0.09212112391585768, + 1.05080157466208 + ], + "finger_midpoint": [ + 0.30767906153051305, + 0.07997644191933376, + 1.05080157466208 + ], + "object_minus_finger_midpoint": [ + 0.0060765515326624, + 0.012144681996523923, + 0.0 + ], + "finger_gap": 0.02716010157019257, + "fingertip_max_gap": 0.09295407945119041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358005078509628, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.05080157466208, + "object_top_z": 1.10177083055797, + "finger_top_clearance": 0.050969255895890075, + "fingertip_min_top_clearance": 0.015290776768767039, + "object_projection_between_fingers": 0.7997780980549027, + "object_to_finger_line_xy": 0.01086855817662564, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897703972559521, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1743826749318929, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31414076690951614, + 0.08936263673217157, + 1.244073420941145 + ], + "held_position": [ + 0.3196036037907264, + 0.09374771663105594, + 1.2403887641787072 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007915062094973679, + "max_held_gripper_dist": 0.0079240139376403, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003684656762437788, + "max_held_gripper_z_dist": 0.0037089379865156147, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08687887983834194, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3196036037907264, + 0.0681460030215155, + 1.2403887641787072 + ], + "held_grasp_finger_b": [ + 0.3100633605954498, + 0.09374771663105594, + 1.2403887641787072 + ], + "held_grasp_midpoint": [ + 0.3148334821930881, + 0.08094685982628572, + 1.2403887641787072 + ], + "held_grasp_object_position": [ + 0.3196036037907264, + 0.09374771663105594, + 1.2403887641787072 + ], + "held_grasp_finger_gap": 0.027321493004042612, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02473163708518675, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08149926021849778, + -0.9963848606759039, + 0.023980825667549548 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037240534803546074, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657690876478209, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2709586146484283, + 0.09607757129904515, + 0.7611068266940612 + ], + "target_position": [ + 0.28916527205797293, + 0.0876195343321558, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02007537704158488, + "xy_threshold": 0.08, + "gripper_dist": 0.204935836218511, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068266940612, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553034989148058, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08710126032147099, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1785110717801763, + "release_required_pad_clearance": 0.053550630160735496, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1118352473381763, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 151, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "237bb169e3d4de1410666f93676011a87798f6a22481fefdcb1db8064894507f", + "visual_seed": 2005499638493069050, + "episode_index": 151, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_152_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_152_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d14e09295027f7d0e36d6c6b27f3e152f930fa2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_152_success.json @@ -0,0 +1,684 @@ +{ + "episode": 152, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3185013954122432, + 0.09384212505685587, + 1.0496469203843175 + ], + "current_z": 1.0496469203843175, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.18854017395097245, + "gripper_z": 1.052853677778062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3133410386376024, + 0.08893491331353291, + 1.052853677778062 + ], + "object_minus_gripper": [ + 0.0051603567746408285, + 0.004907211743322953, + -0.0032067573937444305 + ], + "object_to_gripper_xy": 0.007121096062783327, + "object_to_gripper_z": -0.0032067573937444305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3185013954122432, + 0.06935833172515961, + 1.0496469203843175 + ], + "finger_b": [ + 0.30656692183275897, + 0.09384212505685587, + 1.0496469203843175 + ], + "finger_midpoint": [ + 0.3125341586225011, + 0.08160022839100774, + 1.0496469203843175 + ], + "object_minus_finger_midpoint": [ + 0.005967236789742092, + 0.012241896665848129, + 0.0 + ], + "finger_gap": 0.02723761728801955, + "fingertip_max_gap": 0.09233018964772097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013618808644009764, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496469203843175, + "object_top_z": 1.1006231161777993, + "finger_top_clearance": 0.05097619579348178, + "fingertip_min_top_clearance": 0.015292858738044517, + "object_projection_between_fingers": 0.8080145535782541, + "object_to_finger_line_xy": 0.010727854112672545, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048665094823860486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7936781040589259, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3187513586569103, + 0.09119253168468339, + 1.2418570421577024 + ], + "held_position": [ + 0.32424335166199825, + 0.09561320443020149, + 1.2384506341499955 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00782993934879906, + "max_held_gripper_dist": 0.00783951837710792, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034064080077069736, + "max_held_gripper_z_dist": 0.00343054467024273, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672066097728458, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32424335166199825, + 0.06998740432031292, + 1.2384506341499955 + ], + "held_grasp_finger_b": [ + 0.31466940749082417, + 0.09561320443020149, + 1.2384506341499955 + ], + "held_grasp_midpoint": [ + 0.3194563795764112, + 0.0828003043752572, + 1.2384506341499955 + ], + "held_grasp_object_position": [ + 0.32424335166199825, + 0.09561320443020149, + 1.2384506341499955 + ], + "held_grasp_finger_gap": 0.02735584102645582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02476915398444157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08015592718327336, + -0.9965176598106993, + 0.022969131955672628 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037564332217778244, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03656826470603292, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29313871467231867, + 0.08897697829987841, + 0.7611064310002906 + ], + "target_position": [ + 0.2938691490159985, + 0.08966748365742962, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0010051527143841727, + "xy_threshold": 0.08, + "gripper_dist": 0.21463620860191732, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064310002906, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521892813950011, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08951408043426816, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1853733203993834, + "release_required_pad_clearance": 0.05475704021713408, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.564667039864934, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 152, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a349e632e4a4feedf18368cc793843731e47955a4cfa912f19c42a682ef15f3c", + "visual_seed": 2755813084275900583, + "episode_index": 152, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_153_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_153_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e163c153d34f6defe125a57f59c19c1d8a773d00 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_153_success.json @@ -0,0 +1,684 @@ +{ + "episode": 153, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3214822736009552, + 0.09567796771169146, + 1.052838533378131 + ], + "current_z": 1.052838533378131, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19173202536336476, + "gripper_z": 1.0559355956377556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3169011584455463, + 0.09107764112796944, + 1.0559355956377556 + ], + "object_minus_gripper": [ + 0.0045811151554089324, + 0.004600326583722017, + -0.0030970622596246944 + ], + "object_to_gripper_xy": 0.006492273927062604, + "object_to_gripper_z": -0.0030970622596246944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3214822736009552, + 0.07159457647379781, + 1.052838533378131 + ], + "finger_b": [ + 0.3099950514838409, + 0.09567796771169146, + 1.052838533378131 + ], + "finger_midpoint": [ + 0.315738662542398, + 0.08363627209274463, + 1.052838533378131 + ], + "object_minus_finger_midpoint": [ + 0.0057436110585571964, + 0.01204169561894683, + 0.0 + ], + "finger_gap": 0.026682691121499968, + "fingertip_max_gap": 0.09546285509993843, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013341345560750001, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052838533378131, + "object_top_z": 1.1053829563092163, + "finger_top_clearance": 0.05254442293108541, + "fingertip_min_top_clearance": 0.015763326879325655, + "object_projection_between_fingers": 0.8146593082376716, + "object_to_finger_line_xy": 0.010368191994702272, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05023142754996922, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9023181932134412, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32242787857068667, + 0.0931889751208218, + 1.2473607849204245 + ], + "held_position": [ + 0.32736536886992607, + 0.09730729595544957, + 1.2441023263837976 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00720811549483836, + "max_held_gripper_dist": 0.007216948318798652, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032584585366268737, + "max_held_gripper_z_dist": 0.0032794327113849775, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08752082718501214, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32736536886992607, + 0.07196805272381492, + 1.2441023263837976 + ], + "held_grasp_finger_b": [ + 0.31834928448390243, + 0.09730729595544957, + 1.2441023263837976 + ], + "held_grasp_midpoint": [ + 0.32285732667691425, + 0.08463767433963224, + 1.2441023263837976 + ], + "held_grasp_object_position": [ + 0.32736536886992607, + 0.09730729595544957, + 1.2441023263837976 + ], + "held_grasp_finger_gap": 0.02689548336073999, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453140906863159, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07832209106070553, + -0.995987426310231, + 0.04329776765378368 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035457754562184286, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03674838695348612, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27589170124974094, + 0.0894902578854358, + 0.7611084683112361 + ], + "target_position": [ + 0.2974169129292074, + 0.09317626174804403, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021838529307648045, + "xy_threshold": 0.08, + "gripper_dist": 0.20197717593300543, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084683112361, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570335784646741, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524227273130806, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1730938059195496, + "release_required_pad_clearance": 0.052621136365654034, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2933387179535931, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 153, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "34cb327dc90eebeeef3b9725dd0d66d8f5dad4b11b086aed87d757f2eebc1b97", + "visual_seed": 8864420417390361310, + "episode_index": 153, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_154_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_154_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d91b53d854a3db3bf7a8c0043d82cfa65e83efa7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_154_success.json @@ -0,0 +1,684 @@ +{ + "episode": 154, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31837597022593167, + 0.09545132326498429, + 1.01017439611607 + ], + "current_z": 1.01017439611607, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.149067888101304, + "gripper_z": 1.054598190118939, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3101431405525533, + 0.08707637853831425, + 1.054598190118939 + ], + "object_minus_gripper": [ + 0.00823282967337835, + 0.008374944726670039, + -0.04442379400286889 + ], + "object_to_gripper_xy": 0.011743899846543199, + "object_to_gripper_z": -0.04442379400286889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31837597022593167, + 0.06694455914233832, + 1.0410257063095203 + ], + "finger_b": [ + 0.3039248973243413, + 0.09545132326498429, + 1.0411250311973446 + ], + "finger_midpoint": [ + 0.3111504337751365, + 0.0811979412036613, + 1.0410753687534324 + ], + "object_minus_finger_midpoint": [ + 0.007225536450795156, + 0.014253382061322983, + -0.030900972637362356 + ], + "finger_gap": 0.031960584697164035, + "fingertip_max_gap": 0.09794897555873058, + "finger_z_skew": 9.932488782427029e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.015980215179646776, + "object_to_finger_midpoint_z": 0.030900972637362356, + "finger_midpoint_minus_object_z": 0.030900972637362356, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.01017439611607, + "object_top_z": 1.062557897946193, + "finger_top_clearance": 0.021482529192760502, + "fingertip_min_top_clearance": 0.015715050549036873, + "object_projection_between_fingers": 0.7955557282957111, + "object_to_finger_line_xy": 0.012889479956736838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051474487779365294, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1614796940676608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 184, + "max_stable_success_frames": 184, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.318901054023622, + 0.07970592188958953, + 1.204294770385159 + ], + "held_position": [ + 0.3271405011046141, + 0.08416240216932785, + 1.1591327268647902 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.046123300831790545, + "max_held_gripper_dist": 0.04615908469858281, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04516204352036879, + "max_held_gripper_z_dist": 0.04522082794713156, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09050971277511524, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3271405011046141, + 0.055489243170480006, + 1.1909119805280852 + ], + "held_grasp_finger_b": [ + 0.32083983231371743, + 0.09436199311888889, + 1.189059762207353 + ], + "held_grasp_midpoint": [ + 0.3239901667091658, + 0.07492561814468444, + 1.1899858713677192 + ], + "held_grasp_object_position": [ + 0.3271405011046141, + 0.08416240216932785, + 1.1591327268647902 + ], + "held_grasp_finger_gap": 0.03942359481924192, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03631054625188136, + "held_grasp_world_z_skew": 0.0018522183207321241, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.23724931071124808, + -0.9705388658306161, + 0.04203658500947894 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.030429599003755872, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03871121668335813, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29632499084495767, + 0.09653578656868599, + 0.7611081842648537 + ], + "target_position": [ + 0.2890917383846616, + 0.09019909856001153, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00961631717829947, + "xy_threshold": 0.08, + "gripper_dist": 0.22073504187153478, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081842648537, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542359083795885, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562389507719896, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19166666026097398, + "release_required_pad_clearance": 0.05281194753859948, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6667530607322499, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 381, + "max_placed_release_frames": 381 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 154, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c8e00d6c3344a5315889347a0ae0377d25bfab4506445018b47a14d403f0301", + "visual_seed": 6773035203354909657, + "episode_index": 154, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_155_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_155_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f07d5a1c16ff3f2bc2641d50472508df664d95b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_155_success.json @@ -0,0 +1,684 @@ +{ + "episode": 155, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31768301831640466, + 0.09512914498838139, + 1.0496452633754254 + ], + "current_z": 1.0496452633754254, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.18853863615137, + "gripper_z": 1.052882795421129, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3126013314002684, + 0.09023866552191336, + 1.052882795421129 + ], + "object_minus_gripper": [ + 0.005081686916136252, + 0.004890479466468034, + -0.0032375320457036505 + ], + "object_to_gripper_xy": 0.007052682562371274, + "object_to_gripper_z": -0.0032375320457036505, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31768301831640466, + 0.07073216347502825, + 1.0496452633754254 + ], + "finger_b": [ + 0.3057327718269134, + 0.09512914498838139, + 1.0496452633754254 + ], + "finger_midpoint": [ + 0.311707895071659, + 0.08293065423170481, + 1.0496452633754254 + ], + "object_minus_finger_midpoint": [ + 0.005975123244745639, + 0.012198490756676575, + 0.0 + ], + "finger_gap": 0.027166543727947676, + "fingertip_max_gap": 0.09262049617192755, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583271863973845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496452633754254, + "object_top_z": 1.1006055624788258, + "finger_top_clearance": 0.050960299103400386, + "fingertip_min_top_clearance": 0.015288089731020131, + "object_projection_between_fingers": 0.8064982267811863, + "object_to_finger_line_xy": 0.010731948296543831, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881024808596378, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.936132621149387, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31804142607813013, + 0.0924499009514944, + 1.241531526088262 + ], + "held_position": [ + 0.3234694376312953, + 0.09682918267745855, + 1.238087933054711 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007778158576255656, + "max_held_gripper_dist": 0.0077869537211791556, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003443593033551018, + "max_held_gripper_z_dist": 0.003466142008790918, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694066399501325, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3234694376312953, + 0.07121364370255481, + 1.238087933054711 + ], + "held_grasp_finger_b": [ + 0.3140166301659992, + 0.09682918267745855, + 1.238087933054711 + ], + "held_grasp_midpoint": [ + 0.3187430338986472, + 0.08402141319000668, + 1.238087933054711 + ], + "held_grasp_object_position": [ + 0.3234694376312953, + 0.09682918267745855, + 1.238087933054711 + ], + "held_grasp_finger_gap": 0.027304054752925813, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024773833159340886, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07971535581461459, + -0.9965578743002009, + 0.022756652161832758 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037022172278161477, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657979957988149, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28536770829565866, + 0.09458004674674754, + 0.7611069320804114 + ], + "target_position": [ + 0.2931124812651085, + 0.09253406858346487, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008010464093481152, + "xy_threshold": 0.08, + "gripper_dist": 0.20916690039727925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069320804114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584786848093156, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09124008081309072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1797379997389668, + "release_required_pad_clearance": 0.05562004040654536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.403102696633205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 155, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31ffa633b9408148b4c9c533e21adbd31d738919bf8afa1e13c6b1bc7da27ea9", + "visual_seed": 3369692189230544701, + "episode_index": 155, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_157_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_157_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9105b88c44ad2939da463961f2ec7bc1ca95e757 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_157_success.json @@ -0,0 +1,684 @@ +{ + "episode": 157, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31783369583657617, + 0.09242818194872192, + 1.0528499169233263 + ], + "current_z": 1.0528499169233263, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.19174317048998135, + "gripper_z": 1.0561075836554132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3130554105266237, + 0.08770058300401826, + 1.0561075836554132 + ], + "object_minus_gripper": [ + 0.004778285309952446, + 0.004727598944703662, + -0.003257666732086939 + ], + "object_to_gripper_xy": 0.006721770770062791, + "object_to_gripper_z": -0.003257666732086939, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31783369583657617, + 0.06824586966901712, + 1.0528499169233263 + ], + "finger_b": [ + 0.30611870233724714, + 0.09242818194872192, + 1.0528499169233263 + ], + "finger_midpoint": [ + 0.31197619908691165, + 0.08033702580886952, + 1.0528499169233263 + ], + "object_minus_finger_midpoint": [ + 0.005857496749664515, + 0.0120911561398524, + 0.0 + ], + "finger_gap": 0.02687052846302958, + "fingertip_max_gap": 0.0943303009593853, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01343526423151479, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528499169233263, + "object_top_z": 1.104638310382433, + "finger_top_clearance": 0.051788393459106796, + "fingertip_min_top_clearance": 0.015536518037732039, + "object_projection_between_fingers": 0.8099220723821466, + "object_to_finger_line_xy": 0.010542986958565606, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04966515047969265, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.514352490314412, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31854770462098925, + 0.08997655162486894, + 1.2465810139255513 + ], + "held_position": [ + 0.32367834677871365, + 0.09421720406151972, + 1.2431537531431902 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007486837684189611, + "max_held_gripper_dist": 0.007496894673550687, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003427260782361108, + "max_held_gripper_z_dist": 0.003448914457893526, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08693711004013902, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32367834677871365, + 0.06879877348312116, + 1.2431537531431902 + ], + "held_grasp_finger_b": [ + 0.3144032204415684, + 0.09421720406151972, + 1.2431537531431902 + ], + "held_grasp_midpoint": [ + 0.319040783610141, + 0.08150798877232043, + 1.2431537531431902 + ], + "held_grasp_object_position": [ + 0.32367834677871365, + 0.09421720406151972, + 1.2431537531431902 + ], + "held_grasp_finger_gap": 0.02705780075392072, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02464203315224902, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07464893765170454, + -0.9966945599478632, + 0.03205448919898124 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003699013177598795, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670685516631731, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2787899811786863, + 0.08535952491585448, + 0.7611062815084321 + ], + "target_position": [ + 0.29357616930902686, + 0.08858408411025236, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01513370877954243, + "xy_threshold": 0.08, + "gripper_dist": 0.20417802683942962, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062815084321, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755171851654259, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0890921700915802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1751331697535784, + "release_required_pad_clearance": 0.0545460850457901, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.1225500187610375, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 157, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a5fe6a891ca6c4bcd1dcde234ed5868928c073093922859d51afdf8e3cdcbf2", + "visual_seed": 3998349874142912965, + "episode_index": 157, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_159_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_159_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f363f1301afbbbac55dd0b8ccba50828073465 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_159_success.json @@ -0,0 +1,684 @@ +{ + "episode": 159, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31361088534753345, + 0.08805715491643669, + 1.0491771256381104 + ], + "current_z": 1.0491771256381104, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.18807037920476555, + "gripper_z": 1.052654212301459, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.308602553919091, + 0.0832040157812552, + 1.052654212301459 + ], + "object_minus_gripper": [ + 0.005008331428442425, + 0.004853139135181483, + -0.003477086663348672 + ], + "object_to_gripper_xy": 0.006973976137222884, + "object_to_gripper_z": -0.003477086663348672, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31361088534753345, + 0.0637250074130872, + 1.0491771256381104 + ], + "finger_b": [ + 0.3016966723769178, + 0.08805715491643669, + 1.0491771256381104 + ], + "finger_midpoint": [ + 0.3076537788622256, + 0.07589108116476195, + 1.0491771256381104 + ], + "object_minus_finger_midpoint": [ + 0.005957106485307839, + 0.012166073751674736, + 0.0 + ], + "finger_gap": 0.027092468932047212, + "fingertip_max_gap": 0.09289343632727301, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0135462344660236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491771256381104, + "object_top_z": 1.1002406054836291, + "finger_top_clearance": 0.05106347984551873, + "fingertip_min_top_clearance": 0.015319043953655619, + "object_projection_between_fingers": 0.8066102063730014, + "object_to_finger_line_xy": 0.010700331081469812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894671816363651, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0296537725638482, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31383566971514376, + 0.08562313482808057, + 1.241827878661558 + ], + "held_position": [ + 0.319176055817451, + 0.08999009051833975, + 1.238168087935874 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007809231324413779, + "max_held_gripper_dist": 0.007818668233436318, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003659790725683898, + "max_held_gripper_z_dist": 0.0036822436686270166, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08761240513646679, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.319176055817451, + 0.06445921453138584, + 1.238168087935874 + ], + "held_grasp_finger_b": [ + 0.30966574168319494, + 0.08999009051833975, + 1.238168087935874 + ], + "held_grasp_midpoint": [ + 0.314420898750323, + 0.0772246525248628, + 1.238168087935874 + ], + "held_grasp_object_position": [ + 0.319176055817451, + 0.08999009051833975, + 1.238168087935874 + ], + "held_grasp_finger_gap": 0.02724466376363362, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024731334666746284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07569281508197873, + -0.9968791172260375, + 0.022419263672154188 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003786401485505055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036634720287586145, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.26819818190999567, + 0.08188267788322494, + 0.7611086067989667 + ], + "target_position": [ + 0.28913322019598614, + 0.08564178866105263, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.021269855238714417, + "xy_threshold": 0.08, + "gripper_dist": 0.20198388366329584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086067989667, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526561129657323, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08573032440382501, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17363260246404147, + "release_required_pad_clearance": 0.05286516220191251, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7661568618883284, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 159, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc26cf87ebfbd9790a6ca4bd8d9cf1b002b7acfb0c4d95c64f4efd33f054330b", + "visual_seed": 4130772984715689499, + "episode_index": 159, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_160_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_160_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a263b89133209d362d252b51bcfc7b3fa2057a17 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_160_success.json @@ -0,0 +1,684 @@ +{ + "episode": 160, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.321395652252911, + 0.09125079099364396, + 1.0495465819349987 + ], + "current_z": 1.0495465819349987, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.18843983550165344, + "gripper_z": 1.0528602819438961, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31592905998009735, + 0.08624057972360245, + 1.0528602819438961 + ], + "object_minus_gripper": [ + 0.005466592272813653, + 0.005010211270041504, + -0.0033137000088974133 + ], + "object_to_gripper_xy": 0.007415244301278066, + "object_to_gripper_z": -0.0033137000088974133, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.321395652252911, + 0.06647238252755133, + 1.0495465819349987 + ], + "finger_b": [ + 0.30941312050999464, + 0.09125079099364396, + 1.0495465819349987 + ], + "finger_midpoint": [ + 0.31540438638145285, + 0.07886158676059765, + 1.0495465819349987 + ], + "object_minus_finger_midpoint": [ + 0.005991265871458151, + 0.012389204233046305, + 0.0 + ], + "finger_gap": 0.02752363698864176, + "fingertip_max_gap": 0.09547551773170218, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01376181849432086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495465819349987, + "object_top_z": 1.101492897467025, + "finger_top_clearance": 0.05194631553202633, + "fingertip_min_top_clearance": 0.015583894659607932, + "object_projection_between_fingers": 0.8104666958469977, + "object_to_finger_line_xy": 0.010787384897803561, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05023775886585109, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.034049362821554, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32128043202611295, + 0.08867850427435134, + 1.2423545060456003 + ], + "held_position": [ + 0.32703450527892525, + 0.09323913567486804, + 1.2388438112308497 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008138408680597517, + "max_held_gripper_dist": 0.008147948249592002, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035106948147505257, + "max_held_gripper_z_dist": 0.0035383725212914108, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08674373515760414, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32703450527892525, + 0.06751187006979992, + 1.2388438112308497 + ], + "held_grasp_finger_b": [ + 0.31712473495413074, + 0.09323913567486804, + 1.2388438112308497 + ], + "held_grasp_midpoint": [ + 0.322079620116528, + 0.08037550287233397, + 1.2388438112308497 + ], + "held_grasp_object_position": [ + 0.32703450527892525, + 0.09323913567486804, + 1.2388438112308497 + ], + "held_grasp_finger_gap": 0.027569833938634797, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025239538449457602, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04532826442783794, + -0.9985021934899486, + 0.03063850583369509 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004384765709835243, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665128815566483, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28888932240753384, + 0.09052499939436788, + 0.7611064073798729 + ], + "target_position": [ + 0.29649961362700455, + 0.08855951566348563, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007860003736736757, + "xy_threshold": 0.08, + "gripper_dist": 0.20796003051819598, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064073798729, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581585073948496, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09332145563133952, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1787493745002371, + "release_required_pad_clearance": 0.05666072781566976, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.73291882716703, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 160, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bbf8e09dcf5b1e10eca36e3c6ea3f0e09a1d3eb4f433ff813485d69bacb9b48e", + "visual_seed": 7568436799698531353, + "episode_index": 160, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_161_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_161_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe19c3cd19d2be25bb70af63d42f683b85d98bce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_161_success.json @@ -0,0 +1,684 @@ +{ + "episode": 161, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3141672079887842, + 0.09452876822183694, + 1.0500376707051182 + ], + "current_z": 1.0500376707051182, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.18893098387641805, + "gripper_z": 1.0533001729834985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3089358451316615, + 0.08965636159239544, + 1.0533001729834985 + ], + "object_minus_gripper": [ + 0.005231362857122723, + 0.004872406629441495, + -0.0032625022783803193 + ], + "object_to_gripper_xy": 0.00714895123116032, + "object_to_gripper_z": -0.0032625022783803193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3141672079887842, + 0.06986358558478406, + 1.0500376707051182 + ], + "finger_b": [ + 0.30244680678150093, + 0.09452876822183694, + 1.0500376707051182 + ], + "finger_midpoint": [ + 0.3083070073851426, + 0.08219617690331049, + 1.0500376707051182 + ], + "object_minus_finger_midpoint": [ + 0.005860200603641619, + 0.012332591318526445, + 0.0 + ], + "finger_gap": 0.027308222918726557, + "fingertip_max_gap": 0.09340864946193753, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654111459363273, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0500376707051182, + "object_top_z": 1.1012115252873311, + "finger_top_clearance": 0.05117385458221291, + "fingertip_min_top_clearance": 0.015352156374663854, + "object_projection_between_fingers": 0.8157964149928575, + "object_to_finger_line_xy": 0.010586036199336036, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049204324730968765, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2245334019975789, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3144228742931119, + 0.09187374230640125, + 1.2446594909250446 + ], + "held_position": [ + 0.3199666983662665, + 0.09627575453452279, + 1.2412146290721102 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007872659664714503, + "max_held_gripper_dist": 0.007881329513108052, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034448618529343555, + "max_held_gripper_z_dist": 0.003473088270133484, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0876640757779488, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3199666983662665, + 0.07061751488950158, + 1.2412146290721102 + ], + "held_grasp_finger_b": [ + 0.31041142928410526, + 0.09627575453452279, + 1.2412146290721102 + ], + "held_grasp_midpoint": [ + 0.31518906382518586, + 0.08344663471201219, + 1.2412146290721102 + ], + "held_grasp_object_position": [ + 0.3199666983662665, + 0.09627575453452279, + 1.2412146290721102 + ], + "held_grasp_finger_gap": 0.027379708342380956, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02499773357272647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06292056308805234, + -0.9976895078537157, + 0.025625156766216683 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003974890834561867, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662016037262438, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28637022168924403, + 0.09971936335132044, + 0.7611063932659662 + ], + "target_position": [ + 0.28943820880088433, + 0.0922293451267621, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008094005060624002, + "xy_threshold": 0.08, + "gripper_dist": 0.21298356032284632, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063932659662, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518573205500831, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08963639818049134, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18561518840923394, + "release_required_pad_clearance": 0.05481819909024567, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.69253900652937, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 161, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "796b3a3066f84984c1782232db33b1915d89a889258773904bd38a104d5a5a4b", + "visual_seed": 5214781589062222538, + "episode_index": 161, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_164_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_164_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3c13df133b424c4be63b8ee788a21ba622699a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_164_success.json @@ -0,0 +1,684 @@ +{ + "episode": 164, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.321273155848169, + 0.08786258857789367, + 1.049125453802906 + ], + "current_z": 1.049125453802906, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18801894578813994, + "gripper_z": 1.0523336113690884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.316051668337975, + 0.08288834113880152, + 1.0523336113690884 + ], + "object_minus_gripper": [ + 0.005221487510194023, + 0.004974247439092153, + -0.0032081575661824235 + ], + "object_to_gripper_xy": 0.007211592709272135, + "object_to_gripper_z": -0.0032081575661824235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.321273155848169, + 0.06341488963908018, + 1.049125453802906 + ], + "finger_b": [ + 0.30914376126064613, + 0.08786258857789367, + 1.049125453802906 + ], + "finger_midpoint": [ + 0.3152084585544076, + 0.07563873910848692, + 1.049125453802906 + ], + "object_minus_finger_midpoint": [ + 0.006064697293761412, + 0.012223849469406745, + 0.0 + ], + "finger_gap": 0.027291247616455565, + "fingertip_max_gap": 0.0926742680812834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01364562380822777, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049125453802906, + "object_top_z": 1.1000241488290257, + "finger_top_clearance": 0.050898695026119656, + "fingertip_min_top_clearance": 0.015269608507835913, + "object_projection_between_fingers": 0.8024707251592397, + "object_to_finger_line_xy": 0.010865600259587748, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488371340406417, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8849737597461884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3213281776849434, + 0.08517867983361706, + 1.241772340039246 + ], + "held_position": [ + 0.326889405092737, + 0.08965109808093984, + 1.238369285097805 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007906361881083287, + "max_held_gripper_dist": 0.007915468548185865, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003403054941440997, + "max_held_gripper_z_dist": 0.0034260523878817395, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08657473718349792, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.326889405092737, + 0.06402822788644513, + 1.238369285097805 + ], + "held_grasp_finger_b": [ + 0.31714115032464085, + 0.08965109808093984, + 1.238369285097805 + ], + "held_grasp_midpoint": [ + 0.32201527770868893, + 0.07683966298369249, + 1.238369285097805 + ], + "held_grasp_object_position": [ + 0.326889405092737, + 0.08965109808093984, + 1.238369285097805 + ], + "held_grasp_finger_gap": 0.02741459370531751, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024808922308724626, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07545291574318275, + -0.996939701153125, + 0.020447243593449512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039026283315599986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036580254670072504, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2815764877705883, + 0.0852962064725603, + 0.7611134342153211 + ], + "target_position": [ + 0.2966064305508794, + 0.08628520955418313, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01506244691523536, + "xy_threshold": 0.08, + "gripper_dist": 0.20360372330572998, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611134342153211, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547479629428172, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09191648835156634, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17491656142921902, + "release_required_pad_clearance": 0.05595824417578317, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.139262113772731, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 164, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "301f4254346033c74e40feaf60401c42a0937d17e144869d993a17bbc2dd12e0", + "visual_seed": 3012307143020993424, + "episode_index": 164, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_167_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_167_success.json new file mode 100644 index 0000000000000000000000000000000000000000..22a67ca9477cf0ed4cd556799e4142a050d89a26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_167_success.json @@ -0,0 +1,684 @@ +{ + "episode": 167, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31910172561583783, + 0.09135371119258479, + 1.0509099165424174 + ], + "current_z": 1.0509099165424174, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1898034681322961, + "gripper_z": 1.0539798041628738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31402894495079103, + 0.08654186726897156, + 1.0539798041628738 + ], + "object_minus_gripper": [ + 0.005072780665046794, + 0.004811843923613224, + -0.0030698876204564574 + ], + "object_to_gripper_xy": 0.006991920023919474, + "object_to_gripper_z": -0.0030698876204564574, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31910172561583783, + 0.06685408554883426, + 1.0509099165424174 + ], + "finger_b": [ + 0.307403876567679, + 0.09135371119258479, + 1.0509099165424174 + ], + "finger_midpoint": [ + 0.3132528010917584, + 0.07910389837070952, + 1.0509099165424174 + ], + "object_minus_finger_midpoint": [ + 0.005848924524079424, + 0.012249812821875261, + 0.0 + ], + "finger_gap": 0.027149057608643234, + "fingertip_max_gap": 0.09345435610734013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013574528804321617, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509099165424174, + "object_top_z": 1.1022586209673668, + "finger_top_clearance": 0.05134870442494943, + "fingertip_min_top_clearance": 0.015404611327484812, + "object_projection_between_fingers": 0.8143467708448037, + "object_to_finger_line_xy": 0.010556275162411328, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049227178053670065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1583780643167503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3194737339990037, + 0.0888096879189952, + 1.2452283662499273 + ], + "held_position": [ + 0.3248672508257012, + 0.0931560185892506, + 1.2419837366282926 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007649067618779499, + "max_held_gripper_dist": 0.007657364133412079, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032446296216346315, + "max_held_gripper_z_dist": 0.003267573397423895, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697519879981841, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3248672508257012, + 0.06760304854659709, + 1.2419837366282926 + ], + "held_grasp_finger_b": [ + 0.31537550163505546, + 0.0931560185892506, + 1.2419837366282926 + ], + "held_grasp_midpoint": [ + 0.32012137623037834, + 0.08037953356792385, + 1.2419837366282926 + ], + "held_grasp_object_position": [ + 0.3248672508257012, + 0.0931560185892506, + 1.2419837366282926 + ], + "held_grasp_finger_gap": 0.027258899110178175, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482916509313333, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06884705775604513, + -0.9972478367614994, + 0.02751062908851487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003871390249784693, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036652188518794114, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29563775886617916, + 0.08413195605584621, + 0.7611063471846904 + ], + "target_position": [ + 0.2945677080060481, + 0.08668665716620536, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027697484735147854, + "xy_threshold": 0.08, + "gripper_dist": 0.2144293807656846, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063471846904, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582125001078484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08733066973944197, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18360017086264319, + "release_required_pad_clearance": 0.053665334869720985, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3403844142967394, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 167, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44f97117a09b871b8c05f4fab4f2f9dfd6be3077ded214ca82400e028660165f", + "visual_seed": 7351399535847067466, + "episode_index": 167, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1549e2d85ae1901c6bd1bfdf68bbbc72c0fed24d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3188696067349199, + 0.09679968159052438, + 1.0499015979689927 + ], + "current_z": 1.0499015979689927, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.18879514955887178, + "gripper_z": 1.0529618850614293, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3138938274414228, + 0.09194793255348055, + 1.0529618850614293 + ], + "object_minus_gripper": [ + 0.0049757792934970735, + 0.004851749037043829, + -0.0030602870924365533 + ], + "object_to_gripper_xy": 0.006949665336982059, + "object_to_gripper_z": -0.0030602870924365533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3188696067349199, + 0.07251111555032438, + 1.0499015979689927 + ], + "finger_b": [ + 0.30693655395242686, + 0.09679968159052438, + 1.0499015979689927 + ], + "finger_midpoint": [ + 0.31290308034367337, + 0.08465539857042438, + 1.0499015979689927 + ], + "object_minus_finger_midpoint": [ + 0.005966526391246507, + 0.012144283020099997, + 0.0 + ], + "finger_gap": 0.02706163684995645, + "fingertip_max_gap": 0.09270093381825709, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013530818424978224, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499015979689927, + "object_top_z": 1.1007909084224172, + "finger_top_clearance": 0.050889310453424486, + "fingertip_min_top_clearance": 0.015266793136027312, + "object_projection_between_fingers": 0.8055557971520844, + "object_to_finger_line_xy": 0.010710244253729994, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048850466909128545, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9901771793670171, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3192973439832657, + 0.09421854445230257, + 1.2435168921107014 + ], + "held_position": [ + 0.32464048958045466, + 0.09855466676653318, + 1.2402796328821473 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0076046702038673015, + "max_held_gripper_dist": 0.007613460180744286, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032372592285541124, + "max_held_gripper_z_dist": 0.003262713412234941, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741687174651182, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32464048958045466, + 0.07303254454650424, + 1.2402796328821473 + ], + "held_grasp_finger_b": [ + 0.31517556779687683, + 0.09855466676653318, + 1.2402796328821473 + ], + "held_grasp_midpoint": [ + 0.31990802868866575, + 0.08579360565651871, + 1.2402796328821473 + ], + "held_grasp_object_position": [ + 0.32464048958045466, + 0.09855466676653318, + 1.2402796328821473 + ], + "held_grasp_finger_gap": 0.027220644132410633, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0246871518165722, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0790687181643471, + -0.9966072111967441, + 0.022851792019347505 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037204270353832372, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662829492885566, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2699895964031759, + 0.09070824732494728, + 0.7611079219160887 + ], + "target_position": [ + 0.29442436159524404, + 0.09340297541053459, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024582906855104808, + "xy_threshold": 0.08, + "gripper_dist": 0.1995114750681286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079219160887, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539079515082539, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751778608762616, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17156210040520165, + "release_required_pad_clearance": 0.05375889304381308, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.520413789610366, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1a382c0f506635553a49a5dfa9a0b1ccf2e7168ec6055990d5e0298287c4f402", + "visual_seed": 2219113845832012064, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a50cf284341d21717bc620c00ac8a31c3b45245a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31374988177746177, + 0.09024341225281643, + 1.0527386769839457 + ], + "current_z": 1.0527386769839457, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19163222857382456, + "gripper_z": 1.056070918109999, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.308577490111428, + 0.08536623255789451, + 1.056070918109999 + ], + "object_minus_gripper": [ + 0.005172391666033782, + 0.004877179694921921, + -0.003332241126053237 + ], + "object_to_gripper_xy": 0.007109185419119015, + "object_to_gripper_z": -0.003332241126053237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31374988177746177, + 0.06570341305092339, + 1.0527386769839457 + ], + "finger_b": [ + 0.3019163984447827, + 0.09024341225281643, + 1.0527386769839457 + ], + "finger_midpoint": [ + 0.3078331401111222, + 0.07797341265186991, + 1.0527386769839457 + ], + "object_minus_finger_midpoint": [ + 0.005916741666339542, + 0.012269999600946518, + 0.0 + ], + "finger_gap": 0.027244134939720596, + "fingertip_max_gap": 0.0917131909286191, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013622067469860298, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0527386769839457, + "object_top_z": 1.103465933592112, + "finger_top_clearance": 0.05072725660816624, + "fingertip_min_top_clearance": 0.015218176982449871, + "object_projection_between_fingers": 0.8113402904454474, + "object_to_finger_line_xy": 0.01065894263782184, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835659546430955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5984166900860092, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3139809220932466, + 0.08773895565899655, + 1.2458496252444686 + ], + "held_position": [ + 0.3194650543141822, + 0.09215025238098448, + 1.2423351163589342 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007866830218876351, + "max_held_gripper_dist": 0.007875723163365732, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035145088855343953, + "max_held_gripper_z_dist": 0.0035384562062221736, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08678469739250147, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3194650543141822, + 0.06655640288064446, + 1.2423351163589342 + ], + "held_grasp_finger_b": [ + 0.30984090190485203, + 0.09215025238098448, + 1.2423351163589342 + ], + "held_grasp_midpoint": [ + 0.3146529781095171, + 0.07935332763081447, + 1.2423351163589342 + ], + "held_grasp_object_position": [ + 0.3194650543141822, + 0.09215025238098448, + 1.2423351163589342 + ], + "held_grasp_finger_gap": 0.027343544792950147, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02475185155702509, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07867699845204876, + -0.9966867618291397, + 0.02062592323073131 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003799787213858352, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658712486737136, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2823722431795569, + 0.08836101495144158, + 0.7611064268440432 + ], + "target_position": [ + 0.28909408753881993, + 0.08732383099498542, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006801392662513054, + "xy_threshold": 0.08, + "gripper_dist": 0.21072910774390624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064268440432, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538030557516182, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08867556688874677, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1818028238913775, + "release_required_pad_clearance": 0.054337783444373386, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6979239650914613, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7b5a26f67fe16aca217397ceb61d40bc0edf52a77f8d08c9fd47f19f172fdf9", + "visual_seed": 186044676744776153, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc42d56e583875be3556e8a756ffd3ed3162b6f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31435533743864835, + 0.08780836847717861, + 1.0525051862631858 + ], + "current_z": 1.0525051862631858, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1913987378530646, + "gripper_z": 1.0559186947693888, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30926332323649275, + 0.0829281171577725, + 1.0559186947693888 + ], + "object_minus_gripper": [ + 0.005092014202155604, + 0.004880251319406115, + -0.0034135085062030335 + ], + "object_to_gripper_xy": 0.007053046262113945, + "object_to_gripper_z": -0.0034135085062030335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31435533743864835, + 0.06340385066340899, + 1.0525051862631858 + ], + "finger_b": [ + 0.3024211954533673, + 0.08780836847717861, + 1.0525051862631858 + ], + "finger_midpoint": [ + 0.3083882664460078, + 0.0756061095702938, + 1.0525051862631858 + ], + "object_minus_finger_midpoint": [ + 0.005967070992640544, + 0.01220225890688481, + 0.0 + ], + "finger_gap": 0.02716623335406376, + "fingertip_max_gap": 0.09272617235387745, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583116677031892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0525051862631858, + "object_top_z": 1.1034645188579608, + "finger_top_clearance": 0.05095933259477503, + "fingertip_min_top_clearance": 0.015287799778432509, + "object_projection_between_fingers": 0.8070150031146026, + "object_to_finger_line_xy": 0.010720918755131, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886308617693873, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9172963271107151, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31455404671904286, + 0.0855708486133594, + 1.2455784106714733 + ], + "held_position": [ + 0.3199559382031194, + 0.08997915674054685, + 1.2419846705270114 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007844015577233559, + "max_held_gripper_dist": 0.007854996643231919, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003593740144461899, + "max_held_gripper_z_dist": 0.0036160041112394126, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861871597042769, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3199559382031194, + 0.0644643007104535, + 1.2419846705270114 + ], + "held_grasp_finger_b": [ + 0.31028372716121727, + 0.08997915674054685, + 1.2419846705270114 + ], + "held_grasp_midpoint": [ + 0.31511983268216837, + 0.07722172872550018, + 1.2419846705270114 + ], + "held_grasp_object_position": [ + 0.3199559382031194, + 0.08997915674054685, + 1.2419846705270114 + ], + "held_grasp_finger_gap": 0.027286618417742502, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024753439306525054, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07136908142176887, + -0.9972126079760605, + 0.02175933617086834 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003923387149502213, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665323359945449, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2951916134255544, + 0.08597272179819905, + 0.761107039360338 + ], + "target_position": [ + 0.2898054256401926, + 0.08531880815326047, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005425736992724316, + "xy_threshold": 0.08, + "gripper_dist": 0.21823356545751862, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107039360338, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590059976261872, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09171517419438112, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1876080569755204, + "release_required_pad_clearance": 0.05585758709719056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.923063240249172, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ccd49cd1b25de874881dee7cd0ec993fbc9f6fb8f363293a171c449eb7198ad5", + "visual_seed": 4002036825629951539, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc9dae61efd037aaed910b8059434767bfa853c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32048942536943276, + 0.0918795921445997, + 1.0517328286033725 + ], + "current_z": 1.0517328286033725, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1906263205886065, + "gripper_z": 1.054885638547132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3154316147235041, + 0.08706548220227996, + 1.054885638547132 + ], + "object_minus_gripper": [ + 0.00505781064592864, + 0.004814109942319747, + -0.003152809943759438 + ], + "object_to_gripper_xy": 0.0069826286645367965, + "object_to_gripper_z": -0.003152809943759438, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32048942536943276, + 0.0674157155416922, + 1.0517328286033725 + ], + "finger_b": [ + 0.30875668321943456, + 0.0918795921445997, + 1.0517328286033725 + ], + "finger_midpoint": [ + 0.31462305429443366, + 0.07964765384314595, + 1.0517328286033725 + ], + "object_minus_finger_midpoint": [ + 0.005866371074999099, + 0.012231938301453749, + 0.0 + ], + "finger_gap": 0.027131872342332535, + "fingertip_max_gap": 0.09419827282538382, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013565936171166268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517328286033725, + "object_top_z": 1.1034340532672005, + "finger_top_clearance": 0.05170122466382798, + "fingertip_min_top_clearance": 0.015510367399148394, + "object_projection_between_fingers": 0.8130008973085583, + "object_to_finger_line_xy": 0.01057901027064215, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04959913641269191, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4114472234859907, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32077511291880145, + 0.08949988558646095, + 1.2437451674390134 + ], + "held_position": [ + 0.3261261567362684, + 0.09387172518971147, + 1.2403982502216169 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007677793062664959, + "max_held_gripper_dist": 0.007686591179691798, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00334691721739655, + "max_held_gripper_z_dist": 0.003368530922755797, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656205536341935, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3261261567362684, + 0.06834376234952075, + 1.2403982502216169 + ], + "held_grasp_finger_b": [ + 0.3166059328478305, + 0.09387172518971147, + 1.2403982502216169 + ], + "held_grasp_midpoint": [ + 0.32136604479204944, + 0.0811077437696161, + 1.2403982502216169 + ], + "held_grasp_object_position": [ + 0.3261261567362684, + 0.09387172518971147, + 1.2403982502216169 + ], + "held_grasp_finger_gap": 0.02724539501743628, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02486039508509574, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06357066591494884, + -0.9975571578806357, + 0.02895664338694437 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003956781084377874, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668484555529979, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2819772709817621, + 0.09256482685889171, + 0.7611064067782698 + ], + "target_position": [ + 0.29599344628430313, + 0.08954233633194823, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014338361799627728, + "xy_threshold": 0.08, + "gripper_dist": 0.2039094093771445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064067782698, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557580123985201, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09382041132801942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17593237881188764, + "release_required_pad_clearance": 0.056910205664009714, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.312629003390962, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a9d01f86ccb05c62ad67192bcf0cd9d147845d866456a1952fa0df7498ff40f", + "visual_seed": 2691521883279209691, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6fb8eafa4c891d3246599b6f0c3f9f949a847a8f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31258770467154207, + 0.0891386045256194, + 1.0514859289190117 + ], + "current_z": 1.0514859289190117, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.19037936129960098, + "gripper_z": 1.0550381328092096, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3075386358794556, + 0.0842072411101119, + 1.0550381328092096 + ], + "object_minus_gripper": [ + 0.005049068792086442, + 0.0049313634155075114, + -0.003552203890197836 + ], + "object_to_gripper_xy": 0.007057722068984238, + "object_to_gripper_z": -0.003552203890197836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31258770467154207, + 0.06486496636515665, + 1.0514859289190117 + ], + "finger_b": [ + 0.3004533615041156, + 0.0891386045256194, + 1.0514859289190117 + ], + "finger_midpoint": [ + 0.30652053308782884, + 0.07700178544538802, + 1.0514859289190117 + ], + "object_minus_finger_midpoint": [ + 0.006067171583713227, + 0.012136819080231384, + 0.0 + ], + "finger_gap": 0.027137645322502516, + "fingertip_max_gap": 0.09322806938004999, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013568822661251263, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514859289190117, + "object_top_z": 1.1026018314571968, + "finger_top_clearance": 0.0511159025381851, + "fingertip_min_top_clearance": 0.015334770761455528, + "object_projection_between_fingers": 0.8000652787127874, + "object_to_finger_line_xy": 0.010853729270194155, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049114034690024996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2409423881356398, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31298372406865693, + 0.08639946825002048, + 1.2450403032127855 + ], + "held_position": [ + 0.31841969081350097, + 0.09077742752829669, + 1.2413036898467429 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00791697804345718, + "max_held_gripper_dist": 0.007925884773514445, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003736613366042585, + "max_held_gripper_z_dist": 0.0037606493605548685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08689864253657825, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31841969081350097, + 0.06518681666207209, + 1.2413036898467429 + ], + "held_grasp_finger_b": [ + 0.3088943438590437, + 0.09077742752829669, + 1.2413036898467429 + ], + "held_grasp_midpoint": [ + 0.3136570173362723, + 0.07798212209518439, + 1.2413036898467429 + ], + "held_grasp_object_position": [ + 0.31841969081350097, + 0.09077742752829669, + 1.2413036898467429 + ], + "held_grasp_finger_gap": 0.027305889458307735, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024728553825056388, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08085801680553616, + -0.9964105437917707, + 0.025060114502198694 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003726714178173823, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0365857724934448, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.284933242897912, + 0.08299390230351285, + 0.7611063204187716 + ], + "target_position": [ + 0.2880129627784648, + 0.08435344557854653, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003366456959380489, + "xy_threshold": 0.08, + "gripper_dist": 0.21354763976195176, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063204187716, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525757019295003, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08689706576354432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18423566871786232, + "release_required_pad_clearance": 0.05344853288177216, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9102219708605321, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8d08631fc78707923e20ce76cc60ba6b80b96cbb2edbd9e53c151c3cef72bce", + "visual_seed": 734030066684457649, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..affc9f766cd4e3e8ca49135226b281e74e311bc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3147999050599658, + 0.09352201626944398, + 1.0207460351116473 + ], + "current_z": 1.0207460351116473, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.15963946749223645, + "gripper_z": 1.0553333325781493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.308396421881578, + 0.08808451306477659, + 1.0553333325781493 + ], + "object_minus_gripper": [ + 0.006403483178387792, + 0.0054375032046673905, + -0.03458729746650202 + ], + "object_to_gripper_xy": 0.008400656993156164, + "object_to_gripper_z": -0.03458729746650202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3147999050599658, + 0.0682476102450364, + 1.0417635814570045 + ], + "finger_b": [ + 0.3018915842961645, + 0.09352201626944398, + 1.0418649888218536 + ], + "finger_midpoint": [ + 0.30834574467806514, + 0.08088481325724019, + 1.041814285139429 + ], + "object_minus_finger_midpoint": [ + 0.006454160381900664, + 0.012637203012203793, + -0.021068250027781676 + ], + "finger_gap": 0.028380109729904863, + "fingertip_max_gap": 0.0993472044088212, + "finger_z_skew": 0.00010140736484909318, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014189964277860208, + "object_to_finger_midpoint_z": 0.021068250027781676, + "finger_midpoint_minus_object_z": 0.021068250027781676, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0207460351116473, + "object_top_z": 1.0735003204700888, + "finger_top_clearance": 0.031686035330659834, + "fingertip_min_top_clearance": 0.015826285607532485, + "object_projection_between_fingers": 0.7931207648140423, + "object_to_finger_line_xy": 0.011495805545706542, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0521736022044106, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.418614208328657, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 190, + "max_stable_success_frames": 190, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3153453252641498, + 0.08584790266280669, + 1.2121093274265144 + ], + "held_position": [ + 0.3213244505138, + 0.08959532562976978, + 1.177140051374958 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.035674127672786785, + "max_held_gripper_dist": 0.035698244811701633, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03496927605155653, + "max_held_gripper_z_dist": 0.03500705752697475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08763182145203349, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3213244505138, + 0.06333059755206952, + 1.1984468933251036 + ], + "held_grasp_finger_b": [ + 0.31363645759465075, + 0.09407013120376781, + 1.1980105397957612 + ], + "held_grasp_midpoint": [ + 0.31748045405422537, + 0.07870036437791866, + 1.1982287165604324 + ], + "held_grasp_object_position": [ + 0.3213244505138, + 0.08959532562976978, + 1.177140051374958 + ], + "held_grasp_finger_gap": 0.03168934471792293, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.030007871032213685, + "held_grasp_world_z_skew": 0.00043635352934234817, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08014178794676263, + -0.9955330236557403, + 0.04991285040503857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020717108058024215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037513296212651724, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.278603070526926, + 0.08730586635464568, + 0.7611063713599071 + ], + "target_position": [ + 0.28830618833776483, + 0.0908656715562798, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010335507163395461, + "xy_threshold": 0.08, + "gripper_dist": 0.20945877488215406, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063713599071, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561743140456635, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08985743742960857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17947665099211005, + "release_required_pad_clearance": 0.05492871871480429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.92439391255194, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "86bdc856d5cf05c65c596cd26c4a86fb8fa03d7513d20d4ebc30ee24796ed563", + "visual_seed": 5193920167915974338, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94154ea893081f0c5c07e555a7f9b3c4534f1290 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.321168931558818, + 0.08833464167253481, + 1.051799012624909 + ], + "current_z": 1.051799012624909, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.19069232579620887, + "gripper_z": 1.0549634187424601, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3160660169047942, + 0.08352640701303912, + 1.0549634187424601 + ], + "object_minus_gripper": [ + 0.0051029146540237935, + 0.004808234659495689, + -0.0031644061175510885 + ], + "object_to_gripper_xy": 0.007011337854291889, + "object_to_gripper_z": -0.0031644061175510885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.321168931558818, + 0.06376672473075023, + 1.051799012624909 + ], + "finger_b": [ + 0.309541784060256, + 0.08833464167253481, + 1.051799012624909 + ], + "finger_midpoint": [ + 0.315355357809537, + 0.07605068320164252, + 1.051799012624909 + ], + "object_minus_finger_midpoint": [ + 0.005813573749280987, + 0.012283958470892295, + 0.0 + ], + "finger_gap": 0.027180380825362647, + "fingertip_max_gap": 0.09304658832932564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359019041268133, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051799012624909, + "object_top_z": 1.102743451789255, + "finger_top_clearance": 0.05094443916434588, + "fingertip_min_top_clearance": 0.015283331749303762, + "object_projection_between_fingers": 0.8170066579010805, + "object_to_finger_line_xy": 0.01050959498507089, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902329416466282, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0330825386278346, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3213759281551304, + 0.08606008571356803, + 1.2457859227054349 + ], + "held_position": [ + 0.3267581020563751, + 0.09045924932119914, + 1.2424548556947905 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007708206262117598, + "max_held_gripper_dist": 0.007717262873745984, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033310670106443396, + "max_held_gripper_z_dist": 0.0033558977680037128, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08626161104933211, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3267581020563751, + 0.06494847926518306, + 1.2424548556947905 + ], + "held_grasp_finger_b": [ + 0.31711546058433815, + 0.09045924932119914, + 1.2424548556947905 + ], + "held_grasp_midpoint": [ + 0.32193678132035664, + 0.0777038642931911, + 1.2424548556947905 + ], + "held_grasp_object_position": [ + 0.3267581020563751, + 0.09045924932119914, + 1.2424548556947905 + ], + "held_grasp_finger_gap": 0.02727232889595559, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02491339051838307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057115405418855236, + -0.9981719030610777, + 0.019765687523241482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004092862198806596, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671281143391947, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2921471895328297, + 0.09007721798743039, + 0.7611170403069546 + ], + "target_position": [ + 0.29665476999036966, + 0.085617251964897, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006341102309799808, + "xy_threshold": 0.08, + "gripper_dist": 0.21279847181277695, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611170403069546, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536460644411014, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08861994897530805, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18453731186459885, + "release_required_pad_clearance": 0.054309974487654025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.637303443853833, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "75cbf06ce5fdad18727dfb159c154e8b332f7aaf8f50238efab1b82288e25ef1", + "visual_seed": 7541684876077194358, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7576361a934e33799bbd15d388f25148c37422b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31663458940225625, + 0.0942143473413783, + 1.0522634312790564 + ], + "current_z": 1.0522634312790564, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.19115698286893545, + "gripper_z": 1.0556088820813097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31160577914272947, + 0.08933161756470455, + 1.0556088820813097 + ], + "object_minus_gripper": [ + 0.005028810259526784, + 0.004882729776673755, + -0.003345450802253236 + ], + "object_to_gripper_xy": 0.007009278329353057, + "object_to_gripper_z": -0.003345450802253236, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31663458940225625, + 0.06989177497318978, + 1.0522634312790564 + ], + "finger_b": [ + 0.304648988400281, + 0.0942143473413783, + 1.0522634312790564 + ], + "finger_midpoint": [ + 0.3106417889012686, + 0.08205306115728404, + 1.0522634312790564 + ], + "object_minus_finger_midpoint": [ + 0.005992800500987661, + 0.012161286184094261, + 0.0 + ], + "finger_gap": 0.027115349121564308, + "fingertip_max_gap": 0.09299114920530274, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013557674560782166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522634312790564, + "object_top_z": 1.103359534849456, + "finger_top_clearance": 0.05109610357039962, + "fingertip_min_top_clearance": 0.015328831071119885, + "object_projection_between_fingers": 0.8046158944797416, + "object_to_finger_line_xy": 0.010751130160258015, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899557460265137, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0818719607001661, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31711564121230257, + 0.0915918605406898, + 1.2478756166258964 + ], + "held_position": [ + 0.3225298368694304, + 0.09594131993842998, + 1.2443691228461429 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007779897833114668, + "max_held_gripper_dist": 0.007788570342827155, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003506493779753539, + "max_held_gripper_z_dist": 0.0035314139568412006, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08757406523319296, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3225298368694304, + 0.07039523852998633, + 1.2443691228461429 + ], + "held_grasp_finger_b": [ + 0.31299635320490093, + 0.09594131993842998, + 1.2443691228461429 + ], + "held_grasp_midpoint": [ + 0.31776309503716565, + 0.08316827923420816, + 1.2443691228461429 + ], + "held_grasp_object_position": [ + 0.3225298368694304, + 0.09594131993842998, + 1.2443691228461429 + ], + "held_grasp_finger_gap": 0.027267005448136032, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024684466215466962, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08072616314373428, + -0.9963981311311665, + 0.025962489526428982 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037352628067270147, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660841540473065, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27003280032461, + 0.08898710356827684, + 0.7611077953452791 + ], + "target_position": [ + 0.2921067556138781, + 0.09048769238568134, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.022124901557103616, + "xy_threshold": 0.08, + "gripper_dist": 0.19805435080975228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077953452791, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578099297780992, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08902558902444503, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.16963958170720245, + "release_required_pad_clearance": 0.05451279451222252, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.050905711331524, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 250, + "max_placed_release_frames": 250 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9f5a02f176c7206601ff43c5f37e7a7a8c687059504a5bb81e372936d2d7d6d3", + "visual_seed": 4519310034842825968, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e24a501416c660e601921b99e37020b0a355e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31347306399474073, + 0.08964086553042193, + 1.0490594907750497 + ], + "current_z": 1.0490594907750497, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.18795292315563872, + "gripper_z": 1.0525553936875058, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3089396336401572, + 0.0850347721824394, + 1.0525553936875058 + ], + "object_minus_gripper": [ + 0.004533430354583534, + 0.004606093347982523, + -0.0034959029124561614 + ], + "object_to_gripper_xy": 0.006462823431766355, + "object_to_gripper_z": -0.0034959029124561614, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31347306399474073, + 0.06566649483916608, + 1.0490594907750497 + ], + "finger_b": [ + 0.30189114507558173, + 0.08964086553042193, + 1.0490594907750497 + ], + "finger_midpoint": [ + 0.3076821045351612, + 0.077653680184794, + 1.0490594907750497 + ], + "object_minus_finger_midpoint": [ + 0.0057909594595795255, + 0.011987185345627926, + 0.0 + ], + "finger_gap": 0.02662538818293023, + "fingertip_max_gap": 0.09873931923399329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312694091465127, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490594907750497, + "object_top_z": 1.102984409657389, + "finger_top_clearance": 0.05392491888233941, + "fingertip_min_top_clearance": 0.016177475664701808, + "object_projection_between_fingers": 0.8107790824785196, + "object_to_finger_line_xy": 0.010428738750258064, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05186965961699665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9383449198869713, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31428316705608605, + 0.08746568958556622, + 1.244425955905312 + ], + "held_position": [ + 0.3191717549821672, + 0.09158536634435098, + 1.2407802968214896 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007359406135236311, + "max_held_gripper_dist": 0.007369738486592309, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036456590838223057, + "max_held_gripper_z_dist": 0.0036665509551068176, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862378951734134, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3191717549821672, + 0.06632228098787421, + 1.2407802968214896 + ], + "held_grasp_finger_b": [ + 0.31006854001343787, + 0.09158536634435098, + 1.2407802968214896 + ], + "held_grasp_midpoint": [ + 0.31462014749780254, + 0.07895382366611259, + 1.2407802968214896 + ], + "held_grasp_object_position": [ + 0.3191717549821672, + 0.09158536634435098, + 1.2407802968214896 + ], + "held_grasp_finger_gap": 0.026853156322777568, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457170858569826, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06564094532551132, + -0.9962857610855629, + 0.055731037626569176 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003780351693897327, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036836852141197196, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2802873970078924, + 0.08835023260707339, + 0.7611071243882113 + ], + "target_position": [ + 0.28944984686235564, + 0.08487440691299022, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00979958425603873, + "xy_threshold": 0.08, + "gripper_dist": 0.20806344313641298, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071243882113, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562900349381539, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08999667949084718, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1793216601317543, + "release_required_pad_clearance": 0.05499833974542359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.069326880450552, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7572a58b46d4a04561501eec606b91eefbb26ef38230ffa817b39331cb2129cd", + "visual_seed": 8840948157169921681, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e4d0814a8d93c80f72479098390cd21fb543331 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3128166539566669, + 0.09561779917832465, + 1.0526582269459364 + ], + "current_z": 1.0526582269459364, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.19155177853581495, + "gripper_z": 1.055961307480701, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3077196017601166, + 0.09073169093905381, + 1.055961307480701 + ], + "object_minus_gripper": [ + 0.005097052196550322, + 0.004886108239270839, + -0.0033030805347646908 + ], + "object_to_gripper_xy": 0.007060736138691832, + "object_to_gripper_z": -0.0033030805347646908, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3128166539566669, + 0.07120072330947548, + 1.0526582269459364 + ], + "finger_b": [ + 0.3008858577013718, + 0.09561779917832465, + 1.0526582269459364 + ], + "finger_midpoint": [ + 0.30685125582901934, + 0.08340926124390007, + 1.0526582269459364 + ], + "object_minus_finger_midpoint": [ + 0.00596539812764757, + 0.012208537934424585, + 0.0 + ], + "finger_gap": 0.027176046314180823, + "fingertip_max_gap": 0.09152347323318008, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013588023157090411, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526582269459364, + "object_top_z": 1.1030158993299564, + "finger_top_clearance": 0.05035767238402, + "fingertip_min_top_clearance": 0.015107301715206, + "object_projection_between_fingers": 0.8072624604947052, + "object_to_finger_line_xy": 0.010719556258237258, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826173661659004, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6035202744477468, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3131331122818627, + 0.09315389162195709, + 1.247298832994405 + ], + "held_position": [ + 0.3185811337657945, + 0.09754059590375584, + 1.2438371123700134 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007804333554293576, + "max_held_gripper_dist": 0.007813844507625036, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003461720624391651, + "max_held_gripper_z_dist": 0.0034859102720679047, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08628869371106329, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3185811337657945, + 0.07201643837935931, + 1.2438371123700134 + ], + "held_grasp_finger_b": [ + 0.30891181950754054, + 0.09754059590375584, + 1.2438371123700134 + ], + "held_grasp_midpoint": [ + 0.31374647663666755, + 0.08477851714155757, + 1.2438371123700134 + ], + "held_grasp_object_position": [ + 0.3185811337657945, + 0.09754059590375584, + 1.2438371123700134 + ], + "held_grasp_finger_gap": 0.027294289797594688, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024696591539209778, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07724517321031435, + -0.996839929764347, + 0.018529372442707137 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038419013426509593, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662504644578639, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2803828219848999, + 0.0933565266049617, + 0.7611072894313385 + ], + "target_position": [ + 0.28824121250250656, + 0.09291692127041995, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007870676869073463, + "xy_threshold": 0.08, + "gripper_dist": 0.20950447099346192, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072894313385, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564209622282055, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0925403271175901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18016299313375553, + "release_required_pad_clearance": 0.05627016355879505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.840729613331164, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "163a76f29b4149fdda80c5e3001f130cb8c2c4c315fa5cb4255ce85b11f8e2fa", + "visual_seed": 4193287401385249040, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b4229caea96dc817cdd94be4f50bb1afeec1dbfb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3190466906165602, + 0.09379647773810626, + 1.049342364988508 + ], + "current_z": 1.049342364988508, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1882358569737419, + "gripper_z": 1.0523154196424176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3138460048482363, + 0.08889897425464471, + 1.0523154196424176 + ], + "object_minus_gripper": [ + 0.005200685768323887, + 0.004897503483461546, + -0.0029730546539095126 + ], + "object_to_gripper_xy": 0.00714371561803552, + "object_to_gripper_z": -0.0029730546539095126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3190466906165602, + 0.06925312167116972, + 1.049342364988508 + ], + "finger_b": [ + 0.30716572608315285, + 0.09379647773810626, + 1.049342364988508 + ], + "finger_midpoint": [ + 0.31310620834985653, + 0.081524799704638, + 1.049342364988508 + ], + "object_minus_finger_midpoint": [ + 0.005940482266703684, + 0.012271678033468264, + 0.0 + ], + "finger_gap": 0.027267813357005993, + "fingertip_max_gap": 0.09325900817156782, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013633906678502991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049342364988508, + "object_top_z": 1.1004460112691898, + "finger_top_clearance": 0.05110364628068176, + "fingertip_min_top_clearance": 0.01533109388420451, + "object_projection_between_fingers": 0.8101534219176487, + "object_to_finger_line_xy": 0.010693880698986812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912950408578391, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1922638795082339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3191663023521457, + 0.09138223807607342, + 1.243249040027718 + ], + "held_position": [ + 0.3246858449041307, + 0.09581927497362325, + 1.240105034569123 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0077483815559810905, + "max_held_gripper_dist": 0.0077566781385009255, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003144005458595167, + "max_held_gripper_z_dist": 0.003168686537293741, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08620062001240408, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3246858449041307, + 0.07025622294454892, + 1.240105034569123 + ], + "held_grasp_finger_b": [ + 0.3149326427647144, + 0.09581927497362325, + 1.240105034569123 + ], + "held_grasp_midpoint": [ + 0.31980924383442255, + 0.08303774895908608, + 1.240105034569123 + ], + "held_grasp_object_position": [ + 0.3246858449041307, + 0.09581927497362325, + 1.240105034569123 + ], + "held_grasp_finger_gap": 0.027360456520560406, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024892498399694592, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06279609506842306, + -0.9977275553582048, + 0.024420805127971068 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040766016123632, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666153786147943, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27905839577428815, + 0.10004751267360423, + 0.7611068607079094 + ], + "target_position": [ + 0.2944217294789836, + 0.08995248321144635, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018383189123861693, + "xy_threshold": 0.08, + "gripper_dist": 0.20260081094493815, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068607079094, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557173569172593, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09006820278401904, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17628919024582912, + "release_required_pad_clearance": 0.055034101392009524, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.1453623077777175, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cd0e3ff06c1ecebe53f92f321bb33af374d2270d498aa62cb36c33f38f4894db", + "visual_seed": 5959579694328259397, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a8fa78b5998223c30e6068c72f926a58c861e11c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31486721477511115, + 0.08735376433088027, + 1.0499807396824652 + ], + "current_z": 1.0499807396824652, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.188874231667699, + "gripper_z": 1.0534642654487179, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30979337356768616, + 0.08245986686895512, + 1.0534642654487179 + ], + "object_minus_gripper": [ + 0.0050738412074249895, + 0.004893897461925145, + -0.0034835257662526597 + ], + "object_to_gripper_xy": 0.0070494040149505725, + "object_to_gripper_z": -0.0034835257662526597, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31486721477511115, + 0.06298104582564538, + 1.0499807396824652 + ], + "finger_b": [ + 0.30289204063878034, + 0.08735376433088027, + 1.0499807396824652 + ], + "finger_midpoint": [ + 0.30887962770694577, + 0.07516740507826283, + 1.0499807396824652 + ], + "object_minus_finger_midpoint": [ + 0.005987587068165379, + 0.012186359252617435, + 0.0 + ], + "finger_gap": 0.027155739778744113, + "fingertip_max_gap": 0.09306361218991219, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013577869889372037, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499807396824652, + "object_top_z": 1.1011156229308532, + "finger_top_clearance": 0.051134883248388, + "fingertip_min_top_clearance": 0.015340464974516398, + "object_projection_between_fingers": 0.805535470113134, + "object_to_finger_line_xy": 0.010747913724833094, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049031806094956096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0560869044714876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3151291712662936, + 0.08464625861373132, + 1.244913096320324 + ], + "held_position": [ + 0.3205680434900657, + 0.08902029521917834, + 1.2412639025934702 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007875921669774277, + "max_held_gripper_dist": 0.007884348362237165, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036491937268539054, + "max_held_gripper_z_dist": 0.0036730771258761674, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875181634229579, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3205680434900657, + 0.06345940818002833, + 1.2412639025934702 + ], + "held_grasp_finger_b": [ + 0.3109859421837173, + 0.08902029521917834, + 1.2412639025934702 + ], + "held_grasp_midpoint": [ + 0.3157769928368915, + 0.07623985169960334, + 1.2412639025934702 + ], + "held_grasp_object_position": [ + 0.3205680434900657, + 0.08902029521917834, + 1.2412639025934702 + ], + "held_grasp_finger_gap": 0.02729790489530855, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02472615659075719, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0780944526517438, + -0.99661899481471, + 0.025531072040592795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003792812576762603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660886281794363, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2871181730184994, + 0.08248556565020417, + 0.7611063281725713 + ], + "target_position": [ + 0.2903043953688479, + 0.08443916406422937, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003737453629029, + "xy_threshold": 0.08, + "gripper_dist": 0.21121815743227212, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063281725713, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555496485009207, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559453543006094, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18128006883438028, + "release_required_pad_clearance": 0.052797267715030474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6416321537074784, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 216, + "max_placed_release_frames": 216 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c4de93dfe2fb7751466fdc885c2b092f2238ef5cdb4ff081b31ee9af16cabf1a", + "visual_seed": 8909474535791919387, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4d2f5da884aecf189696e1c07fd657d2d02f80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3176418187126664, + 0.09783843419789559, + 1.049569508460327 + ], + "current_z": 1.049569508460327, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18846300044556086, + "gripper_z": 1.0527430192441094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3130253664002618, + 0.09316517083627353, + 1.0527430192441094 + ], + "object_minus_gripper": [ + 0.004616452312404595, + 0.004673263361622063, + -0.003173510783782474 + ], + "object_to_gripper_xy": 0.006568943781140532, + "object_to_gripper_z": -0.003173510783782474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3176418187126664, + 0.07384137936003675, + 1.049569508460327 + ], + "finger_b": [ + 0.30591909009543317, + 0.09783843419789559, + 1.049569508460327 + ], + "finger_midpoint": [ + 0.3117804544040498, + 0.08583990677896616, + 1.049569508460327 + ], + "object_minus_finger_midpoint": [ + 0.005861364308616612, + 0.011998527418929428, + 0.0 + ], + "finger_gap": 0.02670732122704378, + "fingertip_max_gap": 0.09658706303010431, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013353660613521895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049569508460327, + "object_top_z": 1.102389864578143, + "finger_top_clearance": 0.05282035611781599, + "fingertip_min_top_clearance": 0.015846106835344795, + "object_projection_between_fingers": 0.8073376903903573, + "object_to_finger_line_xy": 0.010533102855415824, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05079353151505216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2337069057144268, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31827577981820826, + 0.09587323041277714, + 1.2426977966646469 + ], + "held_position": [ + 0.3232378792541685, + 0.10007247041339998, + 1.2393533490101571 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073103609698023705, + "max_held_gripper_dist": 0.00732032447257253, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003344447654489713, + "max_held_gripper_z_dist": 0.00336772312660516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729610367088478, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3232378792541685, + 0.0747848049718761, + 1.2393533490101571 + ], + "held_grasp_finger_b": [ + 0.31399328867769133, + 0.10007247041339998, + 1.2393533490101571 + ], + "held_grasp_midpoint": [ + 0.3186155839659299, + 0.08742863769263803, + 1.2393533490101571 + ], + "held_grasp_object_position": [ + 0.3232378792541685, + 0.10007247041339998, + 1.2393533490101571 + ], + "held_grasp_finger_gap": 0.0269244958803156, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457977401986231, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06785428377303712, + -0.9968124242427149, + 0.04196173315069251 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003791936840089826, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03680307798782208, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2818109655240473, + 0.09689934156753544, + 0.7611066137974133 + ], + "target_position": [ + 0.29359222625754156, + 0.09361459037645348, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012230604844319374, + "xy_threshold": 0.08, + "gripper_dist": 0.20631361904304216, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066137974133, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758894370043556, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0907544278487233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17773589157953118, + "release_required_pad_clearance": 0.05537721392436165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.877831013529164, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fb866d3c5cc9321f07dbc62f42cb74c33ffcffffe5d1f4dedf4264920b76511", + "visual_seed": 9034005129442766566, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..93bb5ba387da9f5cec02bda9a8be9d06d2ec96f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31616521139512765, + 0.0936792830134614, + 1.051694616561321 + ], + "current_z": 1.051694616561321, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19058810854655495, + "gripper_z": 1.0548801771393683, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3111811419064624, + 0.08894549088500019, + 1.0548801771393683 + ], + "object_minus_gripper": [ + 0.004984069488665255, + 0.0047337921284612144, + -0.0031855605780473084 + ], + "object_to_gripper_xy": 0.006873844381663385, + "object_to_gripper_z": -0.0031855605780473084, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31616521139512765, + 0.06920183156849012, + 1.051694616561321 + ], + "finger_b": [ + 0.3046284546304202, + 0.0936792830134614, + 1.051694616561321 + ], + "finger_midpoint": [ + 0.31039683301277393, + 0.08144055729097577, + 1.051694616561321 + ], + "object_minus_finger_midpoint": [ + 0.005768378382353723, + 0.012238725722485633, + 0.0 + ], + "finger_gap": 0.027059977566305363, + "fingertip_max_gap": 0.09318786180876007, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013529988783152676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051694616561321, + "object_top_z": 1.1031258970212996, + "finger_top_clearance": 0.05143128045997858, + "fingertip_min_top_clearance": 0.015429384137993572, + "object_projection_between_fingers": 0.8182340175699578, + "object_to_finger_line_xy": 0.010435722012282751, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909393090438004, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0476286870270857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.316565334930301, + 0.0913018144095816, + 1.2436434910362708 + ], + "held_position": [ + 0.3218210099809718, + 0.09561282893095399, + 1.240259741248629 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075932028200946826, + "max_held_gripper_dist": 0.007602131148027187, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033837497876418876, + "max_held_gripper_z_dist": 0.003407205130399049, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656319627566475, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3218210099809718, + 0.07010642661707564, + 1.240259741248629 + ], + "held_grasp_finger_b": [ + 0.3124658005264095, + 0.09561282893095399, + 1.240259741248629 + ], + "held_grasp_midpoint": [ + 0.31714340525369067, + 0.08285962777401482, + 1.240259741248629 + ], + "held_grasp_object_position": [ + 0.3218210099809718, + 0.09561282893095399, + 1.240259741248629 + ], + "held_grasp_finger_gap": 0.02716793151743708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024779016725191304, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07006427884956073, + -0.997180332064024, + 0.026877168265535104 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003788504917638915, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667527570357891, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28151143255393485, + 0.09196065975316123, + 0.7611071680247716 + ], + "target_position": [ + 0.29172218003520456, + 0.0909455309728927, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010261084278319968, + "xy_threshold": 0.08, + "gripper_dist": 0.20738331633666707, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071680247716, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758649994759796, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09383250229690056, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17823931691098635, + "release_required_pad_clearance": 0.05691625114845028, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.325325149313883, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c9257e8902ca695ba25bbe0a2d5bee60ea75c5d5bde7689588c1559afc04ccb9", + "visual_seed": 4713631013165647831, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9c497133e5898426fae9ea8c27e31bc3e81e01f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3216656008826868, + 0.08927974195558577, + 1.0510186055889785 + ], + "current_z": 1.0510186055889785, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18991215717885734, + "gripper_z": 1.0541678865184576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3164505271526741, + 0.08429794866463317, + 1.0541678865184576 + ], + "object_minus_gripper": [ + 0.0052150737300127314, + 0.0049817932909526075, + -0.0031492809294790813 + ], + "object_to_gripper_xy": 0.0072121604532379415, + "object_to_gripper_z": -0.0031492809294790813, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3216656008826868, + 0.06484944665637313, + 1.0510186055889785 + ], + "finger_b": [ + 0.3095002553850509, + 0.08927974195558577, + 1.0510186055889785 + ], + "finger_midpoint": [ + 0.31558292813386885, + 0.07706459430597945, + 1.0510186055889785 + ], + "object_minus_finger_midpoint": [ + 0.006082672748817963, + 0.012215147649606323, + 0.0 + ], + "finger_gap": 0.027291664652116444, + "fingertip_max_gap": 0.092244447426831, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013645832326058222, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0510186055889785, + "object_top_z": 1.1016235744201335, + "finger_top_clearance": 0.05060496883115495, + "fingertip_min_top_clearance": 0.015181490649346485, + "object_projection_between_fingers": 0.8013041289315141, + "object_to_finger_line_xy": 0.010889881094194977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486222237134155, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9683096465459266, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32198165213977564, + 0.08632979670500952, + 1.242622293159693 + ], + "held_position": [ + 0.3275650633914976, + 0.09076801729255239, + 1.2392588568342249 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007885745817931479, + "max_held_gripper_dist": 0.007894764597740512, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033634363254682054, + "max_held_gripper_z_dist": 0.003385575288249454, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0867857252146411, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3275650633914976, + 0.06506539118434632, + 1.2392588568342249 + ], + "held_grasp_finger_b": [ + 0.3179935006770602, + 0.09076801729255239, + 1.2392588568342249 + ], + "held_grasp_midpoint": [ + 0.3227792820342789, + 0.07791670423844935, + 1.2392588568342249 + ], + "held_grasp_object_position": [ + 0.3275650633914976, + 0.09076801729255239, + 1.2392588568342249 + ], + "held_grasp_finger_gap": 0.027426990386381158, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024852706905755834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07974178913130339, + -0.9966281396129067, + 0.019328693640687566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037542266716754217, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036530643081585434, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2875247838565176, + 0.08964518340315393, + 0.7611067976688939 + ], + "target_position": [ + 0.2969480935940741, + 0.08729594474468441, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009711729438384028, + "xy_threshold": 0.08, + "gripper_dist": 0.20817194658256086, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067976688939, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565800635652888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0929528048850428, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17940509888167686, + "release_required_pad_clearance": 0.0564764024425214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.30710416316432, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19b71415181853b419097a276639d3ffa769d330fa2a11c747232a5b8f8dfcc4", + "visual_seed": 3369434368273870119, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f08fc74b287ca4d584e0a7a14cba51f77beec228 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3151138857716742, + 0.0932814732176828, + 1.050925084935301 + ], + "current_z": 1.050925084935301, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18981863652517972, + "gripper_z": 1.0544806151656996, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3100860240354524, + 0.08843459752954157, + 1.0544806151656996 + ], + "object_minus_gripper": [ + 0.005027861736221828, + 0.004846875688141239, + -0.0035555302303986736 + ], + "object_to_gripper_xy": 0.0069836664850820435, + "object_to_gripper_z": -0.0035555302303986736, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3151138857716742, + 0.06890259769659082, + 1.050925084935301 + ], + "finger_b": [ + 0.3032581116947105, + 0.0932814732176828, + 1.050925084935301 + ], + "finger_midpoint": [ + 0.30918599873319236, + 0.08109203545713681, + 1.050925084935301 + ], + "object_minus_finger_midpoint": [ + 0.005927887038481849, + 0.012189437760545999, + 0.0 + ], + "finger_gap": 0.02710883528735424, + "fingertip_max_gap": 0.09480899855147437, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013554417643677125, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050925084935301, + "object_top_z": 1.1028602832642451, + "finger_top_clearance": 0.05193519832894422, + "fingertip_min_top_clearance": 0.015580559498683299, + "object_projection_between_fingers": 0.8087338517715001, + "object_to_finger_line_xy": 0.01066185387032524, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04990449927573719, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6200416823138744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3153331537393079, + 0.09105390447622964, + 1.2461537409118744 + ], + "held_position": [ + 0.3206966028610734, + 0.0954261623961756, + 1.2424483666797435 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007849396409943664, + "max_held_gripper_dist": 0.007858687146951636, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003705374232130909, + "max_held_gripper_z_dist": 0.0037287783249140283, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08731172222690022, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3206966028610734, + 0.06996735507974942, + 1.2424483666797435 + ], + "held_grasp_finger_b": [ + 0.3110252932922356, + 0.0954261623961756, + 1.2424483666797435 + ], + "held_grasp_midpoint": [ + 0.3158609480766545, + 0.0826967587379625, + 1.2424483666797435 + ], + "held_grasp_object_position": [ + 0.3206966028610734, + 0.0954261623961756, + 1.2424483666797435 + ], + "held_grasp_finger_gap": 0.027233896136087617, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024767175012466346, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06459128862169176, + -0.9973702634448981, + 0.03287131013579869 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004025691256763426, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671198021615136, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.284558165219328, + 0.09088211493871826, + 0.7611070993193594 + ], + "target_position": [ + 0.29064915614145587, + 0.09021361456607571, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006127565843111571, + "xy_threshold": 0.08, + "gripper_dist": 0.21212146520775568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070993193594, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552411119157489, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09270556148147972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18282561455812232, + "release_required_pad_clearance": 0.05635278074073986, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.029178830728322, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f18013f2adbd94346165c6ba646e3f2ab4097ce17de50536c835c9ea96f1bccd", + "visual_seed": 1042123407178824042, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b77d51d94888996bbfdd2c7215debb6155df37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32098576523589517, + 0.09286542304546129, + 1.0488648619432188 + ], + "current_z": 1.0488648619432188, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18775841353309763, + "gripper_z": 1.0524343373979852, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31605269530178254, + 0.08801133042634758, + 1.0524343373979852 + ], + "object_minus_gripper": [ + 0.004933069934112633, + 0.004854092619113709, + -0.00356947545476638 + ], + "object_to_gripper_xy": 0.006920794327949661, + "object_to_gripper_z": -0.00356947545476638, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32098576523589517, + 0.06857785068808306, + 1.0488648619432188 + ], + "finger_b": [ + 0.30910026762540704, + 0.09286542304546129, + 1.0488648619432188 + ], + "finger_midpoint": [ + 0.31504301643065113, + 0.08072163686677217, + 1.0488648619432188 + ], + "object_minus_finger_midpoint": [ + 0.005942748805244036, + 0.012143786178689123, + 0.0 + ], + "finger_gap": 0.027039808143990263, + "fingertip_max_gap": 0.09969256303195276, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013519904071995124, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488648619432188, + "object_top_z": 1.103611673368801, + "finger_top_clearance": 0.05474681142558224, + "fingertip_min_top_clearance": 0.01642404342767469, + "object_projection_between_fingers": 0.8067909226952096, + "object_to_finger_line_xy": 0.010675737108820254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05234628151597638, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3323095506942386, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3210428050071274, + 0.09099674271020937, + 1.2404326279800677 + ], + "held_position": [ + 0.3262737536912158, + 0.09541634916643812, + 1.2366907452799292 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007803680638333504, + "max_held_gripper_dist": 0.007826382391488492, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037418827001385324, + "max_held_gripper_z_dist": 0.003772916570489393, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086919143239478, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3262737536912158, + 0.07002982440765522, + 1.2366907452799292 + ], + "held_grasp_finger_b": [ + 0.3165566946027278, + 0.09541634916643812, + 1.2366907452799292 + ], + "held_grasp_midpoint": [ + 0.32141522414697177, + 0.08272308678704668, + 1.2366907452799292 + ], + "held_grasp_object_position": [ + 0.3262737536912158, + 0.09541634916643812, + 1.2366907452799292 + ], + "held_grasp_finger_gap": 0.02718265764522419, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024749153705435532, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05643572195698209, + -0.9964949196774516, + 0.06174855742625552 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004209651577352054, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036797283972419825, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2867183921467147, + 0.08584725515055103, + 0.7611098521174897 + ], + "target_position": [ + 0.29670063611826264, + 0.08921337797811754, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010534513638406373, + "xy_threshold": 0.08, + "gripper_dist": 0.20928049723492137, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098521174897, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547760152230595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874065436513252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17965052531442757, + "release_required_pad_clearance": 0.053703271825662605, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.405359152797621, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2cd3d31a300525ac1095f2558c0d4cbe84dc29453d413f5c08555797b49f167c", + "visual_seed": 5423726524336295218, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..616d32574b5563b55f668c416e0bf0ea9273733a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3160331246037991, + 0.09472726383392618, + 1.0498099287644105 + ], + "current_z": 1.0498099287644105, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.18870342074964475, + "gripper_z": 1.0530732816148736, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31116694669189704, + 0.08992984909280391, + 1.0530732816148736 + ], + "object_minus_gripper": [ + 0.004866177911902081, + 0.0047974147411222745, + -0.003263352850463086 + ], + "object_to_gripper_xy": 0.006833364886249014, + "object_to_gripper_z": -0.003263352850463086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3160331246037991, + 0.07052030331532537, + 1.0498099287644105 + ], + "finger_b": [ + 0.3041728924705249, + 0.09472726383392618, + 1.0498099287644105 + ], + "finger_midpoint": [ + 0.310103008537162, + 0.08262378357462577, + 1.0498099287644105 + ], + "object_minus_finger_midpoint": [ + 0.0059301160666371255, + 0.012103480259300414, + 0.0 + ], + "finger_gap": 0.026956298777915496, + "fingertip_max_gap": 0.09457207977741952, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013478149388957765, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498099287644105, + "object_top_z": 1.1017158382188237, + "finger_top_clearance": 0.0519059094544132, + "fingertip_min_top_clearance": 0.015571772836323976, + "object_projection_between_fingers": 0.8064176062278007, + "object_to_finger_line_xy": 0.010650578306648735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04978603988870976, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.573298883101513, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3164665473880749, + 0.09240175511559966, + 1.2425691609534182 + ], + "held_position": [ + 0.32168124946670507, + 0.09670706637846041, + 1.2391208058081027 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007590782307984425, + "max_held_gripper_dist": 0.00760009493932271, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003448355145315496, + "max_held_gripper_z_dist": 0.003471170811016666, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08752088266008144, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32168124946670507, + 0.07124349064896202, + 1.2391208058081027 + ], + "held_grasp_finger_b": [ + 0.3123028704168812, + 0.09670706637846041, + 1.2391208058081027 + ], + "held_grasp_midpoint": [ + 0.31699205994179314, + 0.08397527851371121, + 1.2391208058081027 + ], + "held_grasp_object_position": [ + 0.32168124946670507, + 0.09670706637846041, + 1.2391208058081027 + ], + "held_grasp_finger_gap": 0.027135727050036355, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024682225484173998, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07441635278313542, + -0.9967229472284181, + 0.031710769570480135 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003751125579334252, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036681232564102405, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27993060640510403, + 0.08827488312081523, + 0.7611090111996791 + ], + "target_position": [ + 0.2917044842104754, + 0.09315955751905929, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012746930711064426, + "xy_threshold": 0.08, + "gripper_dist": 0.20676801050081225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611090111996791, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556370428751545, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08721746955238573, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770085604957436, + "release_required_pad_clearance": 0.053608734776192865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.219532467082155, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06a299b45f088650d143f0b7d7a8c679c10c3975a89bdf09d04174afec5cb1af", + "visual_seed": 5721372433698774104, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1a6a600ffdb8d6926031a3bac6ea9c0bf0b368fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31803855638300327, + 0.08894180197491662, + 1.052411904295166 + ], + "current_z": 1.052411904295166, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.19130539628040022, + "gripper_z": 1.0556215478919442, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.313093887928681, + 0.08411519169100612, + 1.0556215478919442 + ], + "object_minus_gripper": [ + 0.004944668454322287, + 0.004826610283910501, + -0.003209643596778111 + ], + "object_to_gripper_xy": 0.006909841746083666, + "object_to_gripper_z": -0.003209643596778111, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31803855638300327, + 0.06465310333593981, + 1.052411904295166 + ], + "finger_b": [ + 0.30616594009180004, + 0.08894180197491662, + 1.052411904295166 + ], + "finger_midpoint": [ + 0.3121022482374016, + 0.07679745265542821, + 1.052411904295166 + ], + "object_minus_finger_midpoint": [ + 0.005936308145601643, + 0.012144349319488407, + 0.0 + ], + "finger_gap": 0.027035160424402488, + "fingertip_max_gap": 0.09282402046394636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013517580212201256, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052411904295166, + "object_top_z": 1.1034196976630235, + "finger_top_clearance": 0.051007793367857435, + "fingertip_min_top_clearance": 0.01530233801035723, + "object_projection_between_fingers": 0.8071431973686102, + "object_to_finger_line_xy": 0.010666494839548023, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891201023197318, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0234943563031713, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3186261624842793, + 0.0863024298998246, + 1.2451639807709654 + ], + "held_position": [ + 0.32392918368217505, + 0.09061914710140694, + 1.2417635093300103 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007636706570539382, + "max_held_gripper_dist": 0.007644855012922622, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034004714409550107, + "max_held_gripper_z_dist": 0.003424938057957405, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675549333668847, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32392918368217505, + 0.06506441954664854, + 1.2417635093300103 + ], + "held_grasp_finger_b": [ + 0.31458959277989706, + 0.09061914710140694, + 1.2417635093300103 + ], + "held_grasp_midpoint": [ + 0.31925938823103606, + 0.07784178332402775, + 1.2417635093300103 + ], + "held_grasp_object_position": [ + 0.32392918368217505, + 0.09061914710140694, + 1.2417635093300103 + ], + "held_grasp_finger_gap": 0.02720794109483188, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024716693859057864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0802073792794662, + -0.9965200338882148, + 0.022684760711795038 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036418047594821237, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03661279903075207, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28714652331769774, + 0.088525715789384, + 0.7611087816914182 + ], + "target_position": [ + 0.2935814996020785, + 0.08752610627325336, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006512153174279761, + "xy_threshold": 0.08, + "gripper_dist": 0.21162468037900245, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611087816914182, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754696064415969, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09135990545632476, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18266244131971932, + "release_required_pad_clearance": 0.05567995272816238, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.524253760287067, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a46ddf497ea87a8f6a21dea9b73d41a639c7557d9e60611966d541db30185802", + "visual_seed": 1885154115969117426, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eec527d3ba5fb04be5b7da3bdeee8019d2aaf4cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31492395440544346, + 0.09704916507840519, + 1.0508807492680332 + ], + "current_z": 1.0508807492680332, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18977424125326725, + "gripper_z": 1.0544336299502228, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30992192721882733, + 0.09219666579389006, + 1.0544336299502228 + ], + "object_minus_gripper": [ + 0.0050020271866161314, + 0.00485249928451513, + -0.0035528806821896186 + ], + "object_to_gripper_xy": 0.006969004611984895, + "object_to_gripper_z": -0.0035528806821896186, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31492395440544346, + 0.07272404225105782, + 1.0508807492680332 + ], + "finger_b": [ + 0.3030100448790459, + 0.09704916507840519, + 1.0508807492680332 + ], + "finger_midpoint": [ + 0.3089669996422447, + 0.0848866036647315, + 1.0508807492680332 + ], + "object_minus_finger_midpoint": [ + 0.005956954763198741, + 0.012162561413673695, + 0.0 + ], + "finger_gap": 0.027086026670014234, + "fingertip_max_gap": 0.09263737241847911, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01354301333500711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508807492680332, + "object_top_z": 1.1016867966945845, + "finger_top_clearance": 0.05080604742655126, + "fingertip_min_top_clearance": 0.015241814227965344, + "object_projection_between_fingers": 0.8065280575285994, + "object_to_finger_line_xy": 0.010699513668586826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048818686209239556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.049922765266444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31527429574746024, + 0.09453408922867358, + 1.2436517885098 + ], + "held_position": [ + 0.3206203436905013, + 0.09887952261570872, + 1.2399139140602737 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007838030704894828, + "max_held_gripper_dist": 0.007847696043774404, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003737874449526224, + "max_held_gripper_z_dist": 0.0037609129193818536, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08765737726903355, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3206203436905013, + 0.0733545111241639, + 1.2399139140602737 + ], + "held_grasp_finger_b": [ + 0.31114206347346296, + 0.09887952261570872, + 1.2399139140602737 + ], + "held_grasp_midpoint": [ + 0.31588120358198213, + 0.08611701686993631, + 1.2399139140602737 + ], + "held_grasp_object_position": [ + 0.3206203436905013, + 0.09887952261570872, + 1.2399139140602737 + ], + "held_grasp_finger_gap": 0.02722800043183846, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02473994808361615, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07466617318625761, + -0.9969693844893653, + 0.02184053508080552 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003783551604564086, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664256911609372, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2774777883824526, + 0.09086119363612255, + 0.7611069264039827 + ], + "target_position": [ + 0.29045460002350043, + 0.0921373787581234, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013039412902153668, + "xy_threshold": 0.08, + "gripper_dist": 0.20473602149856657, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069264039827, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548593897086207, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09011470897067851, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17579232161786096, + "release_required_pad_clearance": 0.05505735448533926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.1950329474500485, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e09d1c35fe4e21d608475d9a8b759ea3e33d66b85ecabc3acf6fb5b5241f342c", + "visual_seed": 1361641468791163877, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67d5d15f4bfaebee9c247e9b9b278da5f0e2edf2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3181048837346962, + 0.09235049644927111, + 1.0524009733384436 + ], + "current_z": 1.0524009733384436, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19129446532367755, + "gripper_z": 1.055603322783454, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31331893693374013, + 0.08760640659242488, + 1.055603322783454 + ], + "object_minus_gripper": [ + 0.004785946800956065, + 0.004744089856846226, + -0.0032023494450104106 + ], + "object_to_gripper_xy": 0.00673881854269818, + "object_to_gripper_z": -0.0032023494450104106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3181048837346962, + 0.0681908368361143, + 1.0524009733384436 + ], + "finger_b": [ + 0.3063367098465713, + 0.09235049644927111, + 1.0524009733384436 + ], + "finger_midpoint": [ + 0.31222079679063375, + 0.0802706666426927, + 1.0524009733384436 + ], + "object_minus_finger_midpoint": [ + 0.00588408694406245, + 0.012079829806578415, + 0.0 + ], + "finger_gap": 0.02687338961286323, + "fingertip_max_gap": 0.09730081065492344, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013436694806431622, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524009733384436, + "object_top_z": 1.1058272193971082, + "finger_top_clearance": 0.05342624605866453, + "fingertip_min_top_clearance": 0.016027873817599375, + "object_projection_between_fingers": 0.8082332726725149, + "object_to_finger_line_xy": 0.010579799552693846, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05115040532746172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3537631492939837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31862784511048975, + 0.09003337883405771, + 1.2461872247663326 + ], + "held_position": [ + 0.3237542465916778, + 0.09430803403089454, + 1.2428173764053407 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007477201827839776, + "max_held_gripper_dist": 0.00748627687321219, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003369848360991856, + "max_held_gripper_z_dist": 0.0033922392811185365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0862162122852067, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3237542465916778, + 0.06892863177918095, + 1.2428173764053407 + ], + "held_grasp_finger_b": [ + 0.31436266877917485, + 0.09430803403089454, + 1.2428173764053407 + ], + "held_grasp_midpoint": [ + 0.3190584576854263, + 0.08161833290503774, + 1.2428173764053407 + ], + "held_grasp_object_position": [ + 0.3237542465916778, + 0.09430803403089454, + 1.2428173764053407 + ], + "held_grasp_finger_gap": 0.027061333900282564, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02461978242850926, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07097243245377428, + -0.9963325889101342, + 0.047794205791330986 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038328970810962665, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036743815733908204, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2837490325416135, + 0.08795585326294854, + 0.7611084242341778 + ], + "target_position": [ + 0.29386996952291783, + 0.0883796313210133, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01012980519171178, + "xy_threshold": 0.08, + "gripper_dist": 0.2063155353668618, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084242341778, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075384224424836, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0933985628913755, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.177602351041582, + "release_required_pad_clearance": 0.056699281445687755, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.813110597400508, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a2c54de8c9aa2e7fed978008ee084ccb9d04bf7aa2bf0e08bdddb5026ff9219", + "visual_seed": 4714139565810398410, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7f63154e5ea0d269a776ef77bb6ab4ac3b31596 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31280867778074767, + 0.08936690561632187, + 1.051201603188853 + ], + "current_z": 1.051201603188853, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19009491636015263, + "gripper_z": 1.0547453054882467, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3079048978286145, + 0.08454698476028354, + 1.0547453054882467 + ], + "object_minus_gripper": [ + 0.004903779952133147, + 0.004819920856038329, + -0.003543702299393825 + ], + "object_to_gripper_xy": 0.006875950470837921, + "object_to_gripper_z": -0.003543702299393825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31280867778074767, + 0.0651580521701631, + 1.051201603188853 + ], + "finger_b": [ + 0.300879474334166, + 0.08936690561632187, + 1.051201603188853 + ], + "finger_midpoint": [ + 0.30684407605745684, + 0.07726247889324248, + 1.051201603188853 + ], + "object_minus_finger_midpoint": [ + 0.00596460172329083, + 0.01210442672307939, + 0.0 + ], + "finger_gap": 0.026988413811254802, + "fingertip_max_gap": 0.09417672568219118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013494206905627406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051201603188853, + "object_top_z": 1.1030033358361278, + "finger_top_clearance": 0.051801732647274834, + "fingertip_min_top_clearance": 0.01554051979418245, + "object_projection_between_fingers": 0.8046253695480245, + "object_to_finger_line_xy": 0.010700604340343792, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04958836284109559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4365191256524765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3132260471340762, + 0.0868423540002927, + 1.2442517346617405 + ], + "held_position": [ + 0.3184792643972322, + 0.09115231741011966, + 1.2405247312707646 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007750008418338237, + "max_held_gripper_dist": 0.007760087569456202, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037270033909759803, + "max_held_gripper_z_dist": 0.0037486432049875784, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744416411257858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3184792643972322, + 0.0656689276991955, + 1.2405247312707646 + ], + "held_grasp_finger_b": [ + 0.30907075662868905, + 0.09115231741011966, + 1.2405247312707646 + ], + "held_grasp_midpoint": [ + 0.31377501051296064, + 0.07841062255465758, + 1.2405247312707646 + ], + "held_grasp_object_position": [ + 0.3184792643972322, + 0.09115231741011966, + 1.2405247312707646 + ], + "held_grasp_finger_gap": 0.027164741294361184, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024643664188467973, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07931829641932675, + -0.9963325634671245, + 0.03209409335320723 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003702105276399812, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665215116781223, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27631611375736265, + 0.09036995072864391, + 0.7611183799037469 + ], + "target_position": [ + 0.28841051770025133, + 0.08744055751935202, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012444113118595751, + "xy_threshold": 0.08, + "gripper_dist": 0.20626003330395576, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611183799037469, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515931827577964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09398933105554842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1786052676396732, + "release_required_pad_clearance": 0.05699466552777421, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.447473452275313, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "81002ae2b8488dcbae94565fa8a176964ac45e0426317dea9948144814ac4264", + "visual_seed": 7076833328096479532, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c877b865d96a4fda0da0186845ef62e7d509473b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3120878199607196, + 0.09115209004309124, + 1.0524198832107083 + ], + "current_z": 1.0524198832107083, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19131337519594238, + "gripper_z": 1.0558518202592195, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3071415034670017, + 0.08644226486063158, + 1.0558518202592195 + ], + "object_minus_gripper": [ + 0.004946316493717906, + 0.004709825182459659, + -0.003431937048511191 + ], + "object_to_gripper_xy": 0.006829970725073202, + "object_to_gripper_z": -0.003431937048511191, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3120878199607196, + 0.06671028811332702, + 1.0524198832107083 + ], + "finger_b": [ + 0.30057491047297913, + 0.09115209004309124, + 1.0524198832107083 + ], + "finger_midpoint": [ + 0.30633136521684934, + 0.07893118907820913, + 1.0524198832107083 + ], + "object_minus_finger_midpoint": [ + 0.005756454743870265, + 0.012220900964882112, + 0.0 + ], + "finger_gap": 0.027017564036136397, + "fingertip_max_gap": 0.09390697725881222, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01350878201806821, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524198832107083, + "object_top_z": 1.1040573301075773, + "finger_top_clearance": 0.051637446896869, + "fingertip_min_top_clearance": 0.0154912340690607, + "object_projection_between_fingers": 0.8184159067517549, + "object_to_finger_line_xy": 0.010415308092109428, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049453488629406114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3293778543982422, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3125017837743937, + 0.08866611850385078, + 1.2472594579380096 + ], + "held_position": [ + 0.31774707137156544, + 0.09293082281059675, + 1.2436648885717354 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007656479199343418, + "max_held_gripper_dist": 0.007665878214507987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003594569366274225, + "max_held_gripper_z_dist": 0.0036162334611014035, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745631451248966, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31774707137156544, + 0.067475917361039, + 1.2436648885717354 + ], + "held_grasp_finger_b": [ + 0.3083663827871642, + 0.09293082281059675, + 1.2436648885717354 + ], + "held_grasp_midpoint": [ + 0.3130567270793648, + 0.08020337008581788, + 1.2436648885717354 + ], + "held_grasp_object_position": [ + 0.31774707137156544, + 0.09293082281059675, + 1.2436648885717354 + ], + "held_grasp_finger_gap": 0.027128389737753333, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02476801437672695, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06597923528700012, + -0.9973301643684676, + 0.03129350973777545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038614750771680086, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036717312222467303, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2786428975101892, + 0.08625476810050636, + 0.7611064595681833 + ], + "target_position": [ + 0.28766519430446924, + 0.0864042395661361, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009023534848556466, + "xy_threshold": 0.08, + "gripper_dist": 0.20806804926608982, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064595681833, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529184948842255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09318872703277715, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17951869769132806, + "release_required_pad_clearance": 0.05659436351638858, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.580335388302652, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bf1ae377c6eef7399fa5ca02c50c455be46893a071bdb5e5dbdeaf7dba5c9b5d", + "visual_seed": 38037462075321771, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e31c7a9a495511a7f5a76af02d01e01484193ef --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3215225620362913, + 0.09473204196283494, + 1.0520224419111979 + ], + "current_z": 1.0520224419111979, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1909159338964317, + "gripper_z": 1.0550537540449012, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.316563256215367, + 0.08996592168397284, + 1.0550537540449012 + ], + "object_minus_gripper": [ + 0.004959305820924298, + 0.004766120278862099, + -0.0030313121337033344 + ], + "object_to_gripper_xy": 0.006878271348095694, + "object_to_gripper_z": -0.0030313121337033344, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3215225620362913, + 0.0703447752844668, + 1.0520224419111979 + ], + "finger_b": [ + 0.3098490816493161, + 0.09473204196283494, + 1.0520224419111979 + ], + "finger_midpoint": [ + 0.3156858218428037, + 0.08253840862365086, + 1.0520224419111979 + ], + "object_minus_finger_midpoint": [ + 0.005836740193487622, + 0.012193633339184079, + 0.0 + ], + "finger_gap": 0.027037176634902908, + "fingertip_max_gap": 0.09309116260026742, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013518588317451471, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520224419111979, + "object_top_z": 1.103197409238616, + "finger_top_clearance": 0.05117496732741822, + "fingertip_min_top_clearance": 0.015352490198225498, + "object_projection_between_fingers": 0.81358620867039, + "object_to_finger_line_xy": 0.010529364182736409, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049045581300133714, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.028713730723955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32197561750703696, + 0.09233157045272891, + 1.2468752637427993 + ], + "held_position": [ + 0.32726315757510777, + 0.09663776267716839, + 1.243687321566576 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007527572435003247, + "max_held_gripper_dist": 0.007536197252136791, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003187942176223313, + "max_held_gripper_z_dist": 0.0032123672647219603, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08743471316966497, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32726315757510777, + 0.07118022984303313, + 1.243687321566576 + ], + "held_grasp_finger_b": [ + 0.31777982708720653, + 0.09663776267716839, + 1.243687321566576 + ], + "held_grasp_midpoint": [ + 0.3225214923311571, + 0.08390899626010076, + 1.243687321566576 + ], + "held_grasp_object_position": [ + 0.32726315757510777, + 0.09663776267716839, + 1.243687321566576 + ], + "held_grasp_finger_gap": 0.027166514961323843, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024711244004167774, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07100922420693871, + -0.9971370010755368, + 0.025990212842792793 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003840490432805863, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0366912241271673, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28031189136620693, + 0.0906336443262688, + 0.7611136439375175 + ], + "target_position": [ + 0.29712390934471206, + 0.09309985936697612, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016991944124690104, + "xy_threshold": 0.08, + "gripper_dist": 0.2012221935412856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611136439375175, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751454742017265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08649688067534946, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17307231901912046, + "release_required_pad_clearance": 0.05324844033767473, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4855187825082605, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a4ae90eef99f1952f9e1f6393866121028ad9ab6b553a9ac7851d5386f645efc", + "visual_seed": 2180098282566272414, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c3be76847d74daa18fa2bfffd8cee02dc813f4ab --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3138569266860653, + 0.0945217986363098, + 1.0483721823518473 + ], + "current_z": 1.0483721823518473, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18726573394172596, + "gripper_z": 1.0519397939622728, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30871909932737346, + 0.08964662342274467, + 1.0519397939622728 + ], + "object_minus_gripper": [ + 0.005137827358691838, + 0.004875175213565133, + -0.003567611610425514 + ], + "object_to_gripper_xy": 0.007082697461467784, + "object_to_gripper_z": -0.003567611610425514, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3138569266860653, + 0.07004199223023266, + 1.0483721823518473 + ], + "finger_b": [ + 0.3019792663675222, + 0.0945217986363098, + 1.0483721823518473 + ], + "finger_midpoint": [ + 0.30791809652679375, + 0.08228189543327123, + 1.0483721823518473 + ], + "object_minus_finger_midpoint": [ + 0.0059388301592715464, + 0.012239903203038568, + 0.0 + ], + "finger_gap": 0.027209184778704938, + "fingertip_max_gap": 0.09372610090367153, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013604592389352469, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483721823518473, + "object_top_z": 1.0998333536696074, + "finger_top_clearance": 0.05146117131776018, + "fingertip_min_top_clearance": 0.01543835139532807, + "object_projection_between_fingers": 0.8094404396775636, + "object_to_finger_line_xy": 0.01068620127798328, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04936305045183577, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2799295739697483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31402249406036187, + 0.09200506918550051, + 1.2419902020936537 + ], + "held_position": [ + 0.3194846258753911, + 0.09639193683949246, + 1.2382420386942867 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007945326969152998, + "max_held_gripper_dist": 0.007954898787157867, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037481633993670105, + "max_held_gripper_z_dist": 0.003771370168697219, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741091303690532, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3194846258753911, + 0.07081940456791694, + 1.2382420386942867 + ], + "held_grasp_finger_b": [ + 0.3098921936131935, + 0.09639193683949246, + 1.2382420386942867 + ], + "held_grasp_midpoint": [ + 0.3146884097442923, + 0.0836056707037047, + 1.2382420386942867 + ], + "held_grasp_object_position": [ + 0.3194846258753911, + 0.09639193683949246, + 1.2382420386942867 + ], + "held_grasp_finger_gap": 0.0273124360591585, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024831765401566556, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06965405997742241, + -0.9971604291230399, + 0.028624998162733895 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0039115637141463044, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0366362155171913, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2785251716869345, + 0.09705011449913557, + 0.7611074366479786 + ], + "target_position": [ + 0.2892498429711409, + 0.0910921365429962, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012268499316547403, + "xy_threshold": 0.08, + "gripper_dist": 0.20591938179664449, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074366479786, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585346046329346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782564138700762, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17771329933186442, + "release_required_pad_clearance": 0.05391282069350381, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.833853445480412, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "357de5ddc5421c1e45011f6b0020c737ba6fc7fb9a75784c0125c14cccb1562b", + "visual_seed": 2367253217848600197, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..abcd13dc92548c02cbe66318825458950b8a1ca4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_52_success.json @@ -0,0 +1,684 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.32101641922275526, + 0.09051736809717936, + 1.049006837902117 + ], + "current_z": 1.049006837902117, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.18790009146877207, + "gripper_z": 1.0522976009294525, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3160920793626075, + 0.08566208653643077, + 1.0522976009294525 + ], + "object_minus_gripper": [ + 0.004924339860147731, + 0.004855281560748589, + -0.0032907630273355526 + ], + "object_to_gripper_xy": 0.006915409032905069, + "object_to_gripper_z": -0.0032907630273355526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.32101641922275526, + 0.0663164725124537, + 1.049006837902117 + ], + "finger_b": [ + 0.3090143578018754, + 0.09051736809717936, + 1.049006837902117 + ], + "finger_midpoint": [ + 0.31501538851231536, + 0.07841692030481653, + 1.049006837902117 + ], + "object_minus_finger_midpoint": [ + 0.006001030710439892, + 0.012100447792362828, + 0.0 + ], + "finger_gap": 0.027013567432928327, + "fingertip_max_gap": 0.09342325751316646, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013506783716464152, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049006837902117, + "object_top_z": 1.099932225482689, + "finger_top_clearance": 0.05092538758057219, + "fingertip_min_top_clearance": 0.01527761627417164, + "object_projection_between_fingers": 0.8025997004299792, + "object_to_finger_line_xy": 0.010752398252076772, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049211628756583234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.534386831714361, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3215362725161849, + 0.08786351108247915, + 1.2422133869453722 + ], + "held_position": [ + 0.3268453544734043, + 0.09217601263104412, + 1.2387356154238827 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007673259776035967, + "max_held_gripper_dist": 0.00768221642521018, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034777715214895366, + "max_held_gripper_z_dist": 0.003501421077298561, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08692637624373875, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3268453544734043, + 0.06664384144164007, + 1.2387356154238827 + ], + "held_grasp_finger_b": [ + 0.3174678579512884, + 0.09217601263104412, + 1.2387356154238827 + ], + "held_grasp_midpoint": [ + 0.3221566062123463, + 0.07940992703634209, + 1.2387356154238827 + ], + "held_grasp_object_position": [ + 0.3268453544734043, + 0.09217601263104412, + 1.2387356154238827 + ], + "held_grasp_finger_gap": 0.02719980159242582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02476894103649082, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07337405316983431, + -0.9970560582591284, + 0.022259043335240314 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037504824573212562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664771462343598, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2910440647696468, + 0.0877797780954868, + 0.7611071342823345 + ], + "target_position": [ + 0.29661367750665296, + 0.08765816106048309, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005570940382325462, + "xy_threshold": 0.08, + "gripper_dist": 0.21017242248784584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071342823345, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544515485980974, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534485717298516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18092131448437535, + "release_required_pad_clearance": 0.052672428586492584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.40153778924781214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 214, + "max_placed_release_frames": 214 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "534c3d58b2c5efa3fae636bb57c0c4bf76977c462c7213f65e4197ee2b5883a8", + "visual_seed": 6611012034936509095, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1f1be79af5671f3b3b7e4300493035dc89712d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.313601252385064, + 0.09257365569188421, + 1.0524558370466393 + ], + "current_z": 1.0524558370466393, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1913493290318733, + "gripper_z": 1.0559346558255491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3084929374851949, + 0.08775812211180829, + 1.0559346558255491 + ], + "object_minus_gripper": [ + 0.005108314899869071, + 0.004815533580075915, + -0.0034788187789098757 + ], + "object_to_gripper_xy": 0.007020273839179147, + "object_to_gripper_z": -0.0034788187789098757, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.313601252385064, + 0.06803069197993175, + 1.0524558370466393 + ], + "finger_b": [ + 0.3019248041138922, + 0.09257365569188421, + 1.0524558370466393 + ], + "finger_midpoint": [ + 0.3077630282494781, + 0.08030217383590799, + 1.0524558370466393 + ], + "object_minus_finger_midpoint": [ + 0.005838224135585879, + 0.012271481855976221, + 0.0 + ], + "finger_gap": 0.02717897187156948, + "fingertip_max_gap": 0.09381983453908424, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013589485935784733, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524558370466393, + "object_top_z": 1.104010928555045, + "finger_top_clearance": 0.05155509150840576, + "fingertip_min_top_clearance": 0.01546652745252176, + "object_projection_between_fingers": 0.8154323974523269, + "object_to_finger_line_xy": 0.01054398406084042, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04940991726954212, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1849468852158114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3137352044936268, + 0.09039205611317931, + 1.2474272391797256 + ], + "held_position": [ + 0.3191249638280706, + 0.09478215378224812, + 1.2437949871996805 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00784319562893399, + "max_held_gripper_dist": 0.007852492254184244, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036322519800451314, + "max_held_gripper_z_dist": 0.00365424975237727, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733544988806118, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3191249638280706, + 0.06932165219649514, + 1.2437949871996805 + ], + "held_grasp_finger_b": [ + 0.30939746854940836, + 0.09478215378224812, + 1.2437949871996805 + ], + "held_grasp_midpoint": [ + 0.3142612161887395, + 0.08205190298937162, + 1.2437949871996805 + ], + "held_grasp_object_position": [ + 0.3191249638280706, + 0.09478215378224812, + 1.2437949871996805 + ], + "held_grasp_finger_gap": 0.02725548211634728, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02481073520069649, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.060832439814285016, + -0.9977212108811714, + 0.029185606453367097 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004097600684236251, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03672313519866385, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27779716201536286, + 0.09226924074839911, + 0.7611063903969126 + ], + "target_position": [ + 0.289064811979903, + 0.09054655736772194, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01139857770748014, + "xy_threshold": 0.08, + "gripper_dist": 0.2085300461700586, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063903969126, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578715908999, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09148238286657982, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17950782317642952, + "release_required_pad_clearance": 0.05574119143328991, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.667207674021051, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d35ff4c236a9a65f517948ab359e6e457bcd3a31bbfcb56dda3827cd1873e64b", + "visual_seed": 4006430819316838174, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88f66ebb6491d24a56d47fbd608622a866a22375 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_55_success.json @@ -0,0 +1,684 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31452959653176904, + 0.09205683294026036, + 1.050755953309427 + ], + "current_z": 1.050755953309427, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.189649266480727, + "gripper_z": 1.054341210727002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30951237846330504, + 0.08720935114340451, + 1.054341210727002 + ], + "object_minus_gripper": [ + 0.005017218068464002, + 0.004847481796855846, + -0.003585257417574983 + ], + "object_to_gripper_xy": 0.006976428664966799, + "object_to_gripper_z": -0.003585257417574983, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31452959653176904, + 0.06769636671346341, + 1.050755953309427 + ], + "finger_b": [ + 0.30265384728421907, + 0.09205683294026036, + 1.050755953309427 + ], + "finger_midpoint": [ + 0.30859172190799405, + 0.07987659982686188, + 1.050755953309427 + ], + "object_minus_finger_midpoint": [ + 0.005937874623774986, + 0.012180233113398484, + 0.0 + ], + "finger_gap": 0.02710102830111062, + "fingertip_max_gap": 0.0934330056646673, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013550514150555316, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050755953309427, + "object_top_z": 1.1020923196300023, + "finger_top_clearance": 0.051336366320575255, + "fingertip_min_top_clearance": 0.015400909896172559, + "object_projection_between_fingers": 0.8079782167169647, + "object_to_finger_line_xy": 0.010674826993593983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049216502832333656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2134883645337258, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.314865780596089, + 0.0895478957885261, + 1.2457928204992776 + ], + "held_position": [ + 0.3202358271659289, + 0.09389039152559177, + 1.242046702879918 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007856721110409833, + "max_held_gripper_dist": 0.007865962449537849, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037461176193596124, + "max_held_gripper_z_dist": 0.003769026205810766, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08744900909304107, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3202358271659289, + 0.0683794376757158, + 1.242046702879918 + ], + "held_grasp_finger_b": [ + 0.31069480061773835, + 0.09389039152559177, + 1.242046702879918 + ], + "held_grasp_midpoint": [ + 0.31546531389183363, + 0.08113491460065378, + 1.242046702879918 + ], + "held_grasp_object_position": [ + 0.3202358271659289, + 0.09389039152559177, + 1.242046702879918 + ], + "held_grasp_finger_gap": 0.02723673904717263, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02471680254836466, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07469393398474061, + -0.9968055097095282, + 0.028277058521190883 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038219666554950367, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664919198877553, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27706072614673044, + 0.0964084368279172, + 0.7611065295748353 + ], + "target_position": [ + 0.29004171687447194, + 0.08713340137034399, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015954071675059977, + "xy_threshold": 0.08, + "gripper_dist": 0.2077520139254482, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065295748353, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757979581391172, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08829318902308635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18053905050485905, + "release_required_pad_clearance": 0.054146594511543175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3077316950553426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f5fb7645232359180861b2c970326779a9b10a2debad07a0412cce9d371be58", + "visual_seed": 16199362773155971, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..391e48447343e3a2184f3fff4ea67bf230a9bcd7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.313117376398227, + 0.08961897676017914, + 1.0490809251676776 + ], + "current_z": 1.0490809251676776, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18797429794362186, + "gripper_z": 1.052610531603716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3081457793079343, + 0.08472923482477114, + 1.052610531603716 + ], + "object_minus_gripper": [ + 0.004971597090292712, + 0.004889741935408004, + -0.0035296064360383905 + ], + "object_to_gripper_xy": 0.006973259913633979, + "object_to_gripper_z": -0.0035296064360383905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.313117376398227, + 0.06541047686925396, + 1.0490809251676776 + ], + "finger_b": [ + 0.30103027402331467, + 0.08961897676017914, + 1.0490809251676776 + ], + "finger_midpoint": [ + 0.30707382521077087, + 0.07751472681471655, + 1.0490809251676776 + ], + "object_minus_finger_midpoint": [ + 0.006043551187456142, + 0.012104249945462595, + 0.0 + ], + "finger_gap": 0.02705826141477934, + "fingertip_max_gap": 0.09356077894538659, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013529130707389658, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490809251676776, + "object_top_z": 1.1002516729067655, + "finger_top_clearance": 0.05117074773908792, + "fingertip_min_top_clearance": 0.015351224321726375, + "object_projection_between_fingers": 0.8004532658037803, + "object_to_finger_line_xy": 0.010814095260563992, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049280389472693295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4136096118994637, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31341249198027143, + 0.08714449402157802, + 1.241952188992247 + ], + "held_position": [ + 0.3187541451172495, + 0.09150532933707019, + 1.2382370794807804 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007832763341683424, + "max_held_gripper_dist": 0.007842214069060148, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0037151095114664745, + "max_held_gripper_z_dist": 0.003737482041132889, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08758860881021566, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3187541451172495, + 0.06598017714557092, + 1.2382370794807804 + ], + "held_grasp_finger_b": [ + 0.3092460120093733, + 0.09150532933707019, + 1.2382370794807804 + ], + "held_grasp_midpoint": [ + 0.31400007856331136, + 0.07874275324132055, + 1.2382370794807804 + ], + "held_grasp_object_position": [ + 0.3187541451172495, + 0.09150532933707019, + 1.2382370794807804 + ], + "held_grasp_finger_gap": 0.02723853868320199, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024730904340171642, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07514730330968082, + -0.9968761287626017, + 0.024307749969333707 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003794610956541147, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036640287337442845, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2745230241822618, + 0.09865030062072537, + 0.7611064067311614 + ], + "target_position": [ + 0.28866125548106175, + 0.08584585084174752, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01907468265530863, + "xy_threshold": 0.08, + "gripper_dist": 0.2047166098004429, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064067311614, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07735572197036776, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08782788608303897, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1785026322999388, + "release_required_pad_clearance": 0.05391394304151949, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.837718128351311, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97f6714473e25d05ae06125d851d42bef22a7cdf035eb9e973beb63c701878c1", + "visual_seed": 9120280748400341938, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6be5f1dbd2564eb89a15b00e7511660592dbcd03 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3127887592491072, + 0.08979190615463642, + 1.0494733367180666 + ], + "current_z": 1.0494733367180666, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.18836670949401113, + "gripper_z": 1.0529766050342195, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30810351312020684, + 0.08506082015522277, + 1.0529766050342195 + ], + "object_minus_gripper": [ + 0.004685246128900367, + 0.004731085999413645, + -0.0035032683161528855 + ], + "object_to_gripper_xy": 0.006658431198279642, + "object_to_gripper_z": -0.0035032683161528855, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3127887592491072, + 0.06574663780720721, + 1.0494733367180666 + ], + "finger_b": [ + 0.30099442366367934, + 0.08979190615463642, + 1.0494733367180666 + ], + "finger_midpoint": [ + 0.3068915914563933, + 0.07776927198092182, + 1.0494733367180666 + ], + "object_minus_finger_midpoint": [ + 0.005897167792713931, + 0.012022634173714603, + 0.0 + ], + "finger_gap": 0.02678210749365275, + "fingertip_max_gap": 0.09554399960486762, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013391053746826375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494733367180666, + "object_top_z": 1.1018619885818073, + "finger_top_clearance": 0.05238865186374064, + "fingertip_min_top_clearance": 0.01571659555912221, + "object_projection_between_fingers": 0.8060644332551083, + "object_to_finger_line_xy": 0.01058908318542364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05027199980243381, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8440239196663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3131879779766867, + 0.08808542972696111, + 1.2426851502413863 + ], + "held_position": [ + 0.31820075845789586, + 0.09236249715199032, + 1.2390224579198557 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007539004506779194, + "max_held_gripper_dist": 0.007555605096439883, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003662692321530603, + "max_held_gripper_z_dist": 0.0036836888723099648, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08706323242977912, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31820075845789586, + 0.06705876067717889, + 1.2390224579198557 + ], + "held_grasp_finger_b": [ + 0.30879552931752485, + 0.09236249715199032, + 1.2390224579198557 + ], + "held_grasp_midpoint": [ + 0.31349814388771036, + 0.07971062891458461, + 1.2390224579198557 + ], + "held_grasp_object_position": [ + 0.31820075845789586, + 0.09236249715199032, + 1.2390224579198557 + ], + "held_grasp_finger_gap": 0.02699513687258478, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02456843982171962, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06988229128747435, + -0.9969159617688618, + 0.03570756971396982 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038343810797877263, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03677877119682241, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27143136411153346, + 0.08284268279256005, + 0.7611074973028001 + ], + "target_position": [ + 0.2886859243108083, + 0.08517598250259774, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01741160920786076, + "xy_threshold": 0.08, + "gripper_dist": 0.20201302382197023, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074973028001, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529066209362498, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528242857192068, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17375079153433878, + "release_required_pad_clearance": 0.052641214285960344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3403460082265981, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7fabf5003633c34ef589d9970271b782f5807ad875c1fb8f8476dbd6f332d8b5", + "visual_seed": 3348206517045275655, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f47e00ff6d94f20a00bcc5073a7412c043e77a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3188683417620594, + 0.09490915147999028, + 1.0495231222629924 + ], + "current_z": 1.0495231222629924, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1884166142482262, + "gripper_z": 1.0525441333593986, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3139155497328099, + 0.09007914374856076, + 1.0525441333593986 + ], + "object_minus_gripper": [ + 0.004952792029249531, + 0.004830007731429525, + -0.0030210110964061787 + ], + "object_to_gripper_xy": 0.006918028878999182, + "object_to_gripper_z": -0.0030210110964061787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3188683417620594, + 0.07063853639390812, + 1.0495231222629924 + ], + "finger_b": [ + 0.30695487911030295, + 0.09490915147999028, + 1.0495231222629924 + ], + "finger_midpoint": [ + 0.3129116104361812, + 0.0827738439369492, + 1.0495231222629924 + ], + "object_minus_finger_midpoint": [ + 0.005956731325878206, + 0.012135307543041082, + 0.0 + ], + "finger_gap": 0.027036888671064862, + "fingertip_max_gap": 0.0930613277875976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013518444335532419, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495231222629924, + "object_top_z": 1.1005885273563452, + "finger_top_clearance": 0.05106540509335278, + "fingertip_min_top_clearance": 0.01531962152800585, + "object_projection_between_fingers": 0.8058387363623569, + "object_to_finger_line_xy": 0.010694539223096503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490306638937988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1872812034569042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3193451623782878, + 0.09239804686014057, + 1.2429245244480285 + ], + "held_position": [ + 0.3246617997753321, + 0.09671732522689423, + 1.2397222440211983 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007561573827796403, + "max_held_gripper_dist": 0.007570569023368748, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032022804268301286, + "max_held_gripper_z_dist": 0.003223910280762299, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675257169599856, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3246617997753321, + 0.07120560006760203, + 1.2397222440211983 + ], + "held_grasp_finger_b": [ + 0.3152281206835934, + 0.09671732522689423, + 1.2397222440211983 + ], + "held_grasp_midpoint": [ + 0.3199449602294627, + 0.08396146264724813, + 1.2397222440211983 + ], + "held_grasp_object_position": [ + 0.3246617997753321, + 0.09671732522689423, + 1.2397222440211983 + ], + "held_grasp_finger_gap": 0.027200044518514502, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024705891639827546, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07659990197746823, + -0.996738181160584, + 0.02540577166183078 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003740349298130183, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664468535646721, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2673328861505561, + 0.0920952094247182, + 0.7611094724984716 + ], + "target_position": [ + 0.29444285774089707, + 0.09124936961819856, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.027123163617236594, + "xy_threshold": 0.08, + "gripper_dist": 0.19722557439403995, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094724984716, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514829756424525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658185882874068, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17095161311528675, + "release_required_pad_clearance": 0.053290929414370344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5850386124328835, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1888d248a1ab0a8030df98b945f58bf8d0228ed74293e9bd366e593db7e3643c", + "visual_seed": 1998138884366653705, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..822de2e5b587e96400b6397f86c19ddfac57688c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31377155034387705, + 0.09183068094507224, + 1.0187049912103436 + ], + "current_z": 1.0187049912103436, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.15759848319557768, + "gripper_z": 1.0540516560379425, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.30803183251378036, + 0.0866453404616519, + 1.0540516560379425 + ], + "object_minus_gripper": [ + 0.005739717830096691, + 0.005185340483420342, + -0.03534666482759885 + ], + "object_to_gripper_xy": 0.007735122280748235, + "object_to_gripper_z": -0.03534666482759885, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31377155034387705, + 0.0665478015986667, + 1.040481655345476 + ], + "finger_b": [ + 0.3018473123585266, + 0.09183068094507224, + 1.0405817217329008 + ], + "finger_midpoint": [ + 0.3078094313512018, + 0.07918924127186946, + 1.0405316885391884 + ], + "object_minus_finger_midpoint": [ + 0.005962118992675236, + 0.012641439673202776, + -0.02182669732884479 + ], + "finger_gap": 0.027953916592457433, + "fingertip_max_gap": 0.10008951951154757, + "finger_z_skew": 0.00010006638742465768, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013976868744251835, + "object_to_finger_midpoint_z": 0.02182669732884479, + "finger_midpoint_minus_object_z": 0.02182669732884479, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0187049912103436, + "object_top_z": 1.071695587467619, + "finger_top_clearance": 0.031163898928430633, + "fingertip_min_top_clearance": 0.01589717887718261, + "object_projection_between_fingers": 0.8180376632208054, + "object_to_finger_line_xy": 0.010784928863463408, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05254475975577379, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.41581496917571, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 189, + "max_stable_success_frames": 189, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3156718460578427, + 0.08257523040868403, + 1.2108686435973113 + ], + "held_position": [ + 0.3208238627579339, + 0.0858128683392159, + 1.175109082614837 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03627356857419103, + "max_held_gripper_dist": 0.03630152781754554, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03575956098247435, + "max_held_gripper_z_dist": 0.03578837742421981, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08800430674088128, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3208238627579339, + 0.05949020857168344, + 1.1972652165263555 + ], + "held_grasp_finger_b": [ + 0.31509691133582873, + 0.09281824660964527, + 1.1964620055983208 + ], + "held_grasp_midpoint": [ + 0.31796038704688134, + 0.07615422759066436, + 1.196863611062338 + ], + "held_grasp_object_position": [ + 0.3208238627579339, + 0.0858128683392159, + 1.175109082614837 + ], + "held_grasp_finger_gap": 0.03382604381014572, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03254285491789917, + "held_grasp_world_z_skew": 0.0008032109280347033, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.1041946799049544, + -0.9930079085740204, + 0.05548659467794237 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021251233233885208, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03862369978320307, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27487614805871907, + 0.08945184622146655, + 0.7611065102991513 + ], + "target_position": [ + 0.28767628801375483, + 0.09049383927015778, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01284248155077607, + "xy_threshold": 0.08, + "gripper_dist": 0.20554927528233516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065102991513, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586692447136174, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0885790769465702, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1760930521449402, + "release_required_pad_clearance": 0.054289538473285104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.59857685748231, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc6f550d17d09f74f5a3684953e2981e165629439d88d886107ff6a5b1c6699e", + "visual_seed": 4099942671847617787, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3019ae6fed820a723c7433cbdaa974f1b48abba0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3188876074765021, + 0.09515743226165148, + 1.0523001487278598 + ], + "current_z": 1.0523001487278598, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19119370031773864, + "gripper_z": 1.0555850760745606, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31336044437207333, + 0.09009209844420898, + 1.0555850760745606 + ], + "object_minus_gripper": [ + 0.005527163104428745, + 0.005065333817442494, + -0.0032849273467008278 + ], + "object_to_gripper_xy": 0.0074971420331406925, + "object_to_gripper_z": -0.0032849273467008278, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3188876074765021, + 0.07037248013863526, + 1.0523001487278598 + ], + "finger_b": [ + 0.30677370965223455, + 0.09515743226165148, + 1.0523001487278598 + ], + "finger_midpoint": [ + 0.3128306585643683, + 0.08276495620014337, + 1.0523001487278598 + ], + "object_minus_finger_midpoint": [ + 0.006056948912133764, + 0.012392476061508104, + 0.0 + ], + "finger_gap": 0.027586960184786576, + "fingertip_max_gap": 0.09467078230740386, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013793480092393283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0523001487278598, + "object_top_z": 1.1038985448156047, + "finger_top_clearance": 0.05159839608774486, + "fingertip_min_top_clearance": 0.015479518826323457, + "object_projection_between_fingers": 0.8071764313035755, + "object_to_finger_line_xy": 0.010883488995759527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04983539115370193, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8229425390585297, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3188857958714846, + 0.09222447311218689, + 1.247641373594382 + ], + "held_position": [ + 0.324759445298861, + 0.09677980694388834, + 1.244181763602803 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008198763638976163, + "max_held_gripper_dist": 0.008207559247854875, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034596099915791267, + "max_held_gripper_z_dist": 0.003486821048271249, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08719043054375461, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.324759445298861, + 0.07099951430912224, + 1.244181763602803 + ], + "held_grasp_finger_b": [ + 0.3148139176753919, + 0.09677980694388834, + 1.244181763602803 + ], + "held_grasp_midpoint": [ + 0.31978668148712647, + 0.0838896606265053, + 1.244181763602803 + ], + "held_grasp_object_position": [ + 0.324759445298861, + 0.09677980694388834, + 1.244181763602803 + ], + "held_grasp_finger_gap": 0.027632173422359713, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025173462638026035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05575759813041307, + -0.9979716574572458, + 0.03071906839025651 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0042651229110117015, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657898001865773, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2826219474628837, + 0.09836753590287636, + 0.7611066012941181 + ], + "target_position": [ + 0.29388109225635867, + 0.09181548621784986, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013026806844176739, + "xy_threshold": 0.08, + "gripper_dist": 0.20700268138816857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066012941181, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755602385258523, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0894751290505608, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1793560002782397, + "release_required_pad_clearance": 0.054737564525280405, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.524009550813661, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b7977ad172848d1ecd0619ea9abb5d156c08726b8fc3205791c808c2b869b62", + "visual_seed": 3076048825781885626, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0570b20cadd935d4ef3f493b470d8e6f8af1f745 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.320895104467538, + 0.094205480019069, + 1.051605196266773 + ], + "current_z": 1.051605196266773, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.19049862864736233, + "gripper_z": 1.0547621642173455, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31611804219463435, + 0.0895452673863044, + 1.0547621642173455 + ], + "object_minus_gripper": [ + 0.004777062272903643, + 0.0046602126327646015, + -0.00315696795057252 + ], + "object_to_gripper_xy": 0.006673672582752176, + "object_to_gripper_z": -0.00315696795057252, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.320895104467538, + 0.0699239877314291, + 1.051605196266773 + ], + "finger_b": [ + 0.30940758863641094, + 0.094205480019069, + 1.051605196266773 + ], + "finger_midpoint": [ + 0.31515134655197447, + 0.08206473387524905, + 1.051605196266773 + ], + "object_minus_finger_midpoint": [ + 0.00574375791556353, + 0.01214074614381995, + 0.0 + ], + "finger_gap": 0.026861755111777613, + "fingertip_max_gap": 0.09683800117208644, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013430877555888806, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051605196266773, + "object_top_z": 1.1048093820836509, + "finger_top_clearance": 0.053204185816877914, + "fingertip_min_top_clearance": 0.01596125574506334, + "object_projection_between_fingers": 0.8171127309787511, + "object_to_finger_line_xy": 0.010384058148730313, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05091900058604322, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.195158382358352, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32147001962905747, + 0.09181365832063032, + 1.2431719201789324 + ], + "held_position": [ + 0.3265337565856278, + 0.09604497965217956, + 1.2398233322846637 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007399902233259752, + "max_held_gripper_dist": 0.0074097228990525656, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033485878942687286, + "max_held_gripper_z_dist": 0.003369792660222304, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08645323021471377, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3265337565856278, + 0.07064888766700836, + 1.2398233322846637 + ], + "held_grasp_finger_b": [ + 0.31732296444906094, + 0.09604497965217956, + 1.2398233322846637 + ], + "held_grasp_midpoint": [ + 0.32192836051734436, + 0.08334693365959396, + 1.2398233322846637 + ], + "held_grasp_object_position": [ + 0.3265337565856278, + 0.09604497965217956, + 1.2398233322846637 + ], + "held_grasp_finger_gap": 0.027014814082320066, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024721506189238164, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06468448072133504, + -0.9968975348808367, + 0.04484665987922054 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003818101427148417, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03676370166909, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27860827583297704, + 0.08279248447638063, + 0.7611062139681097 + ], + "target_position": [ + 0.29668111948406845, + 0.08961037033117253, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01931608772929359, + "xy_threshold": 0.08, + "gripper_dist": 0.20203769842372354, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062139681097, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576541420080403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08821196986755829, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17215448405676392, + "release_required_pad_clearance": 0.05410598493377915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.220436107117386, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a055fca13468f8df9f99cd44f55f759b2bc60204c6057d1a507e9686f1f39562", + "visual_seed": 56511728354235511, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd4f41494adf412a5cce1dd9cf7af341860548df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31595997146575583, + 0.09613978478665727, + 1.0492952010997771 + ], + "current_z": 1.0492952010997771, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18818875268965596, + "gripper_z": 1.052638644424163, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3107548297516687, + 0.09119286185061692, + 1.052638644424163 + ], + "object_minus_gripper": [ + 0.005205141714087147, + 0.004946922936040349, + -0.003343443324385964 + ], + "object_to_gripper_xy": 0.007180915456879586, + "object_to_gripper_z": -0.003343443324385964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31595997146575583, + 0.07166837140202464, + 1.0492952010997771 + ], + "finger_b": [ + 0.3039092742034276, + 0.09613978478665727, + 1.0492952010997771 + ], + "finger_midpoint": [ + 0.3099346228345917, + 0.08390407809434096, + 1.0492952010997771 + ], + "object_minus_finger_midpoint": [ + 0.006025348631164107, + 0.012235706692316314, + 0.0 + ], + "finger_gap": 0.02727763511651737, + "fingertip_max_gap": 0.09218867097562691, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013638817558258685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492952010997771, + "object_top_z": 1.099974576693588, + "finger_top_clearance": 0.05067937559381086, + "fingertip_min_top_clearance": 0.015203812678143275, + "object_projection_between_fingers": 0.804830962152379, + "object_to_finger_line_xy": 0.010810966310672774, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859433548781346, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7831854013639082, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3160963583119416, + 0.09345513489270653, + 1.2432117935979339 + ], + "held_position": [ + 0.32164894385544596, + 0.09788530354609293, + 1.239680085137238 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007932878743982637, + "max_held_gripper_dist": 0.007942387901142467, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003531708460695837, + "max_held_gripper_z_dist": 0.003554806672085631, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08779791842052151, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32164894385544596, + 0.0722606650313019, + 1.239680085137238 + ], + "held_grasp_finger_b": [ + 0.31198594567358323, + 0.09788530354609293, + 1.239680085137238 + ], + "held_grasp_midpoint": [ + 0.31681744476451457, + 0.08507298428869742, + 1.239680085137238 + ], + "held_grasp_object_position": [ + 0.32164894385544596, + 0.09788530354609293, + 1.239680085137238 + ], + "held_grasp_finger_gap": 0.027386048142738567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024788996967166632, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07784871496819161, + -0.996745727500574, + 0.02091727245968533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038290808522328467, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657349959531376, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2820394876011618, + 0.09118917133750574, + 0.7611062642388897 + ], + "target_position": [ + 0.2912847541000084, + 0.09217074154312858, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009297227151321077, + "xy_threshold": 0.08, + "gripper_dist": 0.20789950726653747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062642388897, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592442506880355, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550917186567404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1777871528489024, + "release_required_pad_clearance": 0.05275458593283702, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5595296523977634, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 217, + "max_placed_release_frames": 217 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "950232195a415dbe60b0e0699c911cb8146ca5f8723a6960fd8adc138b0bd539", + "visual_seed": 8850427776458645318, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd2501c539331bd638149cacd1a9793a677ea61 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31610320760656957, + 0.08623577844682985, + 1.0515150918901943 + ], + "current_z": 1.0515150918901943, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19040858387542825, + "gripper_z": 1.054948713965203, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31106373205349835, + 0.08137512013027444, + 1.054948713965203 + ], + "object_minus_gripper": [ + 0.005039475553071215, + 0.004860658316555411, + -0.0034336220750086355 + ], + "object_to_gripper_xy": 0.007001593612907115, + "object_to_gripper_z": -0.0034336220750086355, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31610320760656957, + 0.06187256340047136, + 1.0515150918901943 + ], + "finger_b": [ + 0.30418594651477665, + 0.08623577844682985, + 1.0515150918901943 + ], + "finger_midpoint": [ + 0.3101445770606731, + 0.0740541709236506, + 1.0515150918901943 + ], + "object_minus_finger_midpoint": [ + 0.0059586305458964595, + 0.012181607523179247, + 0.0 + ], + "finger_gap": 0.027121713797713262, + "fingertip_max_gap": 0.093908920903464, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560856898856635, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0515150918901943, + "object_top_z": 1.1032951148365164, + "finger_top_clearance": 0.05178002294632211, + "fingertip_min_top_clearance": 0.015534006883896667, + "object_projection_between_fingers": 0.8069282864508829, + "object_to_finger_line_xy": 0.010705178769618616, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049454460451732005, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3317634801268161, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3165697928044682, + 0.08356324837491814, + 1.245742253836795 + ], + "held_position": [ + 0.32197096502344696, + 0.08790110379557496, + 1.2421340345123557 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007810819270911817, + "max_held_gripper_dist": 0.00782038608216995, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036082193244393324, + "max_held_gripper_z_dist": 0.003629714234157033, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08770505538693812, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32197096502344696, + 0.06232730779170651, + 1.2421340345123557 + ], + "held_grasp_finger_b": [ + 0.31251063027254383, + 0.08790110379557496, + 1.2421340345123557 + ], + "held_grasp_midpoint": [ + 0.3172407976479954, + 0.07511420579364074, + 1.2421340345123557 + ], + "held_grasp_object_position": [ + 0.32197096502344696, + 0.08790110379557496, + 1.2421340345123557 + ], + "held_grasp_finger_gap": 0.027267507690411006, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02469078849595616, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08259764757681406, + -0.9960269444480148, + 0.03328595121560884 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036832702915219474, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036593454426403195, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28817451436152053, + 0.0869560127742967, + 0.7611063892956358 + ], + "target_position": [ + 0.29154324780118535, + 0.08484747645901501, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003974203112622405, + "xy_threshold": 0.08, + "gripper_dist": 0.2116934904397837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063892956358, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553046836067123, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08818899835638898, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18240655457100627, + "release_required_pad_clearance": 0.05409449917819449, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.202400244436288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 217, + "max_placed_release_frames": 217 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d176319f609fe7d2df7f65136aeb6fedf1c38a2bd6584d0924231e37141f204a", + "visual_seed": 42331001354461328, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a31909dc12ef54bfeea88f694e57d53a948acb84 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3161967748199675, + 0.08962132877544216, + 1.0488149593887743 + ], + "current_z": 1.0488149593887743, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.1877085705832977, + "gripper_z": 1.052178832989203, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31118051296995447, + 0.08475674158701246, + 1.052178832989203 + ], + "object_minus_gripper": [ + 0.005016261850013026, + 0.004864587188429692, + -0.0033638736004286685 + ], + "object_to_gripper_xy": 0.006987638475316994, + "object_to_gripper_z": -0.0033638736004286685, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3161967748199675, + 0.0653067741917467, + 1.0488149593887743 + ], + "finger_b": [ + 0.30423886806745304, + 0.08962132877544216, + 1.0488149593887743 + ], + "finger_midpoint": [ + 0.31021782144371024, + 0.07746405148359442, + 1.0488149593887743 + ], + "object_minus_finger_midpoint": [ + 0.005978953376257257, + 0.012157277291847735, + 0.0 + ], + "finger_gap": 0.027095924020142523, + "fingertip_max_gap": 0.09426235627288301, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013547962010071279, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488149593887743, + "object_top_z": 1.1006032381202873, + "finger_top_clearance": 0.05178827873151293, + "fingertip_min_top_clearance": 0.01553648361945386, + "object_projection_between_fingers": 0.8052388217246301, + "object_to_finger_line_xy": 0.01073043961241606, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04963117813644151, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.400605151394938, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3164785157574266, + 0.08713053781323475, + 1.2422122896981076 + ], + "held_position": [ + 0.321844387100529, + 0.09149040934417729, + 1.2386702189255034 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00776835377639223, + "max_held_gripper_dist": 0.0077776884651080775, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035420707726041556, + "max_held_gripper_z_dist": 0.0035633618065264994, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742377840247112, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.321844387100529, + 0.0659704030158299, + 1.2386702189255034 + ], + "held_grasp_finger_b": [ + 0.3123017473462979, + 0.09149040934417729, + 1.2386702189255034 + ], + "held_grasp_midpoint": [ + 0.31707306722341344, + 0.0787304061800036, + 1.2386702189255034 + ], + "held_grasp_object_position": [ + 0.321844387100529, + 0.09149040934417729, + 1.2386702189255034 + ], + "held_grasp_finger_gap": 0.027245783095332793, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024709100081382503, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07591528814639073, + -0.9966115212029092, + 0.031659829931222294 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038109574187713156, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036641267782784155, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2761712349803762, + 0.08908310727725885, + 0.7611071901542553 + ], + "target_position": [ + 0.291707179901339, + 0.08696577884249809, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01567956199285667, + "xy_threshold": 0.08, + "gripper_dist": 0.20467859678437025, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071901542553, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569797009955065, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0880940552041231, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1762191011897319, + "release_required_pad_clearance": 0.05404702760206155, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1053554297785193, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0bc08fdf050536a6061ea58aa5ec4fe84335ece31497f07d07288305cada447a", + "visual_seed": 1784220571243443754, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef7b197eb2b3a3ea2c13ef6da08aad346d3a69b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3218058727780791, + 0.09308886088636974, + 1.0526444172083442 + ], + "current_z": 1.0526444172083442, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19153796879822305, + "gripper_z": 1.0556442761486116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3167081078308225, + 0.08823942821786372, + 1.0556442761486116 + ], + "object_minus_gripper": [ + 0.005097764947256611, + 0.004849432668506015, + -0.0029998589402673304 + ], + "object_to_gripper_xy": 0.007035922445838326, + "object_to_gripper_z": -0.0029998589402673304, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3218058727780791, + 0.06862270958267057, + 1.0526444172083442 + ], + "finger_b": [ + 0.3099818912850457, + 0.09308886088636974, + 1.0526444172083442 + ], + "finger_midpoint": [ + 0.31589388203156243, + 0.08085578523452015, + 1.0526444172083442 + ], + "object_minus_finger_midpoint": [ + 0.00591199074651666, + 0.012233075651849584, + 0.0 + ], + "finger_gap": 0.027173499921119774, + "fingertip_max_gap": 0.0922860517461315, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013586749960559873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526444172083442, + "object_top_z": 1.103524297913003, + "finger_top_clearance": 0.050879880704658875, + "fingertip_min_top_clearance": 0.015263964211397661, + "object_projection_between_fingers": 0.8106626365968516, + "object_to_finger_line_xy": 0.01064593523324001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864302587306575, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7968619634899317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 218, + "max_stable_success_frames": 218, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3222793428561471, + 0.09029170070906457, + 1.2446078364559863 + ], + "held_position": [ + 0.3277090047490116, + 0.09464869851111266, + 1.2414053305530164 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007662943440769576, + "max_held_gripper_dist": 0.00767149921568386, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0032025059029698877, + "max_held_gripper_z_dist": 0.0032243748303799613, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08672476856855008, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3277090047490116, + 0.0690329739375412, + 1.2414053305530164 + ], + "held_grasp_finger_b": [ + 0.3182827761596907, + 0.09464869851111266, + 1.2414053305530164 + ], + "held_grasp_midpoint": [ + 0.3229958904543512, + 0.08184083622432692, + 1.2414053305530164 + ], + "held_grasp_object_position": [ + 0.3277090047490116, + 0.09464869851111266, + 1.2414053305530164 + ], + "held_grasp_finger_gap": 0.02729503857566799, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024781106675596163, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07926337055094877, + -0.9965855641463195, + 0.023119935641457312 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036953229291036747, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658254208272369, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28346494316066395, + 0.09101816197845786, + 0.7611080612034802 + ], + "target_position": [ + 0.2972185618538613, + 0.09052904082392481, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013762313274361962, + "xy_threshold": 0.08, + "gripper_dist": 0.20306452151533894, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080612034802, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753201287816413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08864264723610756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1749035581982674, + "release_required_pad_clearance": 0.05432132361805378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6641105236909817, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3448d3b02a3d53422afc4830840d3950fb1841e8e72a8196c853bf62b76a623", + "visual_seed": 6552782025934350873, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4b4fdab3836b9fb9a9babea1b29425416ca2e746 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31894509144048283, + 0.09467480048291185, + 1.050478059449306 + ], + "current_z": 1.050478059449306, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.189371491829895, + "gripper_z": 1.0536699855334675, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31374122580083735, + 0.08979788238461871, + 1.0536699855334675 + ], + "object_minus_gripper": [ + 0.0052038656396454774, + 0.004876918098293145, + -0.0031919260841615227 + ], + "object_to_gripper_xy": 0.007131938567664619, + "object_to_gripper_z": -0.0031919260841615227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31894509144048283, + 0.07010177198146614, + 1.050478059449306 + ], + "finger_b": [ + 0.3071306977937677, + 0.09467480048291185, + 1.050478059449306 + ], + "finger_midpoint": [ + 0.3130378946171253, + 0.082388286232189, + 1.050478059449306 + ], + "object_minus_finger_midpoint": [ + 0.005907196823357552, + 0.012286514250722858, + 0.0 + ], + "finger_gap": 0.02726561253616734, + "fingertip_max_gap": 0.0926959545176135, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01363280626808367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050478059449306, + "object_top_z": 1.101461541155034, + "finger_top_clearance": 0.05098348170572797, + "fingertip_min_top_clearance": 0.015295044511718408, + "object_projection_between_fingers": 0.8122446345139122, + "object_to_finger_line_xy": 0.010647676864876285, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048847977258806755, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8248750535109459, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3190526962653927, + 0.09228501200121174, + 1.2459133105269025 + ], + "held_position": [ + 0.32456335716615986, + 0.09670891771346916, + 1.242562168603719 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007821027905813039, + "max_held_gripper_dist": 0.007830652849783926, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033511419231835315, + "max_held_gripper_z_dist": 0.003375597417278886, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08623988663911472, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32456335716615986, + 0.07116795328896956, + 1.242562168603719 + ], + "held_grasp_finger_b": [ + 0.31479827589172593, + 0.09670891771346916, + 1.242562168603719 + ], + "held_grasp_midpoint": [ + 0.31968081652894287, + 0.08393843550121936, + 1.242562168603719 + ], + "held_grasp_object_position": [ + 0.32456335716615986, + 0.09670891771346916, + 1.242562168603719 + ], + "held_grasp_finger_gap": 0.027344061074205023, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024813532831838406, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06774757951407133, + -0.9974209676868377, + 0.02369976136244634 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004017866036478182, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665192303407478, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2811023488282213, + 0.10371769600136581, + 0.7611083642339099 + ], + "target_position": [ + 0.294311253878349, + 0.09150237136888455, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017991368166434474, + "xy_threshold": 0.08, + "gripper_dist": 0.20495870288749288, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083642339099, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07599409972630854, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09495672346538735, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17911321388651502, + "release_required_pad_clearance": 0.057478361732693675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.663867870953778, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e4ed1a48d7251737b4e68ae44c8bd0eb46ef80acd7d6a85046744aee3a7bce8", + "visual_seed": 3118421712276666922, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f33e05b5f70668cc5ed2043ff6bc69b3ada52cf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3211805194190901, + 0.09120151951142066, + 1.0523353665794288 + ], + "current_z": 1.0523353665794288, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.1912287989600182, + "gripper_z": 1.0556966002157526, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3160437571766258, + 0.08621891036116965, + 1.0556966002157526 + ], + "object_minus_gripper": [ + 0.005136762242464288, + 0.004982609150251019, + -0.0033612336363237905 + ], + "object_to_gripper_xy": 0.007156306329369357, + "object_to_gripper_z": -0.0033612336363237905, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3211805194190901, + 0.06686825922267453, + 1.0523353665794288 + ], + "finger_b": [ + 0.30897105966487204, + 0.09120151951142066, + 1.0523353665794288 + ], + "finger_midpoint": [ + 0.31507578954198107, + 0.0790348893670476, + 1.0523353665794288 + ], + "object_minus_finger_midpoint": [ + 0.0061047298771090275, + 0.012166630144373067, + 0.0 + ], + "finger_gap": 0.027224592995483698, + "fingertip_max_gap": 0.09341451776375906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013612296497741849, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0523353665794288, + "object_top_z": 1.103515299526714, + "finger_top_clearance": 0.05117993294728507, + "fingertip_min_top_clearance": 0.015353979884185553, + "object_projection_between_fingers": 0.7988731260057471, + "object_to_finger_line_xy": 0.010912778833227861, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04920725888187953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2819751680514666, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3215398124697607, + 0.08852132770227153, + 1.2452415600486675 + ], + "held_position": [ + 0.327063833739546, + 0.09295705458028156, + 1.2416904425217399 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007924703124748167, + "max_held_gripper_dist": 0.00793339551589413, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003551117526927605, + "max_held_gripper_z_dist": 0.0035749267869968904, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694669878611642, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.327063833739546, + 0.06732778101049453, + 1.2416904425217399 + ], + "held_grasp_finger_b": [ + 0.3174302842435275, + 0.09295705458028156, + 1.2416904425217399 + ], + "held_grasp_midpoint": [ + 0.3222470589915367, + 0.08014241779538804, + 1.2416904425217399 + ], + "held_grasp_object_position": [ + 0.327063833739546, + 0.09295705458028156, + 1.2416904425217399 + ], + "held_grasp_finger_gap": 0.027380009854038087, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024786129664900024, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07852765198706498, + -0.9966193391151891, + 0.024151620546088992 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038085665327706525, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03657068521542154, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2853306699789902, + 0.09305808308593176, + 0.7611086063413931 + ], + "target_position": [ + 0.29655801615919586, + 0.0878023169770582, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012396627752794808, + "xy_threshold": 0.08, + "gripper_dist": 0.2067411202804012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086063413931, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539371173659837, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09484184292753943, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17937752381446978, + "release_required_pad_clearance": 0.05742092146376972, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.522545649741952, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a18b49263d15ffb47890993acbbf1b0b2188f1bdb9c00f0de914f20859b6db79", + "visual_seed": 8544570236659140204, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0964e0c0235bbc0cff66a5a7083a87fbce5b2c19 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3206578428987738, + 0.09456060564606711, + 1.049465862484427 + ], + "current_z": 1.049465862484427, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18835935446966112, + "gripper_z": 1.052536638699825, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31558913713905845, + 0.08977060889465319, + 1.052536638699825 + ], + "object_minus_gripper": [ + 0.005068705759715353, + 0.004789996751413922, + -0.0030707762153978635 + ], + "object_to_gripper_xy": 0.00697394056162852, + "object_to_gripper_z": -0.0030707762153978635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3206578428987738, + 0.07004096621893877, + 1.049465862484427 + ], + "finger_b": [ + 0.3090195081856803, + 0.09456060564606711, + 1.049465862484427 + ], + "finger_midpoint": [ + 0.31483867554222705, + 0.08230078593250294, + 1.049465862484427 + ], + "object_minus_finger_midpoint": [ + 0.0058191673565467505, + 0.012259819713564171, + 0.0 + ], + "finger_gap": 0.027141546612718736, + "fingertip_max_gap": 0.09361407819795173, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013570773306359368, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049465862484427, + "object_top_z": 1.1010271401241194, + "finger_top_clearance": 0.051561277639692316, + "fingertip_min_top_clearance": 0.015468383291907695, + "object_projection_between_fingers": 0.8161293110963156, + "object_to_finger_line_xy": 0.010514057093694077, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049307039098975866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1606606762244716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32091416904354775, + 0.09200566304702858, + 1.242353812113281 + ], + "held_position": [ + 0.3262759542581939, + 0.09635883692512046, + 1.2390988747359581 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007635016753825335, + "max_held_gripper_dist": 0.0076441226678744595, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003254937377322964, + "max_held_gripper_z_dist": 0.0032776804066165788, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745279314830168, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3262759542581939, + 0.07082783960410768, + 1.2390988747359581 + ], + "held_grasp_finger_b": [ + 0.3167772478740084, + 0.09635883692512046, + 1.2390988747359581 + ], + "held_grasp_midpoint": [ + 0.32152660106610115, + 0.08359333826461407, + 1.2390988747359581 + ], + "held_grasp_object_position": [ + 0.3262759542581939, + 0.09635883692512046, + 1.2390988747359581 + ], + "held_grasp_finger_gap": 0.027240727728504745, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02481616509483056, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06793409368401764, + -0.9972760086130776, + 0.028731890994154297 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003888943444573869, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666688151329955, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2870033926251584, + 0.0877967576970295, + 0.7611063332676888 + ], + "target_position": [ + 0.2961623385692973, + 0.089558192216801, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009326786283340108, + "xy_threshold": 0.08, + "gripper_dist": 0.20902255666193803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063332676888, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521747594133477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08941823910194178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801308487842774, + "release_required_pad_clearance": 0.054709119550970894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.464609319793329, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6e2ceac40118d38511a8e19298b24005af50032ac1108aa0febfd57fc2a06c2b", + "visual_seed": 1460771649730987724, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..058033786a67aa53b4f28786aed2764797937c79 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3240164776126167, + 0.08798067189090182, + 1.006876059996321 + ], + "current_z": 1.006876059996321, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.14576937316762084, + "gripper_z": 1.0549286414486, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3173182352088121, + 0.08416603973692631, + 1.0549286414486 + ], + "object_minus_gripper": [ + 0.006698242403804622, + 0.0038146321539755113, + -0.0480525814522792 + ], + "object_to_gripper_xy": 0.007708298759795846, + "object_to_gripper_z": -0.0480525814522792, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3240164776126167, + 0.06402835441222965, + 1.041354441809202 + ], + "finger_b": [ + 0.31108415767208747, + 0.08798067189090182, + 1.0414550112594814 + ], + "finger_midpoint": [ + 0.3175503176423521, + 0.07600451315156573, + 1.0414047265343416 + ], + "object_minus_finger_midpoint": [ + 0.006466159970264618, + 0.011976158739336093, + -0.03452866653802067 + ], + "finger_gap": 0.027220737055738294, + "fingertip_max_gap": 0.11086386688557073, + "finger_z_skew": 0.00010056945027936415, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013610275636842509, + "object_to_finger_midpoint_z": 0.03452866653802067, + "finger_midpoint_minus_object_z": 0.03452866653802067, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.006876059996321, + "object_top_z": 1.0632142506316644, + "finger_top_clearance": 0.02180952409732284, + "fingertip_min_top_clearance": 0.01690145719060307, + "object_projection_between_fingers": 0.7742857137240801, + "object_to_finger_line_xy": 0.011379601751518286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05793193344278537, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 11.456048972811779, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 182, + "max_stable_success_frames": 182, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32628434369192116, + 0.07689521395543583, + 1.2020104760318002 + ], + "held_position": [ + 0.3319163416663075, + 0.07729103737402392, + 1.1533740839424707 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.048962993299319385, + "max_held_gripper_dist": 0.049000070685562405, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04863639208932957, + "max_held_gripper_z_dist": 0.048684385531647445, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08998104759364921, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3319163416663075, + 0.05281290816881755, + 1.1886355858714215 + ], + "held_grasp_finger_b": [ + 0.3279309916204104, + 0.09102978234621484, + 1.1868378153319254 + ], + "held_grasp_midpoint": [ + 0.3299236666433589, + 0.0719213452575162, + 1.1877367006016735 + ], + "held_grasp_object_position": [ + 0.3319163416663075, + 0.07729103737402392, + 1.1533740839424707 + ], + "held_grasp_finger_gap": 0.03846614700996225, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.037927310921895926, + "held_grasp_world_z_skew": 0.0017977705394960353, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054035817872954334, + -0.9932131961447052, + 0.1029935793669696 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.033659358356135, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.040740196289979005, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28431580222679104, + 0.08953248175842234, + 0.7611081319208609 + ], + "target_position": [ + 0.2960775838571755, + 0.08759898357294775, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011919644388742575, + "xy_threshold": 0.08, + "gripper_dist": 0.20549986088995073, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081319208609, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541183614803669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09571160427259585, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17744272799955038, + "release_required_pad_clearance": 0.05785580213629793, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.584953928134107, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8e7037536ea8d24081a1f9ddc83dea338d8307ec6d30f2f20af99ca1f3a61d33", + "visual_seed": 4683652665448266317, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35eaff2c27dcfe2b309561828d83ad556daec591 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.323325594557736, + 0.09258908961206895, + 1.020484743281234 + ], + "current_z": 1.020484743281234, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1593782948711131, + "gripper_z": 1.055880883646362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3174149756200604, + 0.08688025577473969, + 1.055880883646362 + ], + "object_minus_gripper": [ + 0.005910618937675638, + 0.005708833837329258, + -0.03539614036512795 + ], + "object_to_gripper_xy": 0.008217432689632778, + "object_to_gripper_z": -0.03539614036512795, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.323325594557736, + 0.0668790319297722, + 1.0423093441249742 + ], + "finger_b": [ + 0.311135174771332, + 0.09258908961206895, + 1.0424120353791106 + ], + "finger_midpoint": [ + 0.317230384664534, + 0.07973406077092057, + 1.0423606897520425 + ], + "object_minus_finger_midpoint": [ + 0.006095209893202003, + 0.012855028841148378, + -0.021875946470808483 + ], + "finger_gap": 0.028453891580756625, + "fingertip_max_gap": 0.10138580535283245, + "finger_z_skew": 0.00010269125413642222, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014226853135846457, + "object_to_finger_midpoint_z": 0.021875946470808483, + "finger_midpoint_minus_object_z": 0.021875946470808483, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.020484743281234, + "object_top_z": 1.0733715494664888, + "finger_top_clearance": 0.03101085971444628, + "fingertip_min_top_clearance": 0.01586604185557643, + "object_projection_between_fingers": 0.8164477830290431, + "object_to_finger_line_xy": 0.01101495857471684, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05319290267641623, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.885272202167857, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 190, + "max_stable_success_frames": 190, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3243229622860974, + 0.08472400821821302, + 1.2146646073953076 + ], + "held_position": [ + 0.3299565311042263, + 0.08879598525996837, + 1.178925662280701 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03640865683545661, + "max_held_gripper_dist": 0.036424924523962995, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035738945114606624, + "max_held_gripper_z_dist": 0.03576106783740318, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871051598953694, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3299565311042263, + 0.062264776912590344, + 1.2011195360551734 + ], + "held_grasp_finger_b": [ + 0.32248709753881594, + 0.09280503082426277, + 1.2004169022600533 + ], + "held_grasp_midpoint": [ + 0.3262218143215211, + 0.07753490386842656, + 1.2007682191576134 + ], + "held_grasp_object_position": [ + 0.3299565311042263, + 0.08879598525996837, + 1.178925662280701 + ], + "held_grasp_finger_gap": 0.031448262925439084, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.030036199289738972, + "held_grasp_world_z_skew": 0.0007026337951201445, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06048371317639549, + -0.9973688958914156, + 0.039962556834292944 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021582930165392002, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03739002379678953, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28573316336575966, + 0.0937701572744055, + 0.7611081423565565 + ], + "target_position": [ + 0.2973784321132652, + 0.08965929925487014, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012349552131895617, + "xy_threshold": 0.08, + "gripper_dist": 0.20673714576572225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611081423565565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573547992619298, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08944258670790266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17832829336372077, + "release_required_pad_clearance": 0.05472129335395133, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.48787041014431, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7325313f62a9635e40753eda8c11c7103b3a0da5c9d76fcad98325be520054bf", + "visual_seed": 3838369803149099168, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4a89ad9ef4eee73de037d8bfc941d6c04208d5b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3169665584669557, + 0.08810806097255566, + 1.0515565848526522 + ], + "current_z": 1.0515565848526522, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19045007683788606, + "gripper_z": 1.054719404211062, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.311899441453381, + 0.08323473159436416, + 1.054719404211062 + ], + "object_minus_gripper": [ + 0.005067117013574707, + 0.004873329378191502, + -0.003162819358409674 + ], + "object_to_gripper_xy": 0.007030292601137069, + "object_to_gripper_z": -0.003162819358409674, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3169665584669557, + 0.06372696508943457, + 1.0515565848526522 + ], + "finger_b": [ + 0.3050288162156465, + 0.08810806097255566, + 1.0515565848526522 + ], + "finger_midpoint": [ + 0.31099768734130107, + 0.07591751303099512, + 1.0515565848526522 + ], + "object_minus_finger_midpoint": [ + 0.00596887112565464, + 0.012190547941560548, + 0.0 + ], + "finger_gap": 0.027146777461065943, + "fingertip_max_gap": 0.09187465617129884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013573388730532984, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0515565848526522, + "object_top_z": 1.1020816617286489, + "finger_top_clearance": 0.05052507687599661, + "fingertip_min_top_clearance": 0.015157523062799015, + "object_projection_between_fingers": 0.8066216590324596, + "object_to_finger_line_xy": 0.010721539190962514, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843732808564942, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7110223966392855, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3173850256966453, + 0.08526211411394174, + 1.2462632925053148 + ], + "held_position": [ + 0.3228183703810399, + 0.08961495788702818, + 1.2429234538393068 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007721593468144918, + "max_held_gripper_dist": 0.00773043977545296, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003339838666007955, + "max_held_gripper_z_dist": 0.0033620051424139152, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871576702514387, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3228183703810399, + 0.06402554101112254, + 1.2429234538393068 + ], + "held_grasp_finger_b": [ + 0.3133292783908448, + 0.08961495788702818, + 1.2429234538393068 + ], + "held_grasp_midpoint": [ + 0.31807382438594234, + 0.07682024944907537, + 1.2429234538393068 + ], + "held_grasp_object_position": [ + 0.3228183703810399, + 0.08961495788702818, + 1.2429234538393068 + ], + "held_grasp_finger_gap": 0.027292143976743004, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024722332904893545, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08181588095422036, + -0.9964545674948898, + 0.019607563394184235 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036906260879444107, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036582725197014845, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2746186032137242, + 0.09306137714741791, + 0.7611078200605101 + ], + "target_position": [ + 0.2923863217794673, + 0.0863851230957958, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018980626733415603, + "xy_threshold": 0.08, + "gripper_dist": 0.20506160410428445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078200605101, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529962674457154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09079855525970605, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17853479927963645, + "release_required_pad_clearance": 0.05539927762985303, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.917659152581475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0fe4d300b6b9895a8e9db32394f4b8bb79eed6a08e8cb78007bcecb8b6075150", + "visual_seed": 7318883342848245756, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9028d93406b3aacdd0dc27a9d496eacb29aa37bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31598062164263424, + 0.09288594109252189, + 1.0524217347046698 + ], + "current_z": 1.0524217347046698, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19131528629454864, + "gripper_z": 1.0556710022084494, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3109822564336666, + 0.08798610347523723, + 1.0556710022084494 + ], + "object_minus_gripper": [ + 0.004998365208967626, + 0.004899837617284658, + -0.0032492675037796293 + ], + "object_to_gripper_xy": 0.006999433079755515, + "object_to_gripper_z": -0.0032492675037796293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31598062164263424, + 0.06863578678799317, + 1.0524217347046698 + ], + "finger_b": [ + 0.3039073306135849, + 0.09288594109252189, + 1.0524217347046698 + ], + "finger_midpoint": [ + 0.30994397612810953, + 0.08076086394025753, + 1.0524217347046698 + ], + "object_minus_finger_midpoint": [ + 0.006036645514524708, + 0.012125077152264366, + 0.0 + ], + "finger_gap": 0.027089376885886033, + "fingertip_max_gap": 0.09291958953581411, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544688442943036, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524217347046698, + "object_top_z": 1.103352557118237, + "finger_top_clearance": 0.05093082241356717, + "fingertip_min_top_clearance": 0.015279246724070182, + "object_projection_between_fingers": 0.8013661281385415, + "object_to_finger_line_xy": 0.010807896086028895, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895979476790706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.134085068598088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31646474086896614, + 0.09024784775998172, + 1.2445815617374514 + ], + "held_position": [ + 0.321839847334466, + 0.09461134402661422, + 1.2411317079215194 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007735202682262108, + "max_held_gripper_dist": 0.007744298844390493, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0034498538159319914, + "max_held_gripper_z_dist": 0.0034714989107766936, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694793129255501, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.321839847334466, + 0.06902889735522982, + 1.2411317079215194 + ], + "held_grasp_finger_b": [ + 0.3124049876371016, + 0.09461134402661422, + 1.2411317079215194 + ], + "held_grasp_midpoint": [ + 0.31712241748578385, + 0.08182012069092202, + 1.2411317079215194 + ], + "held_grasp_object_position": [ + 0.321839847334466, + 0.09461134402661422, + 1.2411317079215194 + ], + "held_grasp_finger_gap": 0.027266795836753132, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024732925963876138, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0805870077473632, + -0.9965134845338603, + 0.021601141740898333 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003681972384864857, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0365934599766302, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.278037041656415, + 0.10350654650858969, + 0.761106378654339 + ], + "target_position": [ + 0.29146508048748565, + 0.09150161535291845, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01801195710913022, + "xy_threshold": 0.08, + "gripper_dist": 0.20784483621174338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106378654339, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07723187197958563, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557292146432989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18111132461771154, + "release_required_pad_clearance": 0.05278646073216495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.620548515164114, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17743643e5cdd95f9470de8c90597387919e5cd88b7c52734c572c1c7369cff2", + "visual_seed": 8695570480786646906, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bab7ea621a27e21e8d139e40e56af994a9d4cc6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_81_success.json @@ -0,0 +1,684 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.319883942795451, + 0.0945722258050241, + 1.049497444705858 + ], + "current_z": 1.049497444705858, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.18839081748180242, + "gripper_z": 1.0525659508262324, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.315326151519363, + 0.08995455561358948, + 1.0525659508262324 + ], + "object_minus_gripper": [ + 0.004557791276088019, + 0.004617670191434622, + -0.003068506120374348 + ], + "object_to_gripper_xy": 0.006488169180381158, + "object_to_gripper_z": -0.003068506120374348, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.319883942795451, + 0.07056321887406239, + 1.049497444705858 + ], + "finger_b": [ + 0.30830326846484973, + 0.0945722258050241, + 1.049497444705858 + ], + "finger_midpoint": [ + 0.3140936056301504, + 0.08256772233954324, + 1.049497444705858 + ], + "object_minus_finger_midpoint": [ + 0.005790337165300641, + 0.012004503465480862, + 0.0 + ], + "finger_gap": 0.0266560393112408, + "fingertip_max_gap": 0.09623143170506851, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013328019655620407, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049497444705858, + "object_top_z": 1.1023476381199717, + "finger_top_clearance": 0.05285019341411368, + "fingertip_min_top_clearance": 0.015855058024234085, + "object_projection_between_fingers": 0.811254564871053, + "object_to_finger_line_xy": 0.01043067527858001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05061571585253426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0966312219681447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.320793229035745, + 0.09220001769497127, + 1.242892442606367 + ], + "held_position": [ + 0.3257092951647489, + 0.09632831672439866, + 1.239650857514665 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007191552889874032, + "max_held_gripper_dist": 0.0072010571940012156, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003241585091702026, + "max_held_gripper_z_dist": 0.0032620717809930255, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08687413614334476, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3257092951647489, + 0.07099636756334633, + 1.239650857514665 + ], + "held_grasp_finger_b": [ + 0.3166989504488486, + 0.09632831672439866, + 1.239650857514665 + ], + "held_grasp_midpoint": [ + 0.3212041228067988, + 0.0836623421438725, + 1.239650857514665 + ], + "held_grasp_object_position": [ + 0.3257092951647489, + 0.09632831672439866, + 1.239650857514665 + ], + "held_grasp_finger_gap": 0.026886687415847495, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453031088330842, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0776913654725986, + -0.9959887692517939, + 0.04438944981975135 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003553527914620098, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036755068644083747, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28819997670136266, + 0.09604607895654778, + 0.761106362553092 + ], + "target_position": [ + 0.2958377158401707, + 0.09330854234026131, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00811351747875048, + "xy_threshold": 0.08, + "gripper_dist": 0.2074573229116884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106362553092, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755018780949871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087524607105375, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1787980088440583, + "release_required_pad_clearance": 0.053762303552687504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5337362752672656, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "449340923af8e4966a0b43a6be391060ec0680c872ecbe92044ff518563860cf", + "visual_seed": 893953107449570383, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf2f71e687ef917fb680eda99df41c7076eff9d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31768450113958857, + 0.09738703924337715, + 1.0516802993748262 + ], + "current_z": 1.0516802993748262, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1905739105693498, + "gripper_z": 1.0557552483064185, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31203086192454266, + 0.09224447784640628, + 1.0557552483064185 + ], + "object_minus_gripper": [ + 0.005653639215045914, + 0.005142561396970863, + -0.004074948931592326 + ], + "object_to_gripper_xy": 0.007642615657974689, + "object_to_gripper_z": -0.004074948931592326, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31768450113958857, + 0.07248927287215631, + 1.0516802993748262 + ], + "finger_b": [ + 0.30549794661975416, + 0.09738703924337715, + 1.0516802993748262 + ], + "finger_midpoint": [ + 0.31159122387967136, + 0.08493815605776672, + 1.0516802993748262 + ], + "object_minus_finger_midpoint": [ + 0.006093277259917207, + 0.012448883185610424, + 0.0 + ], + "finger_gap": 0.027720225131495444, + "fingertip_max_gap": 0.0930623648216812, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013860112565747729, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0516802993748262, + "object_top_z": 1.1021299534051423, + "finger_top_clearance": 0.05044965403031609, + "fingertip_min_top_clearance": 0.015134896209094827, + "object_projection_between_fingers": 0.8067282561046515, + "object_to_finger_line_xy": 0.01094572594074072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049031182410840604, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6360691037891812, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3173104631721873, + 0.09484024076181095, + 1.2453037832153964 + ], + "held_position": [ + 0.32325334899064895, + 0.09952799050052213, + 1.2410444848648048 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008685304364465955, + "max_held_gripper_dist": 0.008695046499658007, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.004259298350591578, + "max_held_gripper_z_dist": 0.00428497825928198, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741470203861186, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32325334899064895, + 0.0737492362538695, + 1.2410444848648048 + ], + "held_grasp_finger_b": [ + 0.31302516335090735, + 0.09952799050052213, + 1.2410444848648048 + ], + "held_grasp_midpoint": [ + 0.31813925617077815, + 0.08663861337719582, + 1.2410444848648048 + ], + "held_grasp_object_position": [ + 0.32325334899064895, + 0.09952799050052213, + 1.2410444848648048 + ], + "held_grasp_finger_gap": 0.02773373310591863, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025314706524183814, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04278727845929521, + -0.9989754549380035, + 0.014740733816733465 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004561933611475449, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036625260580902166, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28820321586367625, + 0.09064859867214733, + 0.7611064799414557 + ], + "target_position": [ + 0.29261903836145436, + 0.09213929874808947, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004660651783634688, + "xy_threshold": 0.08, + "gripper_dist": 0.210988785685734, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064799414557, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576413588356007, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08711732321087116, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18054191538738132, + "release_required_pad_clearance": 0.053558661605435584, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.128448684398163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2d062766c85bfc8a8313fd27647bbd8df2747972983e4b73e61308691471d72", + "visual_seed": 2305605872942082513, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1db6aef54607db4de33eb5e1da6c701e90a7544 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3192997240726442, + 0.09290576971754771, + 1.0489140638644443 + ], + "current_z": 1.0489140638644443, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.18780749624503357, + "gripper_z": 1.0521708618425951, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31470419320747045, + 0.08829123954122307, + 1.0521708618425951 + ], + "object_minus_gripper": [ + 0.004595530865173725, + 0.004614530176324641, + -0.003256797978150816 + ], + "object_to_gripper_xy": 0.006512510474538608, + "object_to_gripper_z": -0.003256797978150816, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3192997240726442, + 0.06877033057781072, + 1.0489140638644443 + ], + "finger_b": [ + 0.30786731724283933, + 0.09290576971754771, + 1.0489140638644443 + ], + "finger_midpoint": [ + 0.31358352065774175, + 0.08083805014767922, + 1.0489140638644443 + ], + "object_minus_finger_midpoint": [ + 0.005716203414902421, + 0.01206771956986849, + 0.0 + ], + "finger_gap": 0.02670616686067315, + "fingertip_max_gap": 0.09764568692573874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335308343033657, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489140638644443, + "object_top_z": 1.1028964427590189, + "finger_top_clearance": 0.05398237889457458, + "fingertip_min_top_clearance": 0.016194713668372357, + "object_projection_between_fingers": 0.8167465223466173, + "object_to_finger_line_xy": 0.010331926730667977, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051322843462869375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.749163086703712, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31969905100393864, + 0.09137357793996226, + 1.2424882521467175 + ], + "held_position": [ + 0.3245775433146971, + 0.09560186400955574, + 1.2390879339057352 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007296591975189853, + "max_held_gripper_dist": 0.007308647088779372, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003400318240982303, + "max_held_gripper_z_dist": 0.0034249805604802397, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873019710245043, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3245775433146971, + 0.07042066092703136, + 1.2390879339057352 + ], + "held_grasp_finger_b": [ + 0.3151771187780954, + 0.09560186400955574, + 1.2390879339057352 + ], + "held_grasp_midpoint": [ + 0.31987733104639626, + 0.08301126246829355, + 1.2390879339057352 + ], + "held_grasp_object_position": [ + 0.3245775433146971, + 0.09560186400955574, + 1.2390879339057352 + ], + "held_grasp_finger_gap": 0.026878634082699943, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024483753407276067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06436533405099872, + -0.9963310645076823, + 0.05640490820391697 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003946064142377963, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036873311900937455, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2927255615201201, + 0.08641035371317779, + 0.7611064230588831 + ], + "target_position": [ + 0.2953491410601128, + 0.08836800768289003, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003273465849493231, + "xy_threshold": 0.08, + "gripper_dist": 0.21307759317932842, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064230588831, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555010701045548, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08687699782549345, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18278146737363, + "release_required_pad_clearance": 0.053438498912746726, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8908655721085803, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8251ee6c3078e6afe98f1ca12b684eed318ca9c65882e607b67100a4b8eb3db3", + "visual_seed": 1950931634968704152, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cbde79934aa5d8ca7499bb2208fb4ae317b54117 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3200806097365, + 0.09691789876385039, + 1.0491049863740485 + ], + "current_z": 1.0491049863740485, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.1879985975685723, + "gripper_z": 1.052256301150899, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31487268713304306, + 0.09205668069829545, + 1.052256301150899 + ], + "object_minus_gripper": [ + 0.005207922603456927, + 0.004861218065554937, + -0.003151314776850489 + ], + "object_to_gripper_xy": 0.007124177069983259, + "object_to_gripper_z": -0.003151314776850489, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3200806097365, + 0.07230352872998638, + 1.0491049863740485 + ], + "finger_b": [ + 0.30833790340193046, + 0.09691789876385039, + 1.0491049863740485 + ], + "finger_midpoint": [ + 0.3142092565692152, + 0.08461071374691839, + 1.0491049863740485 + ], + "object_minus_finger_midpoint": [ + 0.005871353167284765, + 0.012307185016931996, + 0.0 + ], + "finger_gap": 0.0272719336355881, + "fingertip_max_gap": 0.0933694621799824, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013635966817794045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491049863740485, + "object_top_z": 1.1003568962936674, + "finger_top_clearance": 0.05125190991961892, + "fingertip_min_top_clearance": 0.015375572975885675, + "object_projection_between_fingers": 0.8146022166704335, + "object_to_finger_line_xy": 0.010598416774559595, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049184731089991204, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.096674844703499, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32015068501487653, + 0.09445043195754614, + 1.24086750960885 + ], + "held_position": [ + 0.3256384837072679, + 0.09887651194798384, + 1.237515907541137 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007806366311560243, + "max_held_gripper_dist": 0.00781509640458637, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033516020677129, + "max_held_gripper_z_dist": 0.0033753495450981053, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08761294315808119, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3256384837072679, + 0.0732798236891132, + 1.237515907541137 + ], + "held_grasp_finger_b": [ + 0.316016322983201, + 0.09887651194798384, + 1.237515907541137 + ], + "held_grasp_midpoint": [ + 0.3208274033452344, + 0.08607816781854852, + 1.237515907541137 + ], + "held_grasp_object_position": [ + 0.3256384837072679, + 0.09887651194798384, + 1.237515907541137 + ], + "held_grasp_finger_gap": 0.02734550103438556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024943877053568625, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06196827193880608, + -0.9977910215437913, + 0.023937639806710046 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004020704826880436, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665204287092287, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2861788164411585, + 0.093338942036925, + 0.7611064672175871 + ], + "target_position": [ + 0.2954541067980557, + 0.09316064042623183, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009277003970524451, + "xy_threshold": 0.08, + "gripper_dist": 0.21001849970369837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064672175871, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574273036132477, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09275963738267888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18060360611184786, + "release_required_pad_clearance": 0.05637981869133944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.090601900170949, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "708870b66675d552b82d3f5cd3dfd9cc9940a7724b97c23a76a27ff73e7809ba", + "visual_seed": 2835562486029792362, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1346d097d00a7ce042e3e3dfcc1410b38a58df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3180351743161304, + 0.0916389272692828, + 1.0522773467261168 + ], + "current_z": 1.0522773467261168, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.19117095792064032, + "gripper_z": 1.0556325898842245, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3129602988076602, + 0.08678025318581074, + 1.0556325898842245 + ], + "object_minus_gripper": [ + 0.005074875508470189, + 0.004858674083472056, + -0.003355243158107646 + ], + "object_to_gripper_xy": 0.0070257437525057505, + "object_to_gripper_z": -0.003355243158107646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3180351743161304, + 0.06721695419492095, + 1.0522773467261168 + ], + "finger_b": [ + 0.306170765890465, + 0.0916389272692828, + 1.0522773467261168 + ], + "finger_midpoint": [ + 0.3121029701032977, + 0.07942794073210188, + 1.0522773467261168 + ], + "object_minus_finger_midpoint": [ + 0.005932204212832692, + 0.012210986537180918, + 0.0 + ], + "finger_gap": 0.027151371164931153, + "fingertip_max_gap": 0.09300075329631294, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013575685582465571, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522773467261168, + "object_top_z": 1.1033108284441815, + "finger_top_clearance": 0.051033481718064655, + "fingertip_min_top_clearance": 0.015310044515419396, + "object_projection_between_fingers": 0.8090548446797183, + "object_to_finger_line_xy": 0.010671735926511067, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900037664815647, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0647565571460884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31831680725406314, + 0.08907175153640752, + 1.2461851356408826 + ], + "held_position": [ + 0.3237204998302135, + 0.09345259680762766, + 1.2426532890644235 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007801643351727912, + "max_held_gripper_dist": 0.007810885121497558, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003531846576459108, + "max_held_gripper_z_dist": 0.0035563350394640647, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747602197307155, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3237204998302135, + 0.06791331784132883, + 1.2426532890644235 + ], + "held_grasp_finger_b": [ + 0.314139227271347, + 0.09345259680762766, + 1.2426532890644235 + ], + "held_grasp_midpoint": [ + 0.31892986355078023, + 0.08068295732447825, + 1.2426532890644235 + ], + "held_grasp_object_position": [ + 0.3237204998302135, + 0.09345259680762766, + 1.2426532890644235 + ], + "held_grasp_finger_gap": 0.02727738172856262, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024796793142079217, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07022281543346195, + -0.9972723627087294, + 0.02272863326173713 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038932098564674476, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664902956453648, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.27220184098459316, + 0.08767766719286335, + 0.7611111227488231 + ], + "target_position": [ + 0.2935059694548161, + 0.08904245782096334, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02134779949630204, + "xy_threshold": 0.08, + "gripper_dist": 0.20201197202045923, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611111227488231, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538499538479139, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872643355816849, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17407732859777805, + "release_required_pad_clearance": 0.05436321677908425, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7345644615174227, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1bded98049e07a1aaf787e1a4e294ca57d8e6c827349ce89c55026f317b02bc6", + "visual_seed": 3001308345550549017, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45255bd1d6d208fc1ecb2bd13baaef061e2a954a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_91_success.json @@ -0,0 +1,684 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31697582928663404, + 0.08754652303235606, + 1.0507962229455936 + ], + "current_z": 1.0507962229455936, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.1896898341401173, + "gripper_z": 1.054125040522212, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.311684585661281, + 0.08261964859447675, + 1.054125040522212 + ], + "object_minus_gripper": [ + 0.005291243625353048, + 0.004926874437879314, + -0.0033288175766184036 + ], + "object_to_gripper_xy": 0.007229892864314648, + "object_to_gripper_z": -0.0033288175766184036, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31697582928663404, + 0.062918933100029, + 1.0507962229455936 + ], + "finger_b": [ + 0.3050769051844575, + 0.08754652303235606, + 1.0507962229455936 + ], + "finger_midpoint": [ + 0.3110263672355458, + 0.07523272806619252, + 1.0507962229455936 + ], + "object_minus_finger_midpoint": [ + 0.005949462051088261, + 0.012313794966163541, + 0.0 + ], + "finger_gap": 0.027351463958337128, + "fingertip_max_gap": 0.09235358785309508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013675731979168571, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0507962229455936, + "object_top_z": 1.1016016943008264, + "finger_top_clearance": 0.050805471355232834, + "fingertip_min_top_clearance": 0.015241641406569867, + "object_projection_between_fingers": 0.8107420045742264, + "object_to_finger_line_xy": 0.010713935600326912, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04867679392654754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7639987696198437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3170212834591905, + 0.08478662509475564, + 1.2452644375555482 + ], + "held_position": [ + 0.3226266761288178, + 0.08923909761644659, + 1.2417640619957098 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007968536101257136, + "max_held_gripper_dist": 0.007977660097422288, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003500375559838398, + "max_held_gripper_z_dist": 0.0035237970199222257, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700174416113277, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3226266761288178, + 0.06360886481696389, + 1.2417640619957098 + ], + "held_grasp_finger_b": [ + 0.3128624812859857, + 0.08923909761644659, + 1.2417640619957098 + ], + "held_grasp_midpoint": [ + 0.31774457870740175, + 0.07642398121670524, + 1.2417640619957098 + ], + "held_grasp_object_position": [ + 0.3226266761288178, + 0.08923909761644659, + 1.2417640619957098 + ], + "held_grasp_finger_gap": 0.027427145937637547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024874486076830137, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07027406663515881, + -0.9972853526468899, + 0.02198820034759541 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003979713836305229, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03659683735265614, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28355528274626324, + 0.0866566184941304, + 0.7611088666316891 + ], + "target_position": [ + 0.2922231059989801, + 0.0844946223848254, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00893338609470055, + "xy_threshold": 0.08, + "gripper_dist": 0.2096839147424075, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088666316891, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578812732399846, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0929682470284839, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1806904957660227, + "release_required_pad_clearance": 0.05648412351424195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.326413412831162, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "29ca7514e6daeedec4f77b6f862ae43f0d68b4ded7604e96136ad2e31b434fed", + "visual_seed": 4730485129125327710, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..844c9244423d0dc627b57151add336d4f65d1239 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31834660898605277, + 0.09717914271337684, + 1.0506409356951139 + ], + "current_z": 1.0506409356951139, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18953448728499267, + "gripper_z": 1.0538749124214553, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3131785832366537, + 0.0923000419274675, + 1.0538749124214553 + ], + "object_minus_gripper": [ + 0.005168025749399063, + 0.004879100785909335, + -0.003233976726341403 + ], + "object_to_gripper_xy": 0.0071073282339788445, + "object_to_gripper_z": -0.003233976726341403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31834660898605277, + 0.07269245156531146, + 1.0506409356951139 + ], + "finger_b": [ + 0.30644349574892416, + 0.09717914271337684, + 1.0506409356951139 + ], + "finger_midpoint": [ + 0.31239505236748843, + 0.08493579713934415, + 1.0506409356951139 + ], + "object_minus_finger_midpoint": [ + 0.005951556618564335, + 0.012243345574032685, + 0.0 + ], + "finger_gap": 0.027226497169423946, + "fingertip_max_gap": 0.09253827511798576, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013613248584711978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506409356951139, + "object_top_z": 1.1018208072581013, + "finger_top_clearance": 0.05117987156298742, + "fingertip_min_top_clearance": 0.01535396146889621, + "object_projection_between_fingers": 0.8088661583232803, + "object_to_finger_line_xy": 0.010705301373301283, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048769137558992884, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9122901841678335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3185825282500977, + 0.09460781566747903, + 1.2459720751627679 + ], + "held_position": [ + 0.3240906393004113, + 0.09899249335647982, + 1.2425728227155053 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007817902722548356, + "max_held_gripper_dist": 0.007826933855230193, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033992524472625796, + "max_held_gripper_z_dist": 0.0034226571441724474, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745312624918544, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3240906393004113, + 0.07343668247506518, + 1.2425728227155053 + ], + "held_grasp_finger_b": [ + 0.31442137450984053, + 0.09899249335647982, + 1.2425728227155053 + ], + "held_grasp_midpoint": [ + 0.3192560069051259, + 0.0862145879157725, + 1.2425728227155053 + ], + "held_grasp_object_position": [ + 0.3240906393004113, + 0.09899249335647982, + 1.2425728227155053 + ], + "held_grasp_finger_gap": 0.027323875116769262, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024683344438267082, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0805590831223027, + -0.9963405842379114, + 0.02856001272673947 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038076090101611367, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036599630744966374, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28552959076226286, + 0.09566851747626667, + 0.7611069759578994 + ], + "target_position": [ + 0.2937252073234834, + 0.09220498025876968, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008897427767368448, + "xy_threshold": 0.08, + "gripper_dist": 0.2077140345070396, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069759578994, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574177908774646, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08741178587115521, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17903555824561987, + "release_required_pad_clearance": 0.05370589293557761, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4199677390997487, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "418c1811e6cc8067ebef8f3e8aa084192c9cb3bfdee3709627063b39afb83828", + "visual_seed": 7318043843637771159, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbaadb23c68e3bead1aee0ea950ab3622d41062 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.31296198949231446, + 0.08873363703692946, + 1.0503407143186911 + ], + "current_z": 1.0503407143186911, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.18923408709463552, + "gripper_z": 1.053753881700011, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3081036166596949, + 0.08409372689535335, + 1.053753881700011 + ], + "object_minus_gripper": [ + 0.004858372832619584, + 0.004639910141576109, + -0.003413167381319804 + ], + "object_to_gripper_xy": 0.006718076562725143, + "object_to_gripper_z": -0.003413167381319804, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.31296198949231446, + 0.06429342626118545, + 1.0503407143186911 + ], + "finger_b": [ + 0.3016239767839654, + 0.08873363703692946, + 1.0503407143186911 + ], + "finger_midpoint": [ + 0.3072929831381399, + 0.07651353164905746, + 1.0503407143186911 + ], + "object_minus_finger_midpoint": [ + 0.005669006354174555, + 0.012220105387872007, + 0.0 + ], + "finger_gap": 0.026942056991578773, + "fingertip_max_gap": 0.09437426033196741, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013471028495789397, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503407143186911, + "object_top_z": 1.1021556820677831, + "finger_top_clearance": 0.051814967749092, + "fingertip_min_top_clearance": 0.015544490324727583, + "object_projection_between_fingers": 0.8229025214453832, + "object_to_finger_line_xy": 0.010285161985097472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968713016598371, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5075761557792442, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3135786648694858, + 0.08622922651069947, + 1.2453752968817864 + ], + "held_position": [ + 0.3187324989506962, + 0.09042305597363576, + 1.2417960876191132 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007547247859110219, + "max_held_gripper_dist": 0.007556554792687765, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035792092626731886, + "max_held_gripper_z_dist": 0.003600275437102729, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08766348172611946, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3187324989506962, + 0.06496546863146749, + 1.2417960876191132 + ], + "held_grasp_finger_b": [ + 0.3095659297698365, + 0.09042305597363576, + 1.2417960876191132 + ], + "held_grasp_midpoint": [ + 0.3141492143602663, + 0.07769426230255162, + 1.2417960876191132 + ], + "held_grasp_object_position": [ + 0.3187324989506962, + 0.09042305597363576, + 1.2417960876191132 + ], + "held_grasp_finger_gap": 0.027057618960869664, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024803042063084136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06407522160403183, + -0.9973604989911767, + 0.03415261378672641 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037839022900802467, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03673137908694072, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2928812356568391, + 0.08765825053170576, + 0.7611064379312826 + ], + "target_position": [ + 0.2885958608271594, + 0.0865745304564789, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004420281284296535, + "xy_threshold": 0.08, + "gripper_dist": 0.216418563188071, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064379312826, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541360536236831, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592542429094267, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18649002748153104, + "release_required_pad_clearance": 0.05296271214547134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9610255987535958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "78b25d4c26dde8ecec7f43ae34ef9b968bc9006d7946236ef6aad079e1484ec9", + "visual_seed": 4760066973576073738, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5427fd2f91fbc6ad79cc5030cc8e77ea7b8a3d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_95_success.json @@ -0,0 +1,684 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3163128035385343, + 0.09414434677562747, + 1.0511912306378868 + ], + "current_z": 1.0511912306378868, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.19008466301847604, + "gripper_z": 1.0545957938969701, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31184062487622005, + 0.08955835107135379, + 1.0545957938969701 + ], + "object_minus_gripper": [ + 0.004472178662314252, + 0.0045859957042736765, + -0.0034045632590833375 + ], + "object_to_gripper_xy": 0.006405602125270934, + "object_to_gripper_z": -0.0034045632590833375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3163128035385343, + 0.07022811560957196, + 1.0511912306378868 + ], + "finger_b": [ + 0.304742024507389, + 0.09414434677562747, + 1.0511912306378868 + ], + "finger_midpoint": [ + 0.3105274140229617, + 0.08218623119259971, + 1.0511912306378868 + ], + "object_minus_finger_midpoint": [ + 0.005785389515572614, + 0.011958115583027756, + 0.0 + ], + "finger_gap": 0.026568196035406628, + "fingertip_max_gap": 0.09735414756444186, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013284098017703302, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511912306378868, + "object_top_z": 1.1047068734332484, + "finger_top_clearance": 0.053515642795361584, + "fingertip_min_top_clearance": 0.01605469283860846, + "object_projection_between_fingers": 0.8103289424928178, + "object_to_finger_line_xy": 0.010415815425007741, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05117707378222093, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.452299140116758, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 216, + "max_stable_success_frames": 216, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3172414479753479, + 0.09205820376766737, + 1.2455636304780755 + ], + "held_position": [ + 0.32206565518522845, + 0.09615915641493995, + 1.2420079716206116 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007261783371162813, + "max_held_gripper_dist": 0.0072724734402648305, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035556588574638948, + "max_held_gripper_z_dist": 0.003576646179537679, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08609014332740011, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32206565518522845, + 0.07093054997364892, + 1.2420079716206116 + ], + "held_grasp_finger_b": [ + 0.31300800118290684, + 0.09615915641493995, + 1.2420079716206116 + ], + "held_grasp_midpoint": [ + 0.31753682818406764, + 0.08354485319429444, + 1.2420079716206116 + ], + "held_grasp_object_position": [ + 0.32206565518522845, + 0.09615915641493995, + 1.2420079716206116 + ], + "held_grasp_finger_gap": 0.026805291996083985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024413231127581054, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07780159210897872, + -0.995613098495367, + 0.051975670940957786 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035956713820539106, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03680893460415165, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28072723037380337, + 0.09446511771755878, + 0.7611065818846031 + ], + "target_position": [ + 0.2923581425952486, + 0.09187375131600864, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011916094113846502, + "xy_threshold": 0.08, + "gripper_dist": 0.20567009503412506, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065818846031, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591693079238401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09007177384326955, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1766962531163327, + "release_required_pad_clearance": 0.055035886921634775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.150381376039559, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5ef9c01a28e45e95be19b21f72a88cc155aeb040f3a64eebfc1cfa48933f44b", + "visual_seed": 5317901047378127708, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fa26029efa000f43543d3a9bd4026e9836516451 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3155238514151001, + 0.09608249919727906, + 1.051772003185985 + ], + "current_z": 1.051772003185985, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19066531635728468, + "gripper_z": 1.0550977084102806, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31048945591247556, + 0.09118247839054347, + 1.0550977084102806 + ], + "object_minus_gripper": [ + 0.005034395502624522, + 0.004900020806735586, + -0.0033257052242956497 + ], + "object_to_gripper_xy": 0.007025335720325946, + "object_to_gripper_z": -0.0033257052242956497, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3155238514151001, + 0.071780693164988, + 1.051772003185985 + ], + "finger_b": [ + 0.3034818178293604, + 0.09608249919727906, + 1.051772003185985 + ], + "finger_midpoint": [ + 0.30950283462223027, + 0.08393159618113352, + 1.051772003185985 + ], + "object_minus_finger_midpoint": [ + 0.0060210167928698155, + 0.012150903016145534, + 0.0 + ], + "finger_gap": 0.02712173204851011, + "fingertip_max_gap": 0.09263335283730248, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013560866024255049, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051772003185985, + "object_top_z": 1.1026373948262278, + "finger_top_clearance": 0.05086539164024284, + "fingertip_min_top_clearance": 0.015259617492072886, + "object_projection_between_fingers": 0.8028645056492895, + "object_to_finger_line_xy": 0.01078998804027548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881667641865124, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.008466475074303, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 217, + "max_stable_success_frames": 217, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.315984736774532, + 0.0934782706921166, + 1.2458313695782932 + ], + "held_position": [ + 0.32140135443959805, + 0.09784187088724133, + 1.242327239960487 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007788432317917717, + "max_held_gripper_dist": 0.00779724165808392, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035041296178062176, + "max_held_gripper_z_dist": 0.0035285683438215365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08694838478541403, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.32140135443959805, + 0.07227478707838597, + 1.242327239960487 + ], + "held_grasp_finger_b": [ + 0.3118900478498007, + 0.09784187088724133, + 1.242327239960487 + ], + "held_grasp_midpoint": [ + 0.31664570114469937, + 0.08505832898281365, + 1.242327239960487 + ], + "held_grasp_object_position": [ + 0.32140135443959805, + 0.09784187088724133, + 1.242327239960487 + ], + "held_grasp_finger_gap": 0.027278942932858614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024701015948401985, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08143899380655009, + -0.996422094022198, + 0.022598690939854227 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037103844196227182, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036595150857435366, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28544662104329505, + 0.09794362639219918, + 0.7611064361135034 + ], + "target_position": [ + 0.29098728773293964, + 0.09120629912096608, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008722990664069204, + "xy_threshold": 0.08, + "gripper_dist": 0.21028640291421194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064361135034, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538295664309108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546531414964252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18240085773135098, + "release_required_pad_clearance": 0.05273265707482126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5173757881989708, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dca385f3ff317e83d34709e6b3ae0005cfe95296b28aab37cee3a61e0c0615fb", + "visual_seed": 8400238133500130003, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7027999e6a9cce502589a5a2cff17a8409dca3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3177182190596194, + 0.09648479878620632, + 1.0496954513429064 + ], + "current_z": 1.0496954513429064, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.1885888837234958, + "gripper_z": 1.0528714199301523, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31279688164421476, + 0.0916518207871755, + 1.0528714199301523 + ], + "object_minus_gripper": [ + 0.004921337415404625, + 0.004832977999030819, + -0.003175968587245892 + ], + "object_to_gripper_xy": 0.006897625554883173, + "object_to_gripper_z": -0.003175968587245892, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3177182190596194, + 0.0722628426504715, + 1.0496954513429064 + ], + "finger_b": [ + 0.30576838588040234, + 0.09648479878620632, + 1.0496954513429064 + ], + "finger_midpoint": [ + 0.31174330247001086, + 0.0843738207183389, + 1.0496954513429064 + ], + "object_minus_finger_midpoint": [ + 0.0059749165896085255, + 0.012110978067867414, + 0.0 + ], + "finger_gap": 0.02700928862544473, + "fingertip_max_gap": 0.09291622725671625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013504644312722372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496954513429064, + "object_top_z": 1.1006494226016887, + "finger_top_clearance": 0.050953971258782316, + "fingertip_min_top_clearance": 0.015286191377634711, + "object_projection_between_fingers": 0.804251972981325, + "object_to_finger_line_xy": 0.01071662194107778, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895811362835813, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.122038838211141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.31830093205663246, + 0.0938406255277245, + 1.2449825300803619 + ], + "held_position": [ + 0.3236146247240525, + 0.0981333383675247, + 1.24164209598751 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007604026118936311, + "max_held_gripper_dist": 0.007613467942390763, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003340434092851785, + "max_held_gripper_z_dist": 0.003362977831812053, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691630577161533, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3236146247240525, + 0.07263081946086115, + 1.24164209598751 + ], + "held_grasp_finger_b": [ + 0.314204016960713, + 0.0981333383675247, + 1.24164209598751 + ], + "held_grasp_midpoint": [ + 0.31890932084238277, + 0.08538207891419293, + 1.24164209598751 + ], + "held_grasp_object_position": [ + 0.3236146247240525, + 0.0981333383675247, + 1.24164209598751 + ], + "held_grasp_finger_gap": 0.0271834142274321, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024643500460525623, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08140910979460336, + -0.9963568600482834, + 0.025407956965799228 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036663930206644398, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036632390639192595, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2848851309652458, + 0.09871204058777373, + 0.7611064709433365 + ], + "target_position": [ + 0.29329581039766245, + 0.09191486167228807, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010813934053987893, + "xy_threshold": 0.08, + "gripper_dist": 0.20957615759100737, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064709433365, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563230297918977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08762219089740901, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18182792129171285, + "release_required_pad_clearance": 0.05381109544870451, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.63133225215785, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6120436585598675838, + "physical_seed": 1711303898980266923, + "layout_id": "layout_00013", + "step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "workflow_spec_digest": "426788116b9844d76570b60929fea5ccb8cafac66a4ec84cff473911dfcd89b5", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb341466c6126dd2294b6e836b162f50334f958e1f34c66362ec473f7534a4df", + "visual_seed": 2998174560079462668, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5975741771095771893, + 3504213630932996537, + 7867242958540830227 + ], + "runtime_workflow_digest": "25b22a202e7ee7d6702a4dd6d0c7ac4149a82ae048199d06bb5e3a98ffce86cf" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d61d8077cf9481f58b1304a233f7cffaf863e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00013/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_lbk_00013", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d23e6bf5ce65b8836be65850158cdaf9df7c18f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90dde5ca47407cf854225ab58cdab346c6d84bc4082d1777b80e9be91e9d2b52 +size 5325393 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c92975d850a9c51054c985d3cba0c3fc228b2287 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccbe0949ff4f38be8248393e6879fb19f9b1f31856838207f043677fd8f002e1 +size 5388676 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e3c09730a90760f613753e84929faac6ff2c45d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ada5497acfa2c64e64e8c55d22a7e6dccefa0da78e8a2a88974a33ef5fd404e8 +size 6405265 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a1fd9e5a6d32124a8c8a05c50320a1a86274e91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2522f78991809c645fab24b6ec1a5b9a17f74365043daebeee72caa8fd709074 +size 5006076 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4557a41e45aacadf81238d3d5bf146430e078607 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43237ea102b76c33d87dd32106045b99f2ec5fc5b82c8cb70305e1e3a0ab9d76 +size 4730784 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d33e0342922df08cf96cec738fd026e835ed117 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b3e98cd1cc10fc77322e03256195b031c83e8e0ee5336fc1386ab2892ddb138 +size 4586769 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..64f4f6bd884e7ac1ea0c921025741718091d39cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a33c7ce8eeca5c2b3a7a32a8daca17a9135bae622829f7d17f84631e3a2347e +size 4480936 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f0c66998a9e21fa9bdb49b0530f4d2ff79276d03 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9f8f20a95aef68d2b747ce5291188eaa6bda177e3bfb2c87cca9a851ce3b213 +size 5719905 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..109db488e1045481bd37bd217b6192d6e2d6fbc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e339576db4b8f7d2f9c0f18fe30d6c4b77bd8dc809638966c4ece8f23612d87 +size 3954824 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..27db727a2db190a067ad7a07fc2660793ea64062 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:533dbb2476a31c2485b1c1eea69ad20f9caad4862990da94c19751a139c57469 +size 4868080 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd4065d719b4b11c2f6b0adac6d8a44131c22391 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a226a6dcb15afb31e5ac7ecb89b86d74519a8936ccc0096cb003a6274899d983 +size 4590669 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..faaf579b56cb3dbf4be83ec762ed9ebd7b1c7083 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c4c1d1798021e665e6f3b627271ba7c518b8de12de177464635c6e48218bef5 +size 4367985 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b62e1fe4852de8507514fd59a94b17441aa46cd7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ce4522571d21650ba42fa9b0676d683c3addb5f80ac96e8b60168de3baf5ce1 +size 4891579 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c84a2e527946ff878100d409cb78742e034dd12a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1507c834dacd5e3503ad0d1f8b8215a5167232235d7ff6c62b1e7c6f526f2848 +size 4442299 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..34a0c33c7f44efb4fc32d599ceee6a8ffb890e0f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d001d338ff18bdb0a02eacf0eef77182298fcca16f3a3205063707cbf1b842fd +size 5276416 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f13e348b27f280effb9674a007aaaeb566872a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e71f28271ed950d9e8467f763807c93e320f8758f80e8670a51c5ceeb6077e4b +size 6392199 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67b7fb76abae714e2ed6caa0e946231ebb23b837 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38e007ac559585427bebccec72c6689a1bdefb1ef9f3bd292ba9df1cd273039a +size 4675837 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93da3a33a2120d4ce9c73b27f55edb3dcba0b47b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:433d1393e0e6f6c71c86c9343f602e6bcaf25e26a072dfe78aa64b27c74d0bc3 +size 5353128 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a56cefb8c6146f77697b05152683d0a85eb7e65 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ec39a8082b07deeef3621d42094ec4abdfa84e18cef24925b752c1e8fb1bd68 +size 5679750 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7c584c6d3c96c49c7bdcf397c096b7500b551f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:111bcb234bd233a0297d83e04ade059761e2fa6f459d6960305e2526936a6b17 +size 4221495 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..12fb99e36da05b25867703b8332724f0894aa573 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5185d5a31d1c05a1d785a600e7ccd91c1934f50648644248699417fe24bea725 +size 4796251 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe79914f4a01ace1bfb19cbf2717c019637e6e32 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85637ca5fc6f4d380cf6bd9f7374ce5a625151018e54fb88d3fb1ef8fd83a363 +size 4871401 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c0c2fa7435665856f885b3a2b884593c4c5b218 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:980453ec589f4e81eb22ac064a6245a24b1c51534e0b737ed103b60eb4ffb8da +size 4340603 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cbd4e1fb36c982d4f1a9184fa61c942e0f889acd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e0b8cc31ca71a3a2ac96fbffe1dcc886b221ca662d786fbed31a49e1dc699df +size 4191748 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a4d26663d9f72948d79b93fb43138420261f7164 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd12240c3477eb8f45d0836ce310112c87232c024486aa819c30b21f2c1fa35f +size 4768078 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a2e00a88f4c6c84a916ca69f15ec57b2abed631d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e9b43868f86aeecbc1a54ecd0ada34c2a4c0673ce7885b9407e6112c2467b4f +size 3756952 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6ad1631d4cfd093a379a67cb2da6ee71136cddc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b339088d045616781de2f64b8818fc3db7f0880816ff55f09277da020431bd9 +size 4627666 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3cb96efd28bb4c1bfd78bd7229394f76daa22f67 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7370712582f1f127ba531167384709376ece3455654000b7c68d078076739bcb +size 4844682 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87d39fbdc577238e1cc1691bd7abdc433fb9eba1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea68c5db6299e395727aeaaf70af5f0fb81670d89e4cfe9b683129e57b81787c +size 5623790 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..666cb3d966e523c609c2216cbca724ce32fafcaa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db271b858c8d6157cf0c4e60254b931f4a5bb51b381f47789602a1a9b6db03c2 +size 5098098 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..da4b07dc1078badfb053a1de25ddee28e094eb9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf2377073c6ac175adf55cc56febb2101202bacb2fdf363c8c20ac25a5d6a1b5 +size 3888136 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13be1a6e0618c3abf994e4f7ab367e02ca511eea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dadb2e8e26a261d936f0581d5cf6936b25b272ba8bb0847e5da781336ed5f4e4 +size 4586444 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..51448add4a92ca80c4492db654412d0ec4c9024d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97a308b4236b937ce7e938e84fbf9da1e0f7952b67bd1bfe24138fbb2473f999 +size 5364003 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..993334c6bb3f8d5e684865de656267696a62b9da --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8342e3f384160a85a90c5fefa3fa5901d70cc474fe2a5632f85ab4dfba859408 +size 4435870 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6992a43240e71a5ca1facff25067cbdf661adbe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6b2b85415a333087ae4016dcbe327b3af986df48823f0f2965cd95e7273a486 +size 4192749 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8fdfcd291ba57d198dc5b45ef9eb177ff861039d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:579b4e8203b6361e5d89b5ae0529dfe588651edad8ecb36eccb63c7f48f592d7 +size 4292319 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0cbf7dfd18a2b8a7eb171b68bfbfa9d7561d1aae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b26e920982806506ac62ea6b33dd9d630ee16afabdc5040825c85ec6952b9e +size 3732954 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..315e0d06896d786f036b1e2b1e81d8bd09fe71a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39bce7c636bd84058e67e865050042ba85fd669943d0440c6f2e87adf6466713 +size 3407713 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ac07e40714df1d60cd7168f896894c4e718ee9de --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa1143d9f0518639f7b450a6e66baa8de792ce517dadd89c7a62e95f9c291938 +size 5165074 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44f8008eb07e1df62054ed209949c3e342c5ba6a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbb700b409fb3cc106faf53357c02668a383ce6e47a323047fab887d6df66d1f +size 4536524 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe2284885bdb4462985fc19032fc5c49dfac7915 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f17fa529722c474e63bff5097d10998505dadc83075aec7f8d16f5f79b469b +size 5226172 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a0a06dc64fba64457db8aca65a21df7f3eff6126 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f525620f1b5d291130a4a44632e903f44ae2963b1412319bcdcb667e04f81ad5 +size 5393307 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..face861e836eca397f25d7d3b456416b2055df94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e841f36c801017631816e47b0ceeda3ab06bad66eb1071724817ab49ab5362b +size 4512888 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ee09ac4c1865806188924715cf94995cdb220c1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e507e16d857ba6a2aff5eb74e593bd9179c6adf9cf55626dc3370ac432c7e172 +size 4279865 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..502bc4b55b4f4aa9956fcc4681c376a51e17bf4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cfb500403daf851c239f3480074360cfcb9f7d561411ff8ea3892503b1657ae +size 6636829 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f106f9d6afb8f78aa3790be489c8bdc834ee6222 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54bf0127dff5d43b1a37e32ac34b39ea8386eddfa82cb607cc8bff2bd42c202c +size 4390849 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..21f9852c170202d7fa4026acc4ac916ae900636a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:297f47d5922fe847b1147cba4a035f7b260be70b45d93e1b66658ddfdabb77c7 +size 5129730 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce0cdf7488fd250be6e285577cc321352af69867 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:088a6a1008ecdff729246078d6d0b3ec420c8281e9da80188fe5e2847422fc21 +size 3943208 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..61ccd644479253c8f879c31a50ab6eefe4ba4a5e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e07e02b6197ee1d6008ef1e8538a00e5b8dabd5e8a610c64f821fcf026a7521 +size 4533579 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f3299cc2638c07f1faa4c84c5f78b9c43dd5266 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a468276979c085ca58665b7dd72483f45d42ec2b586141e48e53054c1f41de4c +size 3988239 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..846891b8d511f41ceb8698c8e19b1471bfde4e25 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d863e9d7b91333e1a3471f7afb077a2bc5f8b875e39ea686c53487b705397f0 +size 5035894 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e03a01044f47628275715c797db1adc74ac9ad72 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a4f6c24867251d0b079a081032f2bb59ef22c720d8ccd65d903c4a08ae95512 +size 5934605 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..125995ab74185807ac6effeb6e4d5ded12b778d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bea754d860945f085c73177b44a5bc866ceb7a4df50ad50c72d3e229db9c5cb1 +size 3925528 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4400f5a14528bb479b93c07ee495515652086052 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfafee6b2b9162a743cf0044b525eef99c64885a673efb2c6ef29a1297a6e8af +size 5945868 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d56be0500e5b350ba4ed7ed9ee7793aff9f52dfd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf986766423b9a5dd845e2390701b19523a53fc073e4cac6b2f522f388d8ea0 +size 4708597 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c57d45feb93de1838c99ef00f0d8273db0877bd6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3246348f735a0a8de4c9d45345de4c793a4216fa2ed930f09b06025bb9bbf1 +size 4993002 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..72ed62df79c69de9d99ce3ac89d608316ab8f222 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c835ec6bef47ffdbe60782e8bf28a59e85fc76a44c91727505e0edae91a582e +size 4680457 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f4ae2dfa32c05a6bcbd57fe896afa9905157293 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cfc096daddd98e30e403371884f6a05cc4373f4cc1c4d1b2316c10e03480b98 +size 4913258 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..22a0c9689be7970a20a908dd15acb57847324c82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a36731e8084260cf7d630ecbc37ff00bbbf1c1d9e1e28d22ee323021a4d3d6ba +size 4945108 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85f4a1ea899c58382a02d3e42f62b70841af8ade --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66c7d9c17ab22d545493a03daa7db0cab790b945e4e6bb8d81a95c8e8b0a1e9c +size 4036135 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bcf1587369986e403da9c73e62be246de3da76af --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6dd07575b52e4805efc64e84a4934ea87d1ff0b10b15f831f4ec1d9858fdefa +size 5318514 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ebd5dc268894fde42a6e386ff8f964ba9b1588bf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc1ee1bdbcf5459861c88238bb99342b9da1384e046645b5e9e79ec35e91ed92 +size 5098858 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d8560e1a1d76663933cfc7ad3d46ed5825636a0b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc30937ab510e58719704af2c41e02434a0cd9fc7cb2bc697b76aedb7ed0a282 +size 4649425 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b06f2bd48595c5e0f42a78c25f3fba9bd34b67d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a882e239d7d4fa13dbc469f0c1402107a2c92b6d65443b4273dcb0966fd0b4cb +size 4111890 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..240fa7e1bdedaf78fc14e5e17aed0d900d9e34d4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f4ba3186676a13512c50c625bc157ca5e3dbbc3b067020ea84502000cbb0c7a +size 5833103 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef765918ec5221613d3dd49ffaf9c60997834b16 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c6815a4b8ac46c15897a8de9b024ab9af9e3b829ff1341adef957f18b45a109 +size 4055789 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e2bbaa71838ca716221694624e60247fbd31d90 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed189547bb452f1600a070c85fdf4144061551510036bace533bc76204631c59 +size 4645625 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3b01fd77faa157147a99a3de666114567a739b2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88e3e6273d70a4c8908c45a2f360ab04c21ff32f683baa4b9ad469565f159564 +size 6087141 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea83a6562cab5a904162efb3c337944fe7d49967 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7f4bbd4c218535e5d2410b468b3af08d34c89c7ab44ce370c356b4baa164d1 +size 6143276 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f643faf05a69ba3e2a9956ac2ba2f4491605f1d2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af0d2cef9fe6060677501bc997799000b6be9e33b3c1800a0fc6ca9a1567053d +size 5986784 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f19d40a2788fe12a95dee8c0f83f190b2d2cbefa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd118e03f13d279c0346666ba0a41f3ed5aaee72db6925d1c15c77711ecac8d1 +size 6378111 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..181916de94d5929a2fc485b3cad4e21c84bf6f78 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d31cbf03bb3d7e9a5f98860f42f1fb5a1cadc7b464862ee3cf7b826368778530 +size 5724176 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c391db38fd92d96dade57cf31c11b4dc415c35d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6241ba7ffe63d31ac063eb2e5bc119effc27d407d5382f3d2714e2fa68d34f1 +size 3715425 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a923282c1dfad9cfe5ea256b978c0bada3e0ecf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a4c90a899dcdeac1cb31047c6801f02a4d57a7ae0fd47af7bff061a2b9abc55 +size 5217391 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc5953e71fa01cebee4739d708d79c7c68fb47c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f43029ec2b468fdca16a78e228964fc37646aae0222e7b6e397b9d76e10c2cf +size 4516771 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a75f29c30b9599032ddb4db369e09a1cc2538713 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64468f759b45fc4f12577e343e7b6649a8b1f2200daa5bea52668590d223b082 +size 3876397 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..612016d7cb9cfe71b2a3f5a23cd030ba9015a000 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cffc2d4e780449333b610ea7bdee7531941fa03dcf0655dfcc8ebfdb1464e2d +size 4549179 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26d0d414bba49f1b9a4d41820f2edab154093891 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b1184d4219a8b8e03d9b2970ea6936c43898445defe120ab13af8091f2377bf +size 6027002 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c55f0f516c203e3449a16740c1f3988bef2c5420 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c707d8d5b9a7ecc13e813f9741a479b03bb31391923c39762eb211c0589e09e6 +size 6489728 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1e914d234f3f76f85d8cdf1fc30342ab39185474 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:266d566c78461124395530f957b5ca81784951f980833d9e363fd1e69d560245 +size 4652790 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e048bb45c6d39238383e37ca25fbeda3408bdf12 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edd75d26b50ac0a93ddd0c560ee2508ccf24950e98dfe9393008c7b738b6b40d +size 4095474 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a5a456c30ef86368795209705dcaeb4fd8437527 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceee97bf7a8fd1b5bfbc7fa124c5922665f341073318eab2aa8448750f9185a1 +size 6501865 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..580b6f1d3d5a31804f0e0de0f280007e1d8e87e3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d27971db6259bdfc84c45abfcd458c0f69ac8cb9f12d717298af91c2832299a +size 5034610 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c6cdb54d820a942275b120f0da7881d581b3a05e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:997c6c64c51795423ebc467619c518ce5da881c36dfecf4d596d3bc0484964f2 +size 4667731 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..20c0d83725ef2e836e362c323e08a97c9287285d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:938923a80a70ee364aa79392a39e1519cab3ee8d0f1d59d35633da5d917b33c2 +size 5974183 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0102.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dcc8a18250b81e72688c2b85135beefe22385ce1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0102.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:196239b89e16ed0b0675ed4a51be45b2afd79e928caacd813c7040ff030a2800 +size 5293698 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e74fda428d44892bc62fa718cea100f90b7d9b4f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cee4e24976995ce43203adf98945014cfcacfe01d359eebf9639fb309e205e4 +size 6300378 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77d329269e849e653e07e542a6e8d5db904030ca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f83d2ec673f90cb3cc9a03fd53bfde22bfbe0fa3f49a835841fa7a9aadd58807 +size 5093177 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fde0f90c919c2d2828b5e1edd91c8ab65d62657e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9153538c42e74ac68cdfd83bdab1aa82827a17e8ad4ce22088b7b7f2cba44ce +size 5143363 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf04907627567e94d89feea87adaff0b26d17c68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25ce1cd05b6025816dd164f6b58dbcaefd83a803ee1c5eb14b0ef760843c97ca +size 4443069 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4d084ceecad756fa8dde7b57508041113e402972 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddbf732549051c64f685eaf5b4a6450899c10ba3192d3212586b433447b444ba +size 5828576 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b218dd7c27d3838ee8e783d82f9987374165b15d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af3cfc441fccb583e9fef114d72783fc8efdcca241a2e40fae66612ef39192be +size 5115216 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e002948d529d6f731fbaec282ef46b321ec5e028 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb92c32da0c539218411295388647334c8446c25b01438510f6b17dff490e0e0 +size 4547462 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c26eee95f210a49503835f4d59e727c1c8e65891 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9acb90d9bf38e4ad0134dfbcb7da96aafce8fff6b0ccbc5d939318ffada89f2c +size 4415654 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b17ce8d8ef1ea1a2be1184980954aabfc0450c1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39ad5105ac516c74a995f8c841d5fa728eacf2dc6d07066d833603d6453a4ca0 +size 5669201 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..297b94f612040d617886855dd89fa175da4e0b86 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a479f726e572adab6e8c0d7cf25137c12357478cf3bb5fee201c17903a523552 +size 4430590 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0115.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0115.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d5bb95fc66fb88a4da6d77bd90d7f2b05315bb3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0115.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57bb0b5a72b8d5c94aceb3f29c9406a953ef64a0147db8d98258344f52a8c5ad +size 4270590 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0116.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0116.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a573b49a67b4b61cfa9062470dcccc320a07d7ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0116.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46f34cadee0b2d41dc1aa9fb3f52120b0c068342f10299354434d522b93d9c8d +size 4552363 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0a7d84ab7912ae94e3b4b9125f9fce5fa9f939e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:129037a8d793b00a86625c248419546d417ecf23c4fe94065aff9f18041dd51b +size 5300159 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b0208480ca280046f520ddbe34d15390335f34d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dae4510d00e5c918883c30437f1ef8e40b06fb4bd236818c6275d80ef847b40 +size 5154726 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f96e37ce57b753978f8aa6de4dd55ca5608c66d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":850,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":846,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":849,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":866,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":852,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":851,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":875,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":855,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":849,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":847,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":850,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":855,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":852,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":867,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":861,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":869,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":863,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":850,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":848,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":862,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":850,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":848,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":851,"success":true,"robot_type":"ur5e"} +{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":860,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":864,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":865,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":857,"success":true,"robot_type":"ur5e"} +{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":856,"success":true,"robot_type":"ur5e"} +{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":851,"success":true,"robot_type":"ur5e"} +{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":859,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":861,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59a1383cbf6b52f90a9bb0b1e0bd46c0011b2908 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-02T22:28:37","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.31567308343351774,1.6184151862360374,0.71338606911949],"aabb_xy":[[0.30651320448964114,1.6118839681925001],[0.32483296237739434,1.6249464042795743]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.5743517923367267,0.41571766633885776,0.71338606911949],"aabb_xy":[[0.49435179374940735,0.3364020644006969],[0.6543517909240462,0.4950332682770187]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.06145884316096606,-1.5297003543400873,0.71338606911949],"aabb_xy":[[-0.06950220308692123,-1.6147003554354533],[-0.05341548323501088,-1.4447003532447205]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.4687646245766939,-2.1459138657420036,0.71338606911949],"aabb_xy":[[0.4187915590441785,-2.195913865554537],[0.5187376901092093,-2.095913865929471]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.05790894503845989,0.9867149845640912,0.71338606911949],"aabb_xy":[[-0.07346471444872515,0.9711645513196843],[-0.04235317562819463,1.0022654178084986]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.47714989745792513,-1.5879447801619384,0.71338606911949],"aabb_xy":[[0.4220246918283343,-1.6479447816032253],[0.5322751030875158,-1.527944778720651]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.6354652976076696,-2.474491673526562,0.71338606911949],"aabb_xy":[[-0.6480920848948659,-2.484037747228135],[-0.6228385103204732,-2.464945599824989]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.06104431120386622,-0.7036642215057958,0.71338606911949],"aabb_xy":[[-0.028955685297005537,-0.749575863924254],[0.15104430770473795,-0.6577525790873375]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.5265322983723763,0.7758082497690024,0.71338606911949],"aabb_xy":[[-0.5608292093901167,0.741511363559061],[-0.4922353873546355,0.8101051359789436]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.6553391449555268,1.779613330056916,0.71338606911949],"aabb_xy":[[-0.6778391454675673,1.7571214716915173],[-0.6328391444434861,1.802105188422314]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.6989554564361675,-2.1209549237105736,0.71338606911949],"aabb_xy":[[0.6881824825147997,-2.1559549219296126],[0.7097284303575353,-2.0859549254915346]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.2851542786814845,-0.6542096450154724,0.71338606911949],"aabb_xy":[[-0.32265427947347997,-0.6605774859736625],[-0.24765427788948907,-0.6478418040572823]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.4260029340538507,-0.18754801588602144,0.71338606911949],"aabb_xy":[[0.38896882462579097,-0.22192522321973088],[0.46303704348191044,-0.153170808552312]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.06173810002299418,1.4707162951670694,0.71338606911949],"aabb_xy":[[-0.01826190213976831,1.3907611115409257],[0.14173810218575666,1.550671478793213]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[0.6192891416679294,-1.1078078850308033,0.71338606911949],"aabb_xy":[[0.611876686126541,-1.1136590954524312],[0.626701597209318,-1.1019566746091753]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.4164291144237001,-1.5101216679798963,0.71338606911949],"aabb_xy":[[-0.43333984686004184,-1.5235938735725105],[-0.3995183819873583,-1.4966494623872817]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.0315093379853606,0.9043839575809174,0.71338606911949],"aabb_xy":[[0.01400933774031121,0.8868841697413504],[0.049009338230409975,0.9218837454204841]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.3220838797132266,1.4866950524927334,0.71338606911949],"aabb_xy":[[0.26708840189256716,1.4316950510588264],[0.37707935753388594,1.5416950539266403]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.11373792935064464,1.688539729359491,0.71338606911949],"aabb_xy":[[-0.1713683982379155,1.62853973043278],[-0.05610746046337378,1.7485397282862012]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.6151845184227143,-1.2313175093366588,0.71338606911949],"aabb_xy":[[0.601953572888033,-1.244544928358658],[0.6284154639573956,-1.2180900903146592]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.6233655638180587,-1.8891968788008424,0.71338606911949],"aabb_xy":[[-0.6358329219277945,-1.9016622034341661],[-0.6108982057083232,-1.8767315541675191]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.1351214413129922,-1.1221421400306884,0.71338606911949],"aabb_xy":[[-0.18460186252695102,-1.1861421379435402],[-0.08564102009903343,-1.0581421421178365]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.5865115118269029,0.0052703592635157115,0.71338606911949],"aabb_xy":[[0.5615115125549406,-0.011075004332646628],[0.6115115110988651,0.02161572285967805]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.24346163690206968,-1.1338040170584869,0.71338606911949],"aabb_xy":[[0.22566812996715319,-1.1516037626542845],[0.26125514383698606,-1.1160042714626892]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.23059695226316057,0.6052845359385843,0.71338606911949],"aabb_xy":[[0.16659695021342857,0.5651900528492764],[0.29459695431289257,0.6453790190278923]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.1365697635702715,-1.9785141867462974,0.71338606911949],"aabb_xy":[[-0.18656976523176627,-2.0285126290019995],[-0.08656976190877676,-1.9285157444905945]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.5548119385311854,0.3685063526986352,0.71338606911949],"aabb_xy":[[-0.5894030213852306,0.3035063524136041],[-0.5202208556771402,0.4335063529836662]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.6494257307859908,0.15693145357658933,0.71338606911949],"aabb_xy":[[0.6376575439913332,0.07193145367136779],[0.6611939175806483,0.24193145348181094]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[-0.3809612783936849,0.45955959719895567,0.71338606911949],"aabb_xy":[[-0.4609612798238121,0.3800424421863462],[-0.3009612769635577,0.5390767522115651]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_29","position":[-0.51781763457339,-2.257455101574644,0.71338606911949],"aabb_xy":[[-0.5678176358572299,-2.3074339559652657],[-0.46781763328955,-2.2074762471840215]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676003413702404,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9218.png","name":"9218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4638.png","name":"4638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8885.png","name":"8885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8697.png","name":"8697"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.4069764598341,"rotation_z_degrees":324.47445618118303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011793017383868945,-6.679940259682673e-05,0.008631289650830626]},{"name":"camera_2","offset_m":[-0.004413378859128616,0.005527470505161402,0.018975993732625606]},{"name":"camera_3","offset_m":[-0.012033965157122474,-0.019381863390954292,0.00818575004521831]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000293608078732814,-0.0014589739442544371,-0.0009885807514547417],"end_effector_yaw_offset_degrees":-0.21892563552601874},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00021960976211620538,0.001143735860378004,-0.00165710166269647],"end_effector_yaw_offset_degrees":0.7485918579440689},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007960254315221387,-0.00042485001909623897,-0.0003266461828506158],"end_effector_yaw_offset_degrees":-0.7827381231877613}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010857581166064233,0.0007376609593014571],"position_m":[0.19258575811660641,0.02523766095930146,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015966820558737916,-0.002274678806638314],"position_m":[0.32180331794412625,0.32672532119336173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004249206571961895,0.0018114888837836322],"position_m":[0.3516507934280381,0.06511148888378362,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00017550807936950446,-1.791719027885788e-05],"position_m":[0.2183755080793695,-0.3713179171902789,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37973072d72d1181ad5ea1d390285d434aa50c02038c76ceb67fbe3e28a4ea1d","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2260/tex_ceiling_textures_8697/tex_floor_textures_8885/tex_table_textures_9218/tex_wall_textures_4638","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8876373665063119042,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8876373665063119042,"visual_seed":8876373665063119042,"scene_id":"lab_003","finished_at":"2026-09-02T22:31:19"} +{"episode_id":"ep_000001","started_at":"2026-09-02T22:31:23","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.33788244783466137,0.5762459712333392,0.71338606911949],"aabb_xy":[[0.3325499331800484,0.5709216429881037],[0.34321496248927436,0.5815702994785747]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.5311436492844783,-0.7239272274596085,0.71338606911949],"aabb_xy":[[0.5086436490409629,-0.7361318621193803],[0.5536436495279937,-0.7117225927998364]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.5358092101327101,1.4637805505507093,0.71338606911949],"aabb_xy":[[0.5317310522256604,1.459699570302446],[0.5398873680397598,1.4678615307989726]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.4918807432074467,0.8930464973401975,0.71338606911949],"aabb_xy":[[-0.4999170779087315,0.8850083780357806],[-0.48384440850616184,0.9010846166446141]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.097643124430848,-2.272079436722758,0.71338606911949],"aabb_xy":[[0.08006482224190115,-2.289653926296863],[0.11522142661979484,-2.254504947148653]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.6355825209746444,-0.35860340107029165,0.71338606911949],"aabb_xy":[[0.5779520520873733,-0.41860339999700213],[0.693212989861915,-0.298603402143581]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.1446239783930101,-0.7848419675129918,0.71338606911949],"aabb_xy":[[0.12103885492911526,-0.8498419697584235],[0.16820910185690496,-0.71984196526756]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.6396093548619899,-1.336376135958592,0.71338606911949],"aabb_xy":[[-0.6505151309495525,-1.4163761323574209],[-0.6287035787744271,-1.2563761395597626]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.33686930564319384,-0.45437807902097527,0.71338606911949],"aabb_xy":[[-0.41686930890103674,-0.5343745868129592],[-0.25686930238535083,-0.37438157122899124]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.3873563679250854,-1.4464635537386896,0.71338606911949],"aabb_xy":[[-0.3933229068658211,-1.4524246983980535],[-0.38138982898434953,-1.4405024090793253]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.4550719370469327,-2.260158303849016,0.71338606911949],"aabb_xy":[[-0.5250719386492122,-2.2735910970506734],[-0.38507193544465323,-2.2467255106473583]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.19198438437559218,-0.1308621692374219,0.71338606911949],"aabb_xy":[[-0.2001120725689054,-0.13977577764812954],[-0.18385669618227896,-0.12194856082671424]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.1800668589673582,0.19477533909050138,0.71338606911949],"aabb_xy":[[-0.23506685814394768,0.13978566431554373],[-0.1250668597907687,0.24976501386545902]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.45944410104747596,1.5195431178508128,0.71338606911949],"aabb_xy":[[-0.46755775572085306,1.5114373013967837],[-0.45133044637409886,1.5276489343048418]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.4494265955520238,0.5695189366584765,0.71338606911949],"aabb_xy":[[0.41565103636133083,0.5554804414453115],[0.48320215474271677,0.5835574318716416]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.5874386066637876,-1.7438499532873164,0.71338606911949],"aabb_xy":[[-0.6224386080152692,-1.7642096892441372],[-0.5524386053123057,-1.7234902173304956]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.3839516318306962,-2.456911123751599,0.71338606911949],"aabb_xy":[[-0.44395163347361805,-2.5089112730435428],[-0.32395163018777434,-2.4049109744596544]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.24397820104196621,0.5634534943008913,0.71338606911949],"aabb_xy":[[-0.2520215609679214,0.4784534932055249],[-0.23593484111601104,0.6484534953962577]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.1897324942516242,-1.6867176004288078,0.71338606911949],"aabb_xy":[[-0.2397324956125114,-1.7366955050042234],[-0.13973249289073694,-1.6367396958533922]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.42109084072511105,1.3122972474237393,0.71338606911949],"aabb_xy":[[0.37111777519259564,1.2622972476112067],[0.4710639062576266,1.3622972472362724]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.15713237520460321,1.6724318782333971,0.71338606911949],"aabb_xy":[[-0.22713237733603273,1.6496699126077015],[-0.08713237307317365,1.6951938438590928]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.6516314622382309,1.3021655476527836,0.71338606911949],"aabb_xy":[[0.6017487653605348,1.252165548406509],[0.7015141591159272,1.3521655468990585]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.6002415915872052,1.2880603653935885,0.71338606911949],"aabb_xy":[[-0.6306397026863487,1.2576534633919187],[-0.5698434804880615,1.3184672673952578]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[0.45952425147947285,-0.4753480571601001,0.71338606911949],"aabb_xy":[[0.41453166476102243,-0.5203480564345488],[0.5045168381979233,-0.4303480578856513]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[0.37051710561085693,-1.120709774523946,0.71338606911949],"aabb_xy":[[0.3336665576738694,-1.1582097753469798],[0.4073676535478446,-1.0832097737009123]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[0.07211685653646382,-1.8684260662459908,0.71338606911949],"aabb_xy":[[-0.01757021977165163,-1.9584260665004414],[0.16180393284457928,-1.7784260659915403]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.6289382528114875,0.34219640026196174,0.71338606911949],"aabb_xy":[[0.6210149725727392,0.3196964000239584],[0.6368615330502359,0.3646964004999651]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.001790985131572942,-1.2552639055448152,0.71338606911949],"aabb_xy":[[-0.0036669605054471255,-1.335263908852474],[0.007248930768593009,-1.1752639022371558]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[-0.047598061394269586,1.4605888646864957,0.71338606911949],"aabb_xy":[[-0.10259031202978056,1.405588862943183],[0.007394189241241364,1.5155888664298087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731699610948154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8423.png","name":"8423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8423.png","name":"8423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9029.png","name":"9029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5644.png","name":"5644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4221.png","name":"4221"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":678.1935610301505,"rotation_z_degrees":272.54370465409005,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016622598170546517,0.006222906218823269,-0.0033019432516530646]},{"name":"camera_2","offset_m":[-0.009268974210819608,-0.009763674624401527,-0.00820725809078656]},{"name":"camera_3","offset_m":[0.003275257041255312,0.002170127161467122,-0.012840544595174213]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013826188497344022,-0.0006052110938972338,-0.00021003129677832572],"end_effector_yaw_offset_degrees":0.5653882334482596},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012592461045806244,0.0013505683316205048,0.000569409669680802],"end_effector_yaw_offset_degrees":-0.3773476910497602},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005006802369314255,0.0006098252697227169,-0.0015022450375789852],"end_effector_yaw_offset_degrees":-0.6410612569815237}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004320610457145927,-0.004426360276964952],"position_m":[0.19582061045714594,0.02007363972303505,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00493877616292859,-0.0020884340780167356],"position_m":[0.3184612238370714,0.3269115659219833,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010651538898508407,-0.002497245519040835],"position_m":[0.35483484611014915,0.06080275448095916,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022419537281356035,0.00047612730357576415],"position_m":[0.21842419537281357,-0.37082387269642425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9442e019ee7afde1a04c1fe2091f8e3d15096999c5030d5c5424431e1af33c72","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0001.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8423/tex_ceiling_textures_4221/tex_floor_textures_5644/tex_table_textures_7304/tex_wall_textures_9029","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":749395337093771734,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":749395337093771734,"visual_seed":749395337093771734,"scene_id":"lab_003","finished_at":"2026-09-02T22:34:22"} +{"episode_id":"ep_000002","started_at":"2026-09-02T22:34:26","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.24708371860527112,-2.2697520593183933,0.71338606911949],"aabb_xy":[[0.22921461085081565,-2.2835849672956043],[0.2649528263597266,-2.2559191513411823]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.06839182540996436,-1.5085408753501763,0.71338606911949],"aabb_xy":[[-0.1233918236117092,-1.5490628419766137],[-0.013391827208219532,-1.4680189087237385]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.5394872154933805,0.9456977225569654,0.71338606911949],"aabb_xy":[[0.5026366675563929,0.9081977217339317],[0.5763377634303681,0.9831977233799991]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.5763975735354887,1.6886543124176456,0.71338606911949],"aabb_xy":[[0.5708159019013598,1.6761543125998701],[0.5819792451696174,1.7011543122354211]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.05203776513685843,-1.4790325368761685,0.71338606911949],"aabb_xy":[[0.03770334001069498,-1.4910927524307074],[0.06637219026302188,-1.4669723213216297]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.6495225533249764,-1.6643851904272409,0.71338606911949],"aabb_xy":[[-0.6670225535843131,-1.678476732616014],[-0.6320225530656398,-1.6502936482384687]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.4850934149732018,0.10909535830831496,0.71338606911949],"aabb_xy":[[0.4250934143771857,0.05428288576309148],[0.545093415569218,0.16390783085353844]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.5336406300190158,0.9310915422625339,0.71338606911949],"aabb_xy":[[-0.564124880146046,0.8810915424810378],[-0.5031563798919857,0.9810915420440297]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.46751264984497787,-1.5696504136181348,0.71338606911949],"aabb_xy":[[-0.5174859438482383,-1.619650414172682],[-0.4175393558417174,-1.5196504130635873]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.44731570136545695,-0.8212668757516293,0.71338606911949],"aabb_xy":[[0.4254070192261058,-0.8431675425717199],[0.4692243835048079,-0.7993662089315384]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.3723354956027218,1.521331753954938,0.71338606911949],"aabb_xy":[[-0.3772347879092852,1.4936548346523688],[-0.3674362032961582,1.5490086732575064]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.0362236779633327,-2.0968834628601636,0.71338606911949],"aabb_xy":[[-0.001276322828662746,-2.103251303818354],[0.07372367875532815,-2.0905156219019734]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[-0.4893747205140684,0.6550287680237843,0.71338606911949],"aabb_xy":[[-0.553374720891602,0.6052835011729719],[-0.4253747201365347,0.7047740348745964]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[-0.23264474397327706,-0.9297963751925373,0.71338606911949],"aabb_xy":[[-0.29764474493040427,-0.9817445871262429],[-0.16764474301614984,-0.8778481632588317]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.3171999662375446,1.0490559754736464,0.71338606911949],"aabb_xy":[[-0.33709100611788484,1.0364001641889495],[-0.29730892635720435,1.0617117867583432]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.5000650261188302,-1.1477396041722483,0.71338606911949],"aabb_xy":[[0.46256502562147195,-1.1517082877203668],[0.5375650266161884,-1.1437709206241298]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.17334999353612301,-2.470686997430457,0.71338606911949],"aabb_xy":[[-0.19036009082617367,-2.486821485928731],[-0.15633989624607236,-2.454552508932183]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.6355609427300509,0.8778316964276414,0.71338606911949],"aabb_xy":[[-0.6529916578090573,0.8605595817637903],[-0.6181302276510443,0.895103811091492]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.6441869064375552,-2.1071521722755016,0.71338606911949],"aabb_xy":[[0.5990155885893862,-2.1711521694200404],[0.6893582242857241,-2.0431521751309636]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.5903593931380163,1.5980445802935557,0.71338606911949],"aabb_xy":[[-0.6740816186380988,1.50804457675886],[-0.5066371676379339,1.6880445838282518]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.40424728297471213,-1.1882434228602496,0.71338606911949],"aabb_xy":[[-0.4642472838355249,-1.2396698528667358],[-0.34424728211389927,-1.136816992853763]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.13450445721865334,-1.2628434122481216,0.71338606911949],"aabb_xy":[[-0.19850445943906037,-1.3072164963734099],[-0.07050445499824631,-1.2184703281228333]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.30739898914522823,-0.2757577642329263,0.71338606911949],"aabb_xy":[[-0.37739899253679016,-0.31107353793635717],[-0.23739898575366622,-0.24044199052949547]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.10415243766739501,1.148153061539071,0.71338606911949],"aabb_xy":[[-0.15396921713222977,1.0981530630547676],[-0.05433565820256024,1.1981530600233743]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.3027808511719709,-1.5380975152214251,0.71338606911949],"aabb_xy":[[-0.36678085143244166,-1.583106314574353],[-0.23878085091150006,-1.493088715868497]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.12174474240518784,-1.0829007093895155,0.71338606911949],"aabb_xy":[[0.09927997243378271,-1.105400710268376],[0.14420951237659296,-1.060400708510655]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.09202136600382926,-2.3569811609323876,0.71338606911949],"aabb_xy":[[-0.11724220286366892,-2.382204911785274],[-0.06680052914398958,-2.3317574100795]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[-0.2055464267064379,0.611951853785861,0.71338606911949],"aabb_xy":[[-0.26554642834935976,0.5599517044939168],[-0.14554642506351606,0.6639520030778052]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.2699016657537723,-1.412182925395768,0.71338606911949],"aabb_xy":[[-0.28753450134729985,-1.429805871411391],[-0.2522688301602447,-1.394559979380145]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_29","position":[-0.08614004357506388,0.44457022923570033,0.71338606911949],"aabb_xy":[[-0.15014004216163634,0.3975632658361916],[-0.022140044988491425,0.49157719263520905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674644380362532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3179.png","name":"3179"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/805.png","name":"805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7663.png","name":"7663"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":622.2039491572602,"rotation_z_degrees":19.443595977614578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01743902437130726,0.00103921760498479,-0.0135107520975401]},{"name":"camera_2","offset_m":[0.015161603796912042,0.00458562087541917,0.010416083364207279]},{"name":"camera_3","offset_m":[0.01020269453388286,-0.018205457025500933,-0.004189354692001591]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013692616532191542,0.0005882308688978841,-0.0014457356686436423],"end_effector_yaw_offset_degrees":0.47457118930292164},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.62876298923403e-05,-0.00037218445510048335,-0.0019029314034574325],"end_effector_yaw_offset_degrees":-0.8963699427100873},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013310285824754075,-0.001563457894500119,0.001290476321215042],"end_effector_yaw_offset_degrees":0.9008280169178717}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004200968568085192,0.0018919010103508448],"position_m":[0.1957009685680852,0.026391901010350848,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0047781122456223455,0.0006502701057016546],"position_m":[0.31862188775437766,0.3296502701057017,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017660227424676558,-0.00026571538850984205],"position_m":[0.35766602274246767,0.06303428461149016,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019380346807258654,-0.0032660170633772223],"position_m":[0.21626196531927414,-0.3745660170633772,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b3deaaa8e1054e5102ae57cb185eaff90c7b516673858380ecad32f1322c3c2a","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1216/tex_ceiling_textures_3104/tex_floor_textures_7663/tex_table_textures_3179/tex_wall_textures_805","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8929983837321356189,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8929983837321356189,"visual_seed":8929983837321356189,"scene_id":"lab_003","finished_at":"2026-09-02T22:37:33"} +{"episode_id":"ep_000003","started_at":"2026-09-02T22:37:36","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.03457917858683479,-1.8443218849501761,0.71338606911949],"aabb_xy":[[0.012079179063127379,-1.8668178324007967],[0.05707917811054218,-1.8218259374995551]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.5708699394392769,-1.003065802395129,0.71338606911949],"aabb_xy":[[0.5333699394955105,-1.0113588924299657],[0.6083699393830433,-0.9947727123602925]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.3820304374827068,-2.0436398483619285,0.71338606911949],"aabb_xy":[[0.35953043747255853,-2.0577360680015313],[0.4045304374928551,-2.0295436287223247]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.33132655439117825,-1.0358655461005217,0.71338606911949],"aabb_xy":[[-0.3791327220049468,-1.1008655488075805],[-0.28352038677740954,-0.9708655433934625]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.09750956974338465,-2.037862123554562,0.71338606911949],"aabb_xy":[[0.017509566485541708,-2.117858631346546],[0.1775095730012276,-1.9578656157625782]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.4374930942722244,-2.404181918089309,0.71338606911949],"aabb_xy":[[0.38749808331277236,-2.4541819171249006],[0.4874881052316764,-2.354181919053717]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.25844349947136763,-2.091485942900539,0.71338606911949],"aabb_xy":[[-0.3084434998319337,-2.1414659301101415],[-0.2084434991108016,-2.0415059556909356]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.17843757875064514,0.774261776466239,0.71338606911949],"aabb_xy":[[0.16056847099618962,0.760428868489028],[0.1963066865051006,0.7880946844434499]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.5591182823498251,-2.4057216869726377,0.71338606911949],"aabb_xy":[[-0.6052033736045567,-2.469721684225193],[-0.5130331910950937,-2.3417216897200825]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.539201182140888,0.8428992274144318,0.71338606911949],"aabb_xy":[[0.5193101422605477,0.8302434161297352],[0.5590922220212282,0.8555550386991289]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.029729875155665164,0.6903607734736967,0.71338606911949],"aabb_xy":[[-0.0719142893164959,0.6263607731964855],[0.012454539005165577,0.7543607737509079]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.6651985971716883,0.5940316496496827,0.71338606911949],"aabb_xy":[[0.6426994614454613,0.5715316488714198],[0.6876977328979152,0.6165316504279458]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.22726617313703668,1.5276147987255366,0.71338606911949],"aabb_xy":[[0.1572661767270748,1.5071768630738545],[0.29726616954699836,1.548052734377218]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.25441254180606054,0.7399975478934651,0.71338606911949],"aabb_xy":[[0.24619799669037648,0.7313209575958235],[0.2626270869217444,0.7486741381911062]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.6816022509197075,-0.47742045579473436,0.71338606911949],"aabb_xy":[[0.6641023174857241,-0.49492045571496884],[0.6991021843536909,-0.45992045587449976]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.4226829892006964,0.015374643119887565,0.71338606911949],"aabb_xy":[[-0.5126829928776145,-0.04605776345721679],[-0.3326829855237782,0.07680704969699191]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.47264389911576654,-1.6125600618804354,0.71338606911949],"aabb_xy":[[-0.5576438978078412,-1.6445459252753143],[-0.3876439004236919,-1.5805741984855566]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.5325806809810354,-0.8704905036063308,0.71338606911949],"aabb_xy":[[0.46858067930303793,-0.919007895085645],[0.5965806826590326,-0.8219731121270165]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.540542757231893,-1.2584734610506494,0.71338606911949],"aabb_xy":[[0.450542754897874,-1.335955815635762],[0.6305427595659121,-1.1809911064655367]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.16003033567663827,-0.5818184753532578,0.71338606911949],"aabb_xy":[[-0.1935095029376792,-0.6152975887243648],[-0.12655116841559733,-0.5483393619821508]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.10966617387160082,-0.6502769104528994,0.71338606911949],"aabb_xy":[[0.039666170480038836,-0.6855926841563302],[0.17966617726316278,-0.6149611367494685]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.45642691695302084,-1.517884171194077,0.71338606911949],"aabb_xy":[[0.4189269183774,-1.5306204668576349],[0.4939269155286416,-1.505147875530519]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781173814659167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8741.png","name":"8741"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8741.png","name":"8741"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1724.png","name":"1724"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8378.png","name":"8378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4377.png","name":"4377"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":761.19864232773,"rotation_z_degrees":271.024681620555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002680533118912122,-0.000965941428425144,0.015166404992617611]},{"name":"camera_2","offset_m":[0.004807249038651498,0.004519650494641942,0.005546419494667058]},{"name":"camera_3","offset_m":[0.015066242650144678,0.014519594275157855,-0.007840098296983315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007343430852175233,0.00034409911421128805,0.00039281053658360736],"end_effector_yaw_offset_degrees":0.19741640739320787},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014110622090487564,-0.00027545247671361046,0.0006988009268078521],"end_effector_yaw_offset_degrees":-0.7262599427659133},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001602397640764855,-0.00153390104288814,-4.4962548106275164e-05],"end_effector_yaw_offset_degrees":0.8303088702892729}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034476863407945793,-0.0012641263997241227],"position_m":[0.1949476863407946,0.023235873600275878,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001139882749539624,-0.002862761848768054],"position_m":[0.32453988274953965,0.32613723815123197,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004182524513127058,-0.0004630965864253801],"position_m":[0.35171747548687293,0.06283690341357462,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005009219826045252,-0.0027783846693432415],"position_m":[0.2176990780173955,-0.37407838466934323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5bbdc0890a3b2522a1b85802f0f87fdcece60b40408445f0493120eba523dd57","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8741/tex_ceiling_textures_4377/tex_floor_textures_8378/tex_table_textures_1872/tex_wall_textures_1724","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2840134592614495617,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2840134592614495617,"visual_seed":2840134592614495617,"scene_id":"lab_003","finished_at":"2026-09-02T22:40:19"} +{"episode_id":"ep_000004","started_at":"2026-09-02T22:40:22","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.2136592519263275,-1.3584783981003972,0.71338606911949],"aabb_xy":[[0.19115925141428688,-1.3809702564657955],[0.23615925243836808,-1.3359865397349988]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.4715701039807096,-1.1748512141063936,0.71338606911949],"aabb_xy":[[-0.5515701009949576,-1.1949857657798049],[-0.39157010696646155,-1.1547166624329823]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.27311437119336146,-1.082263682505583,0.71338606911949],"aabb_xy":[[0.21152361196936864,-1.1462636806146298],[0.3347051304173543,-1.018263684396536]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.5868396103907358,0.4448428959870605,0.71338606911949],"aabb_xy":[[0.5292091415034649,0.38484289706034985],[0.6444700792780066,0.5048428949137711]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.16043264980106453,1.0161137944822043,0.71338606911949],"aabb_xy":[[0.14293265066669733,1.0062341674446162],[0.17793264893543168,1.025993421519792]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.3786677468428652,0.5023743261763518,0.71338606911949],"aabb_xy":[[0.2986677481859792,0.48786946725208913],[0.4586677454997512,0.5168791851006147]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.5536523404007014,1.4305425847520294,0.71338606911949],"aabb_xy":[[-0.6436523369015732,1.384630942333571],[-0.46365234389982973,1.4764542271704875]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.2162388973493216,0.11407316998872163,0.71338606911949],"aabb_xy":[[-0.24620645425914728,0.08407316969083589],[-0.18627134043949595,0.14407317028660738]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.06614754950140456,0.9381293751824038,0.71338606911949],"aabb_xy":[[0.037817839552864344,0.9336686329886869],[0.0944772594499448,0.942590117376121]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.3654492601461996,-1.411761606498012,0.71338606911949],"aabb_xy":[[-0.372710507716607,-1.4245486167615218],[-0.3581880125757922,-1.3989745962345028]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.43397239375595237,-2.014493413693597,0.71338606911949],"aabb_xy":[[-0.4514723930340393,-2.031831513759943],[-0.41647239447786555,-1.997155313627251]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.10453592979531334,-2.2796362165348008,0.71338606911949],"aabb_xy":[[0.09654194121760994,-2.287636296629891],[0.11252991837301672,-2.2716361364397097]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.5455304919620833,-0.6606645037135435,0.71338606911949],"aabb_xy":[[-0.5830304926266617,-0.6763515617137655],[-0.5080304912975043,-0.6449774457133212]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.27032373975489343,-2.172455165072167,0.71338606911949],"aabb_xy":[[0.22032373873575822,-2.2089213808099952],[0.32032374077402875,-2.1359889493343394]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.01027296866802152,-0.7400061896292762,0.71338606911949],"aabb_xy":[[-0.07427296796218974,-0.8039923299981304],[0.0537270306261467,-0.676020049260422]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.09460144277240579,0.7682329152510206,0.71338606911949],"aabb_xy":[[-0.15960144280670852,0.7215322385706933],[-0.029601442738103056,0.8149335919313478]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.6249228523355171,-2.057325573272689,0.71338606911949],"aabb_xy":[[-0.6889228530389866,-2.1033439557456104],[-0.5609228516320479,-2.0113071907997684]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.08163097378260509,-1.5392821715231675,0.71338606911949],"aabb_xy":[[0.017635276387508503,-1.603282169823876],[0.14562667117770167,-1.4752821732224586]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.6623524222972538,-1.5235066073102335,0.71338606911949],"aabb_xy":[[-0.6901974590778609,-1.5542911060485451],[-0.6345073855166466,-1.4927221085719218]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.16435359023648355,-1.08391392658844,0.71338606911949],"aabb_xy":[[-0.18323797400499373,-1.1027998513687929],[-0.14546920646797332,-1.0650280018080873]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.12601510117791626,-1.730832699559015,0.71338606911949],"aabb_xy":[[-0.21101509986999087,-1.762818562953894],[-0.04101510248584159,-1.6988468361641362]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.2242043047667857,-0.6433463327163209,0.71338606911949],"aabb_xy":[[-0.2480405224073908,-0.7333463335248075],[-0.20036808712618068,-0.5533463319078346]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.46602363882581166,-1.6114902705626184,0.71338606911949],"aabb_xy":[[0.4457393361024128,-1.631772895705327],[0.4863079415492103,-1.5912076454199093]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[0.6005936561145031,-1.651307784134322,0.71338606911949],"aabb_xy":[[0.5662967450967624,-1.685604670344263],[0.6348905671322436,-1.6170108979243805]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.6035155103924411,-0.20341663084918338,0.71338606911949],"aabb_xy":[[-0.6533322898572759,-0.25341662933348674],[-0.5536987309276064,-0.15341663236488004]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.5031011977774773,1.490519857562369,0.71338606911949],"aabb_xy":[[0.4958188814008135,1.4005198539528596],[0.5103835141541407,1.5805198611718776]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[0.5446547230334136,0.682013829098647,0.71338606911949],"aabb_xy":[[0.5146630602995432,0.6520138297618464],[0.5746463857672839,0.7120138284354475]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.5648024409015655,-2.237998222077888,0.71338606911949],"aabb_xy":[[0.5519305374006254,-2.317998222491724],[0.5776743444025056,-2.1579982216640516]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.3966178101451667,-2.1179979796172157,0.71338606911949],"aabb_xy":[[0.3912852954905538,-2.1233223078624515],[0.40195032479977977,-2.11267365137198]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_29","position":[0.5356144610555236,-0.8372885971911619,0.71338606911949],"aabb_xy":[[0.5311838317006835,-0.8427369689258446],[0.5400450904103639,-0.8318402254564794]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.5025255608711836,0.817473451378123,0.71338606911949],"aabb_xy":[[0.4675255595197019,0.797113715421302],[0.5375255622226653,0.8378331873349437]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.626154622926885,0.9529753369748009,0.71338606911949],"aabb_xy":[[-0.6901546252696865,0.9080344857306684],[-0.5621546205840834,0.9979161882189334]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_32","position":[-0.045985971254655644,1.5251557350023233,0.71338606911949],"aabb_xy":[[-0.06848510698088262,1.5026557342240603],[-0.023486835528428673,1.5476557357805862]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737625121796709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7726.png","name":"7726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7842.png","name":"7842"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":713.0258560817276,"rotation_z_degrees":25.835725535101062,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019440148984554637,0.018792736007643505,0.012347974040959466]},{"name":"camera_2","offset_m":[0.002195325082832024,0.015407454905587013,0.018357643205620455]},{"name":"camera_3","offset_m":[0.014097857124090691,-0.009901026313315167,0.009488780440741699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009401900946070423,-0.0005332129688183699,-0.0009034982973359794],"end_effector_yaw_offset_degrees":-0.26709337582643955},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017786158423590654,0.0009214520493713084,-0.0005061792326107222],"end_effector_yaw_offset_degrees":0.28711112685613793},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006240572882797988,0.001976596714616536,-0.0006936946142081855],"end_effector_yaw_offset_degrees":0.37314492968756396}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000164512778958484,0.0005895603014378272],"position_m":[0.1916645127789585,0.02508956030143783,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046314896027089755,-0.0014216866921523017],"position_m":[0.31876851039729104,0.3275783133078477,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012691453857643698,-0.0008242584572358469],"position_m":[0.3546308546142356,0.06247574154276415,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004087306290318415,-0.0027817584255566763],"position_m":[0.22228730629031843,-0.3740817584255567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac5fb10b2d36cd4e837477d6665c63c41cfaa0f791b7ef1ccd4320cfa88fd092","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8323/tex_ceiling_textures_7842/tex_floor_textures_7726/tex_table_textures_8260/tex_wall_textures_8867","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3024405240756368841,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3024405240756368841,"visual_seed":3024405240756368841,"scene_id":"lab_003","finished_at":"2026-09-02T22:42:56"} +{"episode_id":"ep_000005","started_at":"2026-09-02T22:42:59","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.5684447718233188,-1.4214188217070276,0.71338606911949],"aabb_xy":[[0.5597468095326035,-1.4335437960145023],[0.577142734114034,-1.4092938473995529]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.5777744386768169,-0.3034913910016144,0.71338606911949],"aabb_xy":[[-0.667774438399991,-0.32656474353679416],[-0.48777443895364264,-0.2804180384664345]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.3777338717789198,-0.3817366225024825,0.71338606911949],"aabb_xy":[[0.34023387111434106,-0.3974236805027046],[0.41523387244349846,-0.3660495645022602]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.2391078264723967,-0.6602166209093039,0.71338606911949],"aabb_xy":[[0.204107827342441,-0.665961841984968],[0.27410782560235236,-0.6544713998336398]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.37032528531418585,-0.03765152322242171,0.71338606911949],"aabb_xy":[[-0.3782485655529341,-0.06015152346042508],[-0.36240200507543746,-0.01515152298441836]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.07912445315623318,-0.8402928175936448,0.71338606911949],"aabb_xy":[[0.0338458382750839,-0.9042928169418285],[0.12440306803738242,-0.7762928182454611]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.27991167911307574,0.7772941482395299,0.71338606911949],"aabb_xy":[[-0.32267838599249593,0.7132941448177273],[-0.23714497223365555,0.8412941516613323]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.26962266416747216,0.7924689358101031,0.71338606911949],"aabb_xy":[[0.18962266676387876,0.7124763646119202],[0.3496226615710656,0.8724615070082858]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.023208805635358654,1.2821979337799831,0.71338606911949],"aabb_xy":[[0.011336722623857546,1.1971979340863328],[0.035080888646859765,1.3671979334736335]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.15025419740847745,1.7345221361296805,0.71338606911949],"aabb_xy":[[-0.1877541977567052,1.7227307405485968],[-0.1127541970602497,1.7463135317107639]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.15987357419455783,1.0607402255442682,0.71338606911949],"aabb_xy":[[0.137701047217907,1.0385645583881449],[0.18204610117120867,1.082915892700391]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.6793747499554544,-2.009428510140614,0.71338606911949],"aabb_xy":[[-0.6874181098814095,-2.0944285112359804],[-0.6713313900294992,-1.9244285090452475]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.24283225766351024,1.4975596679159726,0.71338606911949],"aabb_xy":[[-0.26026297274251664,1.4802875532521214],[-0.22540154258450368,1.514831782579823]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.34457915548721396,-1.2211416046072168,0.71338606911949],"aabb_xy":[[0.337538845553677,-1.3011416040068884],[0.351619465420751,-1.1411416052075456]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.6070648246096142,-1.6222103799108551,0.71338606911949],"aabb_xy":[[0.5990385539789882,-1.6309618748882078],[0.6150910952402402,-1.6134588849335025]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.12200996051924817,-0.6478605135152451,0.71338606911949],"aabb_xy":[[-0.12963422860942642,-0.6554937370517889],[-0.11438569242906993,-0.6402272899787015]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.6246457035966388,-2.255623630960937,0.71338606911949],"aabb_xy":[[0.6121783454869032,-2.268088955594261],[0.6371130617063745,-2.243158306327614]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.3065755178705645,-0.9334445442161121,0.71338606911949],"aabb_xy":[[0.241575516870064,-0.9842309093707869],[0.37157551887106505,-0.8826581790614371]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.5145601752147209,-0.9142621343791748,0.71338606911949],"aabb_xy":[[0.49991676966068777,-0.9289208540359589],[0.5292035807687537,-0.8996034147223905]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.25714468537985846,-2.535723760943121,0.71338606911949],"aabb_xy":[[0.20717161984734306,-2.5857237607556542],[0.307117750912374,-2.4857237611305885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786529234474227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1574.png","name":"1574"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1574.png","name":"1574"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1403.png","name":"1403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9868.png","name":"9868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4335.png","name":"4335"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":718.4052266353458,"rotation_z_degrees":42.82497350825118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018971295509626156,0.018207672505389867,0.015906630296685324]},{"name":"camera_2","offset_m":[0.0022215663125715046,0.01745319269330486,0.0034060968742603732]},{"name":"camera_3","offset_m":[-0.011751644776929417,0.005097913867573512,0.01828122466663223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004347756600816973,0.0019625098339556904,0.00015560884867366325],"end_effector_yaw_offset_degrees":-0.4187382781041957},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006408676086319294,-0.0016374894030374715,-0.0005937792703978656],"end_effector_yaw_offset_degrees":0.2366761493060563},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005085089628237907,0.000490981414388508,-0.0005604509259037949],"end_effector_yaw_offset_degrees":-0.011239321082805898}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015878190760998043,0.00028312262338023655],"position_m":[0.19308781907609981,0.024783122623380237,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009728200879642072,-0.0014473653127538622],"position_m":[0.32437282008796425,0.32755263468724616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004905171642907902,-0.002436572537521352],"position_m":[0.3509948283570921,0.06086342746247864,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004679056170550899,0.0034888965215074995],"position_m":[0.2135209438294491,-0.3678111034784925,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e6c1c57f1bf21bf5211f0dc05803c2f14dabbbd7fdc070a4b49212de21e3446","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1574/tex_ceiling_textures_6811/tex_floor_textures_4335/tex_table_textures_1403/tex_wall_textures_9868","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":436774373757688644,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":436774373757688644,"visual_seed":436774373757688644,"scene_id":"lab_003","finished_at":"2026-09-02T22:46:06"} +{"episode_id":"ep_000006","started_at":"2026-09-02T22:46:10","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.1994657121220471,-1.9514672339030268,0.71338606911949],"aabb_xy":[[-0.20587952576523205,-1.957877054150695],[-0.19305189847886217,-1.9450574136553582]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.16234576630371833,0.4184429455651677,0.71338606911949],"aabb_xy":[[-0.19967704282896095,0.38378989077031544],[-0.1250144897784757,0.45309600036002007]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.35435600860455296,-2.0600528665341145,0.71338606911949],"aabb_xy":[[-0.36257055372023683,-2.068729456831755],[-0.3461414634888689,-2.0513762762364722]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.5056610103804207,1.2175262988068725,0.71338606911949],"aabb_xy":[[0.4904981374034837,1.2023608415117537],[0.5208238833573579,1.2326917561019912]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.17320751819716895,1.1602199199559742,0.71338606911949],"aabb_xy":[[0.09320751712404862,1.1504418736185897],[0.2532075192702893,1.1699979662933586]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.12243343922876981,-1.5227252684097679,0.71338606911949],"aabb_xy":[[-0.14460596620542066,-1.544900935565891],[-0.10026091225211897,-1.5005496012536443]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.04394448589631661,1.550080087125775,0.71338606911949],"aabb_xy":[[-0.10794448319866301,1.5057136601579182],[0.020055511406029798,1.5944465140936317]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.29427337056834835,-1.5522017275058844,0.71338606911949],"aabb_xy":[[0.2302733703078775,-1.5972105268588124],[0.3582733708288191,-1.5071929281529564]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.4448774453468484,-0.1150566950604257,0.71338606911949],"aabb_xy":[[-0.45429491991671117,-0.12447287219814474],[-0.43545997077698567,-0.10564051792270668]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.5806746336172331,0.3036054949917477,0.71338606911949],"aabb_xy":[[-0.6031746336273814,0.28950927535214444],[-0.5581746336070849,0.317701714631351]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.42427446487248566,-2.3638809676188126,0.71338606911949],"aabb_xy":[[0.37445768540765095,-2.413880966103116],[0.47409124433732047,-2.3138809691345092]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.4194604319888221,-1.0555876124084602,0.71338606911949],"aabb_xy":[[-0.4744604311654116,-1.1105772871834176],[-0.3644604328122326,-1.0005979376335024]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.5683000967161314,-1.873138217197405,0.71338606911949],"aabb_xy":[[0.545800096472616,-1.885342851857177],[0.5908000969596467,-1.8609335825376332]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.5727643960220976,1.2919522346364198,0.71338606911949],"aabb_xy":[[-0.6367643974300882,1.2401632831124951],[-0.5087643946141068,1.3437411861603445]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.39156829898931833,-1.8619332506291197,0.71338606911949],"aabb_xy":[[0.3838651083152413,-1.8696426213278576],[0.3992714896633954,-1.8542238799303814]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.4178319488988027,0.7490413106364002,0.71338606911949],"aabb_xy":[[0.3538319469864604,0.6931301613783899],[0.4818319508111451,0.8049524598944108]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.15088724027581435,-1.9659585861933722,0.71338606911949],"aabb_xy":[[0.09687164399391435,-2.029958589085629],[0.20490283655771435,-1.9019585833011148]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.40936046598512116,1.4324465682068,0.71338606911949],"aabb_xy":[[-0.45212717286454135,1.3684465647849973],[-0.36659375910570097,1.4964465716286022]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.3555639193357952,-2.329276374516977,0.71338606911949],"aabb_xy":[[-0.41956391573136825,-2.393239662935711],[-0.2915639229402221,-2.265313086098244]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.6353017718984488,1.0430024601361212,0.71338606911949],"aabb_xy":[[0.5900231570172995,0.9790024607879373],[0.680580386779598,1.1070024594843046]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.6018061694019765,-1.021156799272561,0.71338606911949],"aabb_xy":[[0.5643061678863449,-1.0323835722887058],[0.6393061709176083,-1.0099300262564157]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.2298076913573781,-2.143783725913331,0.71338606911949],"aabb_xy":[[-0.28480090269451486,-2.198783726252125],[-0.17481448002024136,-2.0887837255745376]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[-0.6199247063063656,0.7489679283434869,0.71338606911949],"aabb_xy":[[-0.6252572209609785,0.7436436000982515],[-0.6145921916517526,0.7542922565887226]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.11150200031136559,0.7328689454354356,0.71338606911949],"aabb_xy":[[-0.1615019998877003,0.6828883664833297],[-0.06150200073503087,0.7828495243875416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826887984848529,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1154.png","name":"1154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1154.png","name":"1154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9146.png","name":"9146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8452.png","name":"8452"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":839.402762074202,"rotation_z_degrees":147.08350787484056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007985534993503456,0.011183226914284018,0.019389343706293426]},{"name":"camera_2","offset_m":[-0.004218004458079995,-0.0005679481201363058,0.018203812185567176]},{"name":"camera_3","offset_m":[0.008152803514336907,-0.0013901638921560884,0.006299915526341206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017384806597878387,-0.001148441587468253,0.0018054562260543068],"end_effector_yaw_offset_degrees":0.35902223294031255},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019936348686105847,0.0011903154249623422,0.001322244174910294],"end_effector_yaw_offset_degrees":0.5210757783976203},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015543487055652409,-0.00022018244828718404,0.001379994246709388],"end_effector_yaw_offset_degrees":-0.8958358307292982}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009967362372972919,-0.00421911643768348],"position_m":[0.1905032637627027,0.02028088356231652,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025509292801454333,0.0040262342205239976],"position_m":[0.32595092928014546,0.333026234220524,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002682278327011063,-0.0013279360572582867],"position_m":[0.3532177216729889,0.06197206394274171,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027365307420814415,0.0010059377575209081],"position_m":[0.22093653074208144,-0.3702940622424791,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4a86be61d187638830960252f89bf102e06b64c8a24689f9486e2a4721122df","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1154/tex_ceiling_textures_8452/tex_floor_textures_5964/tex_table_textures_2789/tex_wall_textures_9146","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5448049053844299649,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5448049053844299649,"visual_seed":5448049053844299649,"scene_id":"lab_003","finished_at":"2026-09-02T22:48:51"} +{"episode_id":"ep_000007","started_at":"2026-09-02T22:48:55","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.2553386557440726,-2.332644235442824,0.71338606911949],"aabb_xy":[[-0.3453386522449443,-2.378555877861282],[-0.16533865924320082,-2.2867325930243654]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.3096526846292089,-0.5658357044233249,0.71338606911949],"aabb_xy":[[0.2480619254052161,-0.6298357025323718],[0.37124344385320174,-0.501835706314278]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.5793194147551247,-2.357259060528555,0.71338606911949],"aabb_xy":[[-0.6293194143314594,-2.4072396394806614],[-0.52931941517879,-2.3072784815764495]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.21425390705144381,-0.39970909190136794,0.71338606911949],"aabb_xy":[[-0.2517539071570367,-0.406531253754349],[-0.17675390694585083,-0.39288693004838676]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.3857221216857955,-1.812561477825363,0.71338606911949],"aabb_xy":[[-0.4497221220633291,-1.8623067446761752],[-0.3217221213082619,-1.7628162109745507]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.5147657561085175,0.0035406539048024044,0.71338606911949],"aabb_xy":[[-0.5255387300298853,-0.03145934431423658],[-0.5039927821871497,0.03854065212384139]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.3006204021213221,1.3426626180239127,0.71338606911949],"aabb_xy":[[-0.3356204012512777,1.3369173969482486],[-0.26562040299136636,1.3484078390995768]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.2829381550680862,-1.2043082772334435,0.71338606911949],"aabb_xy":[[0.2486412440503455,-1.2386051634433843],[0.31723506608582674,-1.1700113910235017]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.04112921990041485,-1.1420511451951147,0.71338606911949],"aabb_xy":[[-0.12112304347897307,-1.2220511477879563],[0.038864603678143365,-1.0620511426022732]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.1098237736600951,-1.5051568673152467,0.71338606911949],"aabb_xy":[[-0.15982377461062788,-1.5367060143187679],[-0.05982377270956227,-1.473607720311725]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.6309726669403882,0.023589771360417178,0.71338606911949],"aabb_xy":[[-0.6358719592469516,-0.004087147942151596],[-0.6260733746338246,0.05126669066298595]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.11750510572114126,-1.7961307756137725,0.71338606911949],"aabb_xy":[[0.09500868428727716,-1.8186307754205198],[0.14000152715500536,-1.7736307758070249]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.37324862066090636,0.3356095997786519,0.71338606911949],"aabb_xy":[[-0.41543303482173705,0.27160959950144076],[-0.33106420650007556,0.39960960005586316]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.24453794865299044,-0.13845530682241147,0.71338606911949],"aabb_xy":[[-0.26953794781862356,-0.14540755252776805],[-0.21953794948735733,-0.1315030611170549]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.07236663439614222,0.3564132354683287,0.71338606911949],"aabb_xy":[[-0.09453916137279304,0.33423756831220547],[-0.050194107419491374,0.3785889026244518]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[-0.26485970383347457,-1.2049671201491474,0.71338606911949],"aabb_xy":[[-0.30219098035871717,-1.2396201749439997],[-0.22752842730823195,-1.1703140653542952]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.3869939888460312,0.7136680515796145,0.71338606911949],"aabb_xy":[[0.3624477732232805,0.6834191550305775],[0.4115402044687819,0.7439169481286516]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.11189086747466093,-1.320790092463967,0.71338606911949],"aabb_xy":[[0.07439086765762737,-1.325428303775109],[0.14939086729169448,-1.3161518811528252]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.49968700494187823,-2.3856785083685197,0.71338606911949],"aabb_xy":[[0.46468700504585936,-2.3940527438804593],[0.5346870048378971,-2.377304272856579]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.6406000126384771,-1.0720880153986438,0.71338606911949],"aabb_xy":[[-0.6751910954925222,-1.137088015683675],[-0.6060089297844318,-1.0070880151136128]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.015368763960735055,-1.7014305732646866,0.71338606911949],"aabb_xy":[[-0.0953687619415201,-1.7090321142265386],[0.06463123402004999,-1.6938290323028347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681291401939625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1825.png","name":"1825"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1825.png","name":"1825"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4682.png","name":"4682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5117.png","name":"5117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7566.png","name":"7566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5698.png","name":"5698"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":656.3427168947627,"rotation_z_degrees":150.4557243098822,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013154730627173875,-0.011297671122309168,-0.002245025822213694]},{"name":"camera_2","offset_m":[0.0013399841660599772,-0.015794555196324375,-0.01802327340135963]},{"name":"camera_3","offset_m":[-0.015182410754324152,-0.017924194769839974,0.012791445013870566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014105819041797256,-0.00020623239819128484,-0.0003580275335291075],"end_effector_yaw_offset_degrees":-0.3632632110978238},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00017965475866617547,-0.0006722068358058495,-0.0008247814054146176],"end_effector_yaw_offset_degrees":-0.6132864750077405},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005684464118556885,0.0008309261764874783,0.0008980101293132913],"end_effector_yaw_offset_degrees":-0.6182309954415095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005497799064544066,0.003043934239592267],"position_m":[0.19204977990645442,0.02754393423959227,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031758704811170125,2.1568161461993536e-05],"position_m":[0.326575870481117,0.329021568161462,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002052881809171134,-0.0038533837441046227],"position_m":[0.35610528818091713,0.059446616255895375,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003628685545304481,-0.002945109185898451],"position_m":[0.2218286855453045,-0.3742451091858985,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a9de1801f21151050847719cc0061e5de2b8d071d6941c26ae6e76ff9f1c5352","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1825/tex_ceiling_textures_5698/tex_floor_textures_7566/tex_table_textures_4682/tex_wall_textures_5117","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8700653323211027366,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8700653323211027366,"visual_seed":8700653323211027366,"scene_id":"lab_003","finished_at":"2026-09-02T22:51:33"} +{"episode_id":"ep_000008","started_at":"2026-09-02T22:51:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.11733509640651829,0.6574958391443686,0.71338606911949],"aabb_xy":[[0.09482140458306111,0.5874958385433611],[0.13984878822997548,0.7274958397453761]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.6333722699893629,1.1225427231890808,0.71338606911949],"aabb_xy":[[0.6174877767240379,1.1081897828902567],[0.6492567632546882,1.1368956634879048]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.10721776242028569,1.7225773392485446,0.71338606911949],"aabb_xy":[[0.04321776037055371,1.6824828561592367],[0.17121776447001769,1.7626718223378526]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.317521201357694,-1.9166118266837082,0.71338606911949],"aabb_xy":[[0.29997450644157503,-1.9541118282479595],[0.3350678962738129,-1.879111825119457]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.5148598712567987,0.8454100261248225,0.71338606911949],"aabb_xy":[[-0.5788598676841206,0.7982404023027262],[-0.45085987482947676,0.8925796499469191]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.21530882701599818,-2.471947830264541,0.71338606911949],"aabb_xy":[[0.19403081887252593,-2.536947832590613],[0.23658683515947043,-2.406947827938467]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.3282818839322372,-2.4231067252560803,0.71338606911949],"aabb_xy":[[-0.4182818806678474,-2.476290188573375],[-0.23828188719662696,-2.3699232619387858]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.1368202709230527,-2.0195365177147675,0.71338606911949],"aabb_xy":[[-0.1476718771719283,-2.0303958084424187],[-0.1259686646741771,-2.008677226987117]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.08365341293168727,-2.553564443343,0.71338606911949],"aabb_xy":[[-0.10033054892478277,-2.57026436731693],[-0.06697627693859176,-2.5368645193690695]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.5872224248787752,0.6422119037896361,0.71338606911949],"aabb_xy":[[0.5622224253270367,0.6320694199245014],[0.6122224244305137,0.6523543876547708]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.001039553252673353,1.4204005559578214,0.71338606911949],"aabb_xy":[[-0.07896044817745385,1.3408834009452117],[0.08103955468280055,1.4999177109704307]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.44850604720319986,-1.012781711808231,0.71338606911949],"aabb_xy":[[0.3635060485111252,-1.0447675752031096],[0.5335060458952745,-0.9807958484133519]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.5165850134872494,0.1507685719186176,0.71338606911949],"aabb_xy":[[0.5086617332485011,0.12826857168061423],[0.5245082937259977,0.17326857215662095]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.7044999639821328,-1.5289616727659043,0.71338606911949],"aabb_xy":[[0.7003840138700601,-1.5330772277987497],[0.7086159140942054,-1.5248461177330586]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.5050451882709699,1.2786580566124668,0.71338606911949],"aabb_xy":[[-0.5435908810961709,1.240112285556278],[-0.46649949544576885,1.3172038276686555]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.531276595346196,1.0409319208155332,0.71338606911949],"aabb_xy":[[0.4978364201501762,1.007488294984603],[0.5647167705422154,1.074375546646463]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.38244063269852546,-1.3634038018547654,0.71338606911949],"aabb_xy":[[-0.3999406318328926,-1.3732834288923532],[-0.36494063356415823,-1.3535241748171776]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.4047206283765574,-0.30985747750153925,0.71338606911949],"aabb_xy":[[0.38722062909847055,-0.3271955775678852],[0.4222206276546443,-0.2925193774351933]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.2691392968986887,-0.4440062862222547,0.71338606911949],"aabb_xy":[[-0.30663929739604695,-0.4479749697703731],[-0.23163929640133046,-0.4400376026741363]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.571877550205528,-0.2933906602494818,0.71338606911949],"aabb_xy":[[0.5018775486032485,-0.30682345345113937],[0.6418775518078075,-0.2799578670478242]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.59408851556523,-0.9075288035468425,0.71338606911949],"aabb_xy":[[-0.6240801782991003,-0.937528802883643],[-0.5640968528313597,-0.877528804210042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826098112481331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9120.png","name":"9120"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9120.png","name":"9120"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4968.png","name":"4968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2798.png","name":"2798"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7878.png","name":"7878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":550.7088835390709,"rotation_z_degrees":327.65811297863706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012815772126893315,0.009010377672580762,0.011013585750539984]},{"name":"camera_2","offset_m":[0.0011195777956402655,0.003758231983619204,0.007898966223584315]},{"name":"camera_3","offset_m":[0.01829789132273522,0.009760773681103726,0.01142329887355768]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010261145883217742,-0.0017172945236532638,-0.0010749221781942442],"end_effector_yaw_offset_degrees":0.53773011735997},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001481610182671509,0.0014245451368093127,-0.00027719926593539903],"end_effector_yaw_offset_degrees":-0.5925755103389545},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011399231848032848,0.0011655815764955476,0.0013634612350871588],"end_effector_yaw_offset_degrees":0.8913793363010245}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00021475730280973073,-0.0006412050726910005],"position_m":[0.19171475730280974,0.023858794927309,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003710951158875447,0.0017788590671172421],"position_m":[0.32711095115887545,0.33077885906711724,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001977484325810218,0.0005084173376788811],"position_m":[0.35392251567418975,0.06380841733767888,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003999379783625868,0.003952066107977906],"position_m":[0.21420062021637415,-0.36734793389202214,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"63fff910b9362028dfe7335ac36326b5ec5b5933337370c0fd2f2b9dc9d3877f","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9120/tex_ceiling_textures_6755/tex_floor_textures_7878/tex_table_textures_4968/tex_wall_textures_2798","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8733934077855583437,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8733934077855583437,"visual_seed":8733934077855583437,"scene_id":"lab_003","finished_at":"2026-09-02T22:54:18"} +{"episode_id":"ep_000009","started_at":"2026-09-02T22:54:21","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.027259459576755796,-1.7935237977664413,0.71338606911949],"aabb_xy":[[-0.01024053899886501,-1.8062600934299988],[0.06475945815237659,-1.780787502102883]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.49544898088871103,1.0094727215912331,0.71338606911949],"aabb_xy":[[-0.5404489823549399,0.9644728647297525],[-0.45044897942248224,1.0544725784527138]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.5461532153296405,0.21549157784408113,0.71338606911949],"aabb_xy":[[-0.5962506793107141,0.15149157733426932],[-0.49605575134856683,0.27949157835389293]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.5614503031785945,1.4369529647762875,0.71338606911949],"aabb_xy":[[0.5264503032020986,1.427488348728671],[0.5964503031550903,1.4464175808239041]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.04589174561251452,-1.6644691423228206,0.71338606911949],"aabb_xy":[[0.008391745264286751,-1.6762605379039042],[0.08339174596074227,-1.652677746741737]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.014765647626463263,-2.345453868776745,0.71338606911949],"aabb_xy":[[-0.055234354504966277,-2.36821583440244],[0.0847656497578928,-2.3226919031510493]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.3894905868209071,-0.9925325946429453,0.71338606911949],"aabb_xy":[[0.30949058355689396,-1.0060926269518586],[0.4694905900849202,-0.978972562334032]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.18332748173511604,-2.3553954115012408,0.71338606911949],"aabb_xy":[[0.12569701284784515,-2.4153954104279505],[0.24095795062238684,-2.2953954125745293]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[0.5157843990730777,-0.3083577265030639,0.71338606911949],"aabb_xy":[[0.49328439954937037,-0.33085367395368465],[0.5382843985967851,-0.2858617790524431]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.1461826019761815,-2.2709602547097827,0.71338606911949],"aabb_xy":[[-0.15029855208825413,-2.275075809742628],[-0.1420666518641088,-2.2668446996769367]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.3514432217867187,-0.6664295705050889,0.71338606911949],"aabb_xy":[[0.28744321856808086,-0.7131526824040972],[0.4154432250053566,-0.6197064586060805]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.15197468841837491,-1.174389068669753,0.71338606911949],"aabb_xy":[[-0.21597469063878194,-1.2187621527950412],[-0.08797468619796789,-1.1300159845444646]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.051713286992483565,-0.5568505725692887,0.71338606911949],"aabb_xy":[[-0.08921328765706225,-0.5725376305695109],[-0.01421328632790486,-0.5411635145690665]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.29273330286843396,0.6930853045469769,0.71338606911949],"aabb_xy":[[-0.3172469269654399,0.6688207112449405],[-0.26821967877142816,0.7173498978490134]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.33455319857725097,-0.802884987049268,0.71338606911949],"aabb_xy":[[-0.3795457852957013,-0.8478849863237166],[-0.2895606118588005,-0.757884987774819]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.0085148676828114,1.7433021734421863,0.71338606911949],"aabb_xy":[[-0.018596574761384876,1.6633021755500714],[0.001566839395762078,1.8233021713343007]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.16022441799994358,-0.7345483155698094,0.71338606911949],"aabb_xy":[[-0.1715861526532297,-0.7459167819760973],[-0.1488626833466574,-0.7231798491635212]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.017271146100710344,-0.9604115767005819,0.71338606911949],"aabb_xy":[[-0.06272885715713261,-1.0404080844925658],[0.0972711493585533,-0.8804150689085979]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[0.41678447579080946,1.4538627404849138,0.71338606911949],"aabb_xy":[[0.4058786997032468,1.3738627440860847],[0.42769025187837223,1.533862736883743]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.2874546245426819,-2.120810227125723,0.71338606911949],"aabb_xy":[[-0.35145462312925435,-2.1678171905252315],[-0.22345462595610943,-2.073803263726214]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.3703007060316781,-2.2288437539236794,0.71338606911949],"aabb_xy":[[0.33280070484688523,-2.2332619766197395],[0.4078007072164708,-2.2244255312276184]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.527797367473402,-2.1408120343660113,0.71338606911949],"aabb_xy":[[-0.5634265233733617,-2.1764447011228643],[-0.49216821157344226,-2.1051793676091584]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.3535031947105632,-1.3551924842109089,0.71338606911949],"aabb_xy":[[-0.39867451255873226,-1.4191924813554475],[-0.30833187686239427,-1.2911924870663707]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.6452193492145981,0.9036825333284453,0.71338606911949],"aabb_xy":[[0.5902193500380085,0.8486928585534875],[0.7002193483911875,0.9586722081034028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810220431463235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9018.png","name":"9018"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3476.png","name":"3476"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7078.png","name":"7078"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":546.4389346266456,"rotation_z_degrees":224.91579649439353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008852093918193785,0.0024390778753384315,0.0024893998888309704]},{"name":"camera_2","offset_m":[-0.005129490193523432,0.018991462454106062,0.006574097653409338]},{"name":"camera_3","offset_m":[0.013722815694119633,-0.008764087986465934,0.005320104380376219]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009469392731682462,0.0011251288739887633,-0.00043467502139953886],"end_effector_yaw_offset_degrees":0.5147292766143285},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000861698514133633,-0.001667578857715819,0.0015525788042172425],"end_effector_yaw_offset_degrees":-0.11982805283840126},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018423728409818069,0.0007469565089391842,-0.00012636590278197963],"end_effector_yaw_offset_degrees":-0.9371747349700872}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.172163996235933e-08,0.004945688161883679],"position_m":[0.19150003172163996,0.02944568816188368,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003491326786325434,-0.0011101489058335944],"position_m":[0.32689132678632543,0.3278898510941664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00385747617969981,0.0027785108473432855],"position_m":[0.35975747617969983,0.06607851084734329,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003070755074804427,0.002548823942977561],"position_m":[0.22127075507480443,-0.36875117605702246,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30174dad7ee60d3bd7bb6da037eb896637cddc0222b62152e677767cbc22d4bd","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9846/tex_ceiling_textures_7078/tex_floor_textures_3476/tex_table_textures_6890/tex_wall_textures_9018","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5605755692151676520,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5605755692151676520,"visual_seed":5605755692151676520,"scene_id":"lab_003","finished_at":"2026-09-02T22:57:02"} +{"episode_id":"ep_000010","started_at":"2026-09-02T22:57:05","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.27412242139785603,1.2683848848345223,0.71338606911949],"aabb_xy":[[-0.30912241966797593,1.2613107571395341],[-0.23912242312773613,1.2754590125295104]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.06448412138044168,-2.4271301616757657,0.71338606911949],"aabb_xy":[[0.05433110582629229,-2.463199703248505],[0.07463713693459105,-2.3910606201030244]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.5449574864790621,1.6805840308562732,0.71338606911949],"aabb_xy":[[0.5220417735940123,1.65767973371985],[0.5678731993641121,1.703488327992697]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.40927404937653006,1.0433468705886026,0.71338606911949],"aabb_xy":[[-0.41568786301971494,1.036937050340934],[-0.40286023573334506,1.0497566908362708]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.37723048134403503,0.9340370430266605,0.71338606911949],"aabb_xy":[[0.3272304796825402,0.8840386007709577],[0.42723048300552974,0.9840354852823632]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.40110494145921405,-0.7348781348968267,0.71338606911949],"aabb_xy":[[0.3951384025184782,-0.7408392795561908],[0.4070714803999498,-0.7289169902374627]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.4136745665067803,-1.2247143497141024,0.71338606911949],"aabb_xy":[[-0.49367456678038724,-1.2976638975398187],[-0.33367456623317326,-1.1517648018883853]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.20936062956868984,0.3970550430542543,0.71338606911949],"aabb_xy":[[-0.2240040351227228,0.38239632339747],[-0.19471722401465683,0.41171376271103854]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.6004669721179361,-1.6361502691147451,0.71338606911949],"aabb_xy":[[0.5754669728459737,-1.6524956327109073],[0.6254669713898983,-1.6198049055185826]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.5924255954168454,-0.46861066389267725,0.71338606911949],"aabb_xy":[[-0.5973248877234087,-0.496287583195246],[-0.5875263031102818,-0.4409337445901085]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.5923763322141842,-1.9265964101746857,0.71338606911949],"aabb_xy":[[0.553830639388983,-1.9651421812308745],[0.6309220250393851,-1.888050639118497]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.1661718815647637,-1.829680924637048,0.71338606911949],"aabb_xy":[[0.140951044704924,-1.8549046754899345],[0.19139271842460334,-1.804457173784161]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.18899489794878377,-1.4881636740631878,0.71338606911949],"aabb_xy":[[0.1707890742875361,-1.4991890746451795],[0.20720072161003145,-1.4771382734811962]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.349581971055085,-0.8434283677642898,0.71338606911949],"aabb_xy":[[-0.4135819713290632,-0.8934944679615777],[-0.28558197078110675,-0.7933622675670018]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.11288705778429686,-1.092227677273774,0.71338606911949],"aabb_xy":[[-0.19288705921442406,-1.1717448322863835],[-0.03288705635416965,-1.0127105222611645]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.38918759328933933,-0.0853897974622968,0.71338606911949],"aabb_xy":[[-0.39796882043657567,-0.09416954475082698],[-0.3804063661421032,-0.07661005017376667]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.5097600389336612,-1.1657613969141933,0.71338606911949],"aabb_xy":[[0.5027197290001243,-1.2457613963138647],[0.5168003488671983,-1.085761397514522]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.5894809075089449,-1.6397919907162464,0.71338606911949],"aabb_xy":[[-0.6144809074414628,-1.64667465893717],[-0.564480907576427,-1.6329093224953233]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.39667501558708973,-0.6014746492718173,0.71338606911949],"aabb_xy":[[0.35167501412086094,-0.6464745061332979],[0.4416750170533187,-0.5564747924103366]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.19093320269876768,-1.8871384061540846,0.71338606911949],"aabb_xy":[[-0.25493320591740554,-1.933861518053093],[-0.12693319948012982,-1.8404152942550762]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.14994972049588062,-0.6576761635887101,0.71338606911949],"aabb_xy":[[0.14449177485886056,-0.7376761668963692],[0.1554076661329007,-0.577676160281051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780301259610636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2031.png","name":"2031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2031.png","name":"2031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2485.png","name":"2485"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7633.png","name":"7633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4635.png","name":"4635"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/472.png","name":"472"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":563.8630590789543,"rotation_z_degrees":156.09631120354126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003980091296209486,-0.013632878847642967,0.007400812223328397]},{"name":"camera_2","offset_m":[-0.005331940903286836,0.010601776472594526,0.014467845827411976]},{"name":"camera_3","offset_m":[0.009937836799733382,-0.004026121680373272,0.0006781234079665452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008046246157984353,0.0013566283205816228,-0.0019250661052869606],"end_effector_yaw_offset_degrees":0.42757383606201116},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001024508898049679,0.0012577262018803508,-0.001723505980962575],"end_effector_yaw_offset_degrees":-0.09608436782006935},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[6.983712932443452e-07,0.0018813088276129386,-0.000787062535182375],"end_effector_yaw_offset_degrees":0.7572220348398111}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001675638192128289,-0.000884771831968837],"position_m":[0.1898243618078717,0.023615228168031164,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010431639999690092,0.0009063773924493524],"position_m":[0.322356836000031,0.3299063773924494,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008209100179502526,-0.0036326023831402443],"position_m":[0.35507908998204973,0.05966739761685975,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004375705776013238,-0.0032747164262400966],"position_m":[0.22257570577601324,-0.37457471642624013,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"66f577623a0b65bbff1bdcef9c005aee9964dedf60afeb06579318f6395871f0","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2031/tex_ceiling_textures_472/tex_floor_textures_4635/tex_table_textures_2485/tex_wall_textures_7633","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1805435583525673026,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1805435583525673026,"visual_seed":1805435583525673026,"scene_id":"lab_003","finished_at":"2026-09-02T23:00:04"} +{"episode_id":"ep_000011","started_at":"2026-09-02T23:03:23","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.0666470111427312,-1.5425197253080756,0.71338606911949],"aabb_xy":[[-0.07368846209347879,-1.54954647704587],[-0.0596055601919836,-1.5354929735702807]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[-0.35555148105324497,0.6610785369930694,0.71338606911949],"aabb_xy":[[-0.37222861704634047,0.6443786130191391],[-0.33887434506014946,0.6777784609669997]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.6277916129388164,-2.4492545206182585,0.71338606911949],"aabb_xy":[[0.6237134550317667,-2.4533355008665216],[0.631869770845866,-2.4451735403699955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.6717774495040736,-1.132344626452951,0.71338606911949],"aabb_xy":[[-0.6809373284479502,-1.1388758444964882],[-0.662617570560197,-1.125813408409414]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.376956983798977,-2.30165075472744,0.71338606911949],"aabb_xy":[[-0.399456119525204,-2.324150755505703],[-0.35445784807275005,-2.2791507539491773]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.5577515223616593,0.4571778668497637,0.71338606911949],"aabb_xy":[[-0.6048809013634948,0.3931778658053617],[-0.5106221433598235,0.5211778678941656]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.5702362492997513,-0.14395808130887167,0.71338606911949],"aabb_xy":[[0.5570053037650698,-0.15718550033087106],[0.5834671948344324,-0.13073066228687222]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.615888315330595,1.5291385080537947,0.71338606911949],"aabb_xy":[[0.5834266144486674,1.4990056759388917],[0.6483500162125223,1.5592713401686968]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.14701875108406204,1.2966696154306425,0.71338606911949],"aabb_xy":[[0.13823752393682584,1.2878898681421123],[0.1557999782312983,1.3054493627191728]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[0.4605090560407079,1.0942041353048162,0.71338606911949],"aabb_xy":[[0.4230090556924801,1.0824127397237324],[0.4980090563889356,1.1059955308858995]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.12941422539936742,-2.0187133617653137,0.71338606911949],"aabb_xy":[[-0.19341422182668933,-2.06588298558741],[-0.06541422897204552,-1.9715437379432172]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.07001540926705174,-1.2944336352000612,0.71338606911949],"aabb_xy":[[-0.11131995233078773,-1.3584336347681782],[-0.028710866203315755,-1.230433635631944]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.29977695068608323,0.8344564792937321,0.71338606911949],"aabb_xy":[[0.23577694927809253,0.7826675277698074],[0.36377695209407385,0.8862454308176568]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.062372452561544556,-1.6878759739466034,0.71338606911949],"aabb_xy":[[-0.07212844207071845,-1.6976385080058376],[-0.05261646305237066,-1.6781134398873687]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.5306868408597125,0.37083754947379344,0.71338606911949],"aabb_xy":[[0.4406868371827941,0.309405142896689],[0.6206868445366305,0.4322699560508977]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.5760631513160733,-0.07367979890094123,0.71338606911949],"aabb_xy":[[-0.5982356782927242,-0.09585546605706438],[-0.5538906243394225,-0.051504131744818035]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.4117173824462006,-1.1102871257543254,0.71338606911949],"aabb_xy":[[0.40369111181557454,-1.119038620731678],[0.41974365307682654,-1.1015356307769728]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.5087708625728113,-1.1357185184218717,0.71338606911949],"aabb_xy":[[-0.5300488707162837,-1.2007185207479447],[-0.4874928544293392,-1.0707185160957986]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.7081446602220947,1.7622288998439806,0.71338606911949],"aabb_xy":[[0.6946981335880512,1.7487590481908895],[0.7215911868561379,1.7756987514970721]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.14693731641480068,-0.9940674306257282,0.71338606911949],"aabb_xy":[[0.0969373151309607,-1.04404628501635],[0.19693731769864062,-0.944088576235106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676122466606429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5777.png","name":"5777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":573.0451084148913,"rotation_z_degrees":345.77608980414163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006197703011201081,-0.00010362870476279123,0.005457784130979679]},{"name":"camera_2","offset_m":[0.00310889130260672,-0.018937768657767924,0.01977089088014938]},{"name":"camera_3","offset_m":[-0.011756434256242487,-0.005695161152133296,0.011397949910183936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001507235771379819,0.0004690248272192208,-0.0011407417289822802],"end_effector_yaw_offset_degrees":0.24679383466006444},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[1.842315306714755e-05,-0.0010685557027174863,0.000460343353679248],"end_effector_yaw_offset_degrees":-0.6674726057996987},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019316699360433795,-0.0013771323968571844,-0.0019387860113863776],"end_effector_yaw_offset_degrees":-0.49809422052683594}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004168952966677022,-0.00015988964850593458],"position_m":[0.18733104703332298,0.024340110351494068,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019882826540009225,-0.0013206479719861776],"position_m":[0.3214117173459991,0.32767935202801385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[5.3265298516383744e-05,-0.001587252204169587],"position_m":[0.3559532652985164,0.06171274779583041,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017380356787633868,-0.0007458012807479006],"position_m":[0.21646196432123663,-0.37204580128074793,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2120d7d750922962f59dce5be8c8987b340d6bc28463b87fb0467beb09a3a884","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_572/tex_ceiling_textures_4407/tex_floor_textures_5777/tex_table_textures_5276/tex_wall_textures_7189","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":106474398676362370,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":106474398676362370,"visual_seed":106474398676362370,"scene_id":"lab_003","finished_at":"2026-09-02T23:06:07"} +{"episode_id":"ep_000012","started_at":"2026-09-02T23:06:11","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.5927074455497021,1.193445000194695,0.71338606911949],"aabb_xy":[[0.5825544299955526,1.1573754586219545],[0.6028604611038514,1.2295145417674351]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.6744957112663714,-0.4552994332092588,0.71338606911949],"aabb_xy":[[0.6679940747583669,-0.46506725523556863],[0.6809973477743761,-0.4455316111829491]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.16842732109844483,-0.5507326063860631,0.71338606911949],"aabb_xy":[[-0.17473942063478323,-0.556499545639282],[-0.16211522156210637,-0.5449656671328443]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.611979902787757,-1.9663710022175782,0.71338606911949],"aabb_xy":[[0.5944799693537736,-1.9838710021378128],[0.6294798362217403,-1.9488710022973437]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.10142336000260521,-1.4101031180957022,0.71338606911949],"aabb_xy":[[0.05194293878864642,-1.474103116008554],[0.150903781216564,-1.3461031201828504]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.508974629015524,0.306092209414055,0.71338606911949],"aabb_xy":[[-0.5939746274329473,0.22121791395176998],[-0.4239746305981008,0.39096650487633994]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.41212042952461014,-1.3200083921308645,0.71338606911949],"aabb_xy":[[-0.4467115123786553,-1.3850083924158954],[-0.37752934667056487,-1.2550083918458332]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.17741840566829192,0.8812130766184638,0.71338606911949],"aabb_xy":[[-0.1952119126032084,0.863413331022666],[-0.15962489873337551,0.8990128222142614]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.06147366142995536,-0.8892266904949397,0.71338606911949],"aabb_xy":[[0.02647366153393649,-0.8976009260068797],[0.09647366132597424,-0.8808524549829998]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.14782154561533611,1.4968226925900612,0.71338606911949],"aabb_xy":[[-0.22782154668845644,1.4870446462526767],[-0.06782154454221578,1.5066007389274456]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.547452628531377,-1.593179147288266,0.71338606911949],"aabb_xy":[[0.49747933452811643,-1.6431791478428133],[0.5974259225346373,-1.5431791467337186]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[0.24854837384609318,-1.502845532867422,0.71338606911949],"aabb_xy":[[0.23938849490221656,-1.509376750910959],[0.2577082527899698,-1.4963143148238849]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.6752616339391397,0.010577950375362022,0.71338606911949],"aabb_xy":[[0.6609272088129763,-0.0014822651791768227],[0.6895960590653032,0.022638165929900866]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.1006220993880318,-0.702705691614895,0.71338606911949],"aabb_xy":[[-0.1806220979753512,-0.7820212935530559],[-0.02062210080071236,-0.6233900896767341]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.5035678216395982,1.0951621753102487,0.71338606911949],"aabb_xy":[[-0.5410678214566318,1.090523963999107],[-0.4660678218225647,1.0998003866213906]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.21812644845357598,-1.12578193337557,0.71338606911949],"aabb_xy":[[0.19361282435657012,-1.1500465266776065],[0.24264007255058184,-1.1015173400735336]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.6267129596461041,0.6720490739610097,0.71338606911949],"aabb_xy":[[0.5627129593721257,0.6219829737637216],[0.6907129599200822,0.7221151741582975]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.5634738241993348,-0.8413485612532947,0.71338606911949],"aabb_xy":[[-0.5786366971762719,-0.8565140185484136],[-0.5483109512223977,-0.8261831039581761]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.417533150049058,1.7969241222704802,0.71338606911949],"aabb_xy":[[0.3825331508562396,1.7859570762728172],[0.45253314924187615,1.8078911682681422]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.12441042133647695,1.1103163147977462,0.71338606911949],"aabb_xy":[[0.10191042181276952,1.0878203673471252],[0.1469104208601843,1.1328122622483667]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.5899448502092361,1.2933605734851765,0.71338606911949],"aabb_xy":[[0.5855142208543961,1.287912201750494],[0.5943754795640764,1.298808945219859]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.629255678332106,1.4846037605060043,0.71338606911949],"aabb_xy":[[-0.6348373499662346,1.4721037606882288],[-0.6236740066979772,1.4971037603237798]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.4221241963258693,-0.42937041913379037,0.71338606911949],"aabb_xy":[[0.3996241965119669,-0.4338450355042711],[0.44462419613977167,-0.42489580276330974]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.5819210782762954,-1.0354361416889368,0.71338606911949],"aabb_xy":[[0.5469210799655999,-1.0431511566124823],[0.6169210765869908,-1.027721126765391]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.3011274730674063,1.563000113235144,0.71338606911949],"aabb_xy":[[0.2371274697776982,1.5196651942312263],[0.3651274763571144,1.6063350322390615]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[-0.29369239680690673,-2.0451582270502167,0.71338606911949],"aabb_xy":[[-0.3301882174341854,-2.0816421694769742],[-0.25719657617962793,-2.008674284623459]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679785688387783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6374.png","name":"6374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6374.png","name":"6374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/724.png","name":"724"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6087.png","name":"6087"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/72.png","name":"72"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":658.3977576521643,"rotation_z_degrees":326.68128353617266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012860393503011207,-0.005987618220942913,-0.019815029123679943]},{"name":"camera_2","offset_m":[-0.005210667042061429,-0.005878307745419642,-0.015123844884526193]},{"name":"camera_3","offset_m":[-0.013435010196701059,0.017923595429866507,-0.0008668887983614808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006658613092621354,-0.0007953991080591027,-0.0016827285927880097],"end_effector_yaw_offset_degrees":0.28504245743018286},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000572968397129634,-0.00030048388759031834,-0.0015628492932099297],"end_effector_yaw_offset_degrees":-0.523760423524477},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00101670650202024,0.0014617848165724028,-0.0005658880450707478],"end_effector_yaw_offset_degrees":-0.9521742662737571}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014383294268907366,0.0034683113266442403],"position_m":[0.19006167057310927,0.027968311326644242,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025435144485407256,-0.0019527603907760261],"position_m":[0.32594351444854075,0.327047239609224,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014849514028802942,-0.002396170810542683],"position_m":[0.3573849514028803,0.06090382918945731,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00118229709080688,-0.0008886930110133615],"position_m":[0.21701770290919312,-0.37218869301101337,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b37028e857b9e9117fe6660a1e8ab32116158a1085b0e0d2fdcacb129bb770f","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6374/tex_ceiling_textures_72/tex_floor_textures_6087/tex_table_textures_724/tex_wall_textures_3876","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5000579924647445562,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5000579924647445562,"visual_seed":5000579924647445562,"scene_id":"lab_003","finished_at":"2026-09-02T23:08:48"} +{"episode_id":"ep_000013","started_at":"2026-09-02T23:08:51","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.14027135149094427,1.7610962963933496,0.71338606911949],"aabb_xy":[[0.11780658151953916,1.7385962955144891],[0.1627361214623494,1.7835962972722101]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.05670686460989249,-1.7493561423248427,0.71338606911949],"aabb_xy":[[-0.0032931358979604304,-1.806202876010764],[0.1167068651177454,-1.6925094086389214]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.058569859835087,-1.1926115839275053,0.71338606911949],"aabb_xy":[[0.05206822332708239,-1.202379405953815],[0.06507149634309162,-1.1828437619011956]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.2074452478434689,1.2476569669856392,0.71338606911949],"aabb_xy":[[-0.21614321013418422,1.2355319926781645],[-0.19874728555275364,1.259781941293114]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.42125818175960017,-0.48403924540752064,0.71338606911949],"aabb_xy":[[0.398761760325736,-0.5065392452142681],[0.4437546031934642,-0.46153924560077325]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.13318473711405499,-1.0980014570326708,0.71338606911949],"aabb_xy":[[0.09568473682188014,-1.1020429324332743],[0.17068473740622978,-1.0939599816320673]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.295716540229943,-2.5469525287528025,0.71338606911949],"aabb_xy":[[0.2307165391239997,-2.571917901820931],[0.36071654133588626,-2.5219871556846742]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.20150292062207675,0.9935477521386775,0.71338606911949],"aabb_xy":[[-0.22400292043597916,0.9890731357681968],[-0.1790029208081744,0.9980223685091583]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.4688177222302512,0.08846680675353635,0.71338606911949],"aabb_xy":[[0.41900094276541644,0.03846680826923299],[0.518634501695086,0.13846680523783972]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.0780608308313474,-0.2464996252602898,0.71338606911949],"aabb_xy":[[-0.08609716553263223,-0.25453774456470657],[-0.07002449613006255,-0.238461505955873]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.4166364866419679,1.2199123268109782,0.71338606911949],"aabb_xy":[[-0.44660404355179356,1.1899123265130924],[-0.38666892973214223,1.249912327108864]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.31995197434912787,-2.3413144408065913,0.71338606911949],"aabb_xy":[[-0.38995197698571415,-2.361419305802456],[-0.24995197171254147,-2.321209575810725]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.3351130980900201,1.485825243372076,0.71338606911949],"aabb_xy":[[0.2451130986716492,1.4524497465278863],[0.425113097508391,1.5192007402162657]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.06620260972933123,1.4030418514342111,0.71338606911949],"aabb_xy":[[0.03580449863018765,1.3726349494325414],[0.09660072082847482,1.4334487534358804]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.40924255300525064,-0.9812410249317312,0.71338606911949],"aabb_xy":[[-0.4129458143343894,-0.9849430432404488],[-0.40553929167611175,-0.9775390066230131]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.05623174413936094,-2.158445103817991,0.71338606911949],"aabb_xy":[[0.04607872858521154,-2.194514645390731],[0.06638475969351029,-2.1223755622452503]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.3612507260520162,0.12786730087818388,0.71338606911949],"aabb_xy":[[-0.421250725898583,0.0710486786851452],[-0.3012507262054494,0.18468592307122256]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.4080110753628218,0.6517165651192132,0.71338606911949],"aabb_xy":[[-0.42689545913133203,0.6328306403388604],[-0.3891266915943116,0.670602489899566]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.5468358580058674,1.7084819579668697,0.71338606911949],"aabb_xy":[[-0.6108358544331893,1.6613123341447733],[-0.4828358615785455,1.7556515817889662]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.12904732510940775,-2.3828979234923793,0.71338606911949],"aabb_xy":[[0.06504732189076992,-2.429621035391388],[0.19304732832804564,-2.3361748115933714]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.620294409470729,0.46658507171524155,0.71338606911949],"aabb_xy":[[0.5552944115890812,0.41546140800870074],[0.6852944073523768,0.5177087354217824]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.1609142745860016,-0.8171491506507684,0.71338606911949],"aabb_xy":[[-0.25091427692002066,-0.8946315052358811],[-0.07091427225198255,-0.7396667960656558]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[-0.4647091166729832,0.3952708243306935,0.71338606911949],"aabb_xy":[[-0.4802648860832485,0.37972039108628636],[-0.449153347262718,0.41082125757510074]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.04130766784818807,0.969049878811612,0.71338606911949],"aabb_xy":[[-0.0675964921686287,0.9427784451569607],[-0.015018843527747397,0.9953213124662632]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.29883147765437756,-2.1996675181592997,0.71338606911949],"aabb_xy":[[-0.3139943506313147,-2.214832975454419],[-0.28366860467744054,-2.1845020608641814]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[0.613973350441116,-2.3618019634067027,0.71338606911949],"aabb_xy":[[0.5499733511469478,-2.425788103775557],[0.6779733497352842,-2.2978158230378485]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.23573655196126714,-2.1690756631728463,0.71338606911949],"aabb_xy":[[-0.24343974263534418,-2.1767850338715844],[-0.2280333612871901,-2.161366292474108]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.6005346519089093,-0.46074761389651053,0.71338606911949],"aabb_xy":[[-0.6238164941070405,-0.5457476151937386],[-0.5772528097107779,-0.37574761259928247]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.23066355669874072,-1.3640389873532417,0.71338606911949],"aabb_xy":[[0.22654760658666806,-1.368154542386087],[0.2347795068108134,-1.359923432320396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770682747170269,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9958.png","name":"9958"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9958.png","name":"9958"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2358.png","name":"2358"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9659.png","name":"9659"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3444.png","name":"3444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9839.png","name":"9839"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":649.2806425005663,"rotation_z_degrees":176.91722131351665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0056157738637937216,-0.009166633805831102,0.009573216709463601]},{"name":"camera_2","offset_m":[0.00984949852107235,0.014024508225496567,0.0032280923225808805]},{"name":"camera_3","offset_m":[-0.008420078290828595,0.005541869068621495,-0.0002233710073432059]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00046301806503867707,-0.0004539599934564164,-0.0001649685041871284],"end_effector_yaw_offset_degrees":0.3123485052752606},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008096566267808353,0.00014047083338089746,0.0011556298381141068],"end_effector_yaw_offset_degrees":0.6298288015671418},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007055344927463189,0.0006230546299181511,0.00041075726804000586],"end_effector_yaw_offset_degrees":-0.5023664262047267}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017821017170744566,-0.003832708284678783],"position_m":[0.19328210171707447,0.020667291715321216,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012824244063794734,-0.0006431627086782733],"position_m":[0.32211757559362053,0.32835683729132176,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014962013778530492,-0.002471834191030491],"position_m":[0.35739620137785305,0.060828165808969506,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024831088112618185,-0.00043214012683908364],"position_m":[0.22068310881126182,-0.3717321401268391,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"013844f0edfe5208b87bc8db30ff66d5ac03062bcd04a91f97274d70d507c3d4","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9958/tex_ceiling_textures_9839/tex_floor_textures_3444/tex_table_textures_2358/tex_wall_textures_9659","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":739086057057826352,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":739086057057826352,"visual_seed":739086057057826352,"scene_id":"lab_003","finished_at":"2026-09-02T23:11:34"} +{"episode_id":"ep_000014","started_at":"2026-09-02T23:11:37","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.3055514245764166,-1.9881359005004025,0.71338606911949],"aabb_xy":[[-0.323051424821466,-2.005635688339969],[-0.2880514243313672,-1.9706361126608352]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.15747854700814845,0.628989645652962,0.71338606911949],"aabb_xy":[[-0.20747854644834404,0.5790217211686456],[-0.1074785475679528,0.6789575701372782]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.4838234048997645,-0.8417559448680327,0.71338606911949],"aabb_xy":[[0.39882340648234127,-0.9266302403303178],[0.5688234033171877,-0.7568816494057479]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.04099087088375175,-2.5257864708016697,0.71338606911949],"aabb_xy":[[-0.1009908725266736,-2.5777866200936144],[0.019009130759170094,-2.473786321509726]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.4953525441910127,0.6642507405868909,0.71338606911949],"aabb_xy":[[0.47771970859748514,0.6466277945712678],[0.5129853797845403,0.6818736866025138]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.27666340481766083,-0.798430986890384,0.71338606911949],"aabb_xy":[[-0.2837037147511979,-0.8784309862900557],[-0.2696230948841239,-0.7184309874907128]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.30342297761181,-1.330843232218872,0.71338606911949],"aabb_xy":[[-0.3107052939884735,-1.4208432358283805],[-0.2961406612351462,-1.2408432286093625]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.44362089548725825,1.2273665136875596,0.71338606911949],"aabb_xy":[[0.4061208951390305,1.2155751181064758],[0.481120895835486,1.2391579092686429]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.4394857706034423,0.34781665557907004,0.71338606911949],"aabb_xy":[[0.4131969462830016,0.32154522192441876],[0.4657745949238829,0.3740880892337212]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.1223892371255969,1.0136236885631145,0.71338606911949],"aabb_xy":[[0.08488923646101819,0.9979366305628922],[0.15988923779017558,1.0293107465633364]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.57492814006161,0.7366601655585772,0.71338606911949],"aabb_xy":[[0.5578260621032418,0.7195533600273074],[0.5920302180199781,0.7537669710898469]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.376119300601589,1.1987354807155524,0.71338606911949],"aabb_xy":[[-0.4136193008937638,1.1946940053149486],[-0.3386193003094142,1.2027769561161556]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.6874163119720422,1.2761630947422287,0.71338606911949],"aabb_xy":[[0.6649163121581398,1.271688478371748],[0.7099163117859446,1.2806377111127094]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.5700209790708003,1.7070059684831498,0.71338606911949],"aabb_xy":[[-0.5924857490422053,1.6845059676042893],[-0.5475562090993951,1.7295059693620103]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.563270247082782,-1.609418188474427,0.71338606911949],"aabb_xy":[[0.521965704019046,-1.6734181880425438],[0.6045747901465179,-1.5454181889063097]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.3207988645751185,1.3796389590199798,0.71338606911949],"aabb_xy":[[0.25679886266277624,1.3237278097619694],[0.3847988664874609,1.4355501082779902]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.34205172365392267,0.8511080058438822,0.71338606911949],"aabb_xy":[[0.33412844341517434,0.8286080056058789],[0.349975003892671,0.8736080060818856]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.2669881742745409,-2.5396429383032912,0.71338606911949],"aabb_xy":[[0.25181600499290757,-2.5548117952314944],[0.28216034355617425,-2.524474081375087]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.06238451881920304,0.9278709132444138,0.71338606911949],"aabb_xy":[[-0.08488451933124364,0.9053790548790154],[-0.03988451830716244,0.9503627716098121]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.41108487938391486,0.5728775747060832,0.71338606911949],"aabb_xy":[[-0.49108487797123435,0.4935619727679224],[-0.3310848807965955,0.6521931766442441]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[-0.14714277617024707,-2.055654871766035,0.71338606911949],"aabb_xy":[[-0.18816071955661795,-2.1056548723969923],[-0.10612483278387619,-2.0056548711350777]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.009755285353707066,1.5297889322550886,0.71338606911949],"aabb_xy":[[-0.08975528751646955,1.4498337486289448],[0.07024471680905542,1.609744115881232]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.27175094700810315,0.796375932234572,0.71338606911949],"aabb_xy":[[-0.32674319764361415,0.7413759304912594],[-0.21675869637259226,0.851375933977885]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.12774726508696832,-1.0655634566926258,0.71338606911949],"aabb_xy":[[-0.1515834827275734,-1.1555634575011124],[-0.10391104744636329,-0.9755634558841395]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.3313774754561205,1.6874535507692383,0.71338606911949],"aabb_xy":[[0.3222175965122439,1.6809223327257012],[0.3405373543999971,1.6939847688127754]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.6870374528702061,-1.1746973681330923,0.71338606911949],"aabb_xy":[[0.6570698959603805,-1.2046973684309783],[0.7170050097800318,-1.1446973678352068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681853849689185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6405.png","name":"6405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6405.png","name":"6405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3596.png","name":"3596"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/898.png","name":"898"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":738.5907580650999,"rotation_z_degrees":222.014858810174,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017303958792712903,-0.01871860694120949,0.0021381423391583394]},{"name":"camera_2","offset_m":[-0.01786613026046104,0.0091513371158609,0.01010829576296532]},{"name":"camera_3","offset_m":[-0.0047677821919171574,-0.010791046360573247,0.011005013252239636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008450677291004585,-0.0019424556113245158,-0.0008334274576470202],"end_effector_yaw_offset_degrees":0.9119061165069478},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009414903517503438,-0.0014477352132586684,0.00029552934518862085],"end_effector_yaw_offset_degrees":-0.8285098063115255},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017057850741170788,-0.0013562946950716093,0.0007508574732812369],"end_effector_yaw_offset_degrees":0.8792561643430425}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009228213073031177,0.003220271458331105],"position_m":[0.19242282130730312,0.027720271458331107,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003972568462724548,-0.0002589560672649248],"position_m":[0.32737256846272456,0.32874104393273507,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046907358231498535,0.0011191279696739576],"position_m":[0.35120926417685017,0.06441912796967396,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013603182548352008,0.0013484323895554644],"position_m":[0.21806396817451648,-0.36995156761044456,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"20aa36c77ca478354c77a8677ebe99e4182b27335a277cec4aae09ce7b48b5d9","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6405/tex_ceiling_textures_898/tex_floor_textures_3596/tex_table_textures_9573/tex_wall_textures_6935","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8219245262219944687,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8219245262219944687,"visual_seed":8219245262219944687,"scene_id":"lab_003","finished_at":"2026-09-02T23:14:13"} +{"episode_id":"ep_000015","started_at":"2026-09-02T23:15:40","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[0.4857203047269165,0.3553709985399558,0.71338606911949],"aabb_xy":[[0.47248935919223517,0.3421435795179563],[0.49895125026159776,0.36859841756195516]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.0692344352417501,-0.9110865499642753,0.71338606911949],"aabb_xy":[[0.046769665270344984,-0.9335865508431358],[0.09169920521315522,-0.8885865490854148]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.2432545355882011,-1.9682448796599938,0.71338606911949],"aabb_xy":[[0.22075453606449363,-1.9907408271106142],[0.2657545351119084,-1.9457489322093726]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.4413472140024528,-0.7104480005320488,0.71338606911949],"aabb_xy":[[0.42847531050151266,-0.7904480009458849],[0.45421911750339294,-0.6304480001182126]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.3631199172134512,-0.6293301712559605,0.71338606911949],"aabb_xy":[[-0.42811991821395173,-0.6801165364106354],[-0.2981199162129507,-0.5785438061012855]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.6444022003195997,0.25251212795524003,0.71338606911949],"aabb_xy":[[-0.6622713080740552,0.2386792199780291],[-0.6265330925651442,0.26634503593245096]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.5211611956314239,1.4986962169577853,0.71338606911949],"aabb_xy":[[-0.5260604879379874,1.471019297655216],[-0.5162619033248604,1.5263731362603536]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.5512040912673704,-0.064149482017414,0.71338606911949],"aabb_xy":[[0.5287076698335061,-0.08664948182416143],[0.5737005127012343,-0.041649482210666555]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.06201177438386973,1.5138685508147245,0.71338606911949],"aabb_xy":[[0.027011776073174294,1.5061535358911786],[0.09701177269456518,1.52158356573827]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.1409327889763936,-1.9455119766509883,0.71338606911949],"aabb_xy":[[0.1327182438607096,-1.9541885669486292],[0.14914733409207756,-1.9368353863533465]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.16569783519799264,1.303347259727318,0.71338606911949],"aabb_xy":[[0.07569783869712086,1.2574356173088594],[0.25569783169886434,1.349258902145776]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.5568105964911862,-0.6282974569418249,0.71338606911949],"aabb_xy":[[0.5518545763063052,-0.6507974571439465],[0.5617666166760675,-0.6057974567397033]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.4903199706020367,-0.43734189024104664,0.71338606911949],"aabb_xy":[[0.4653199706695188,-0.4442245584619699],[0.5153199705345546,-0.43045922202012327]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.4420166800393716,-0.3132779903507501,0.71338606911949],"aabb_xy":[[-0.44905813099011926,-0.32030474208854465],[-0.43497522908862407,-0.30625123861295556]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.06452461877702009,-1.1332339116998744,0.71338606911949],"aabb_xy":[[0.039524619225281596,-1.1433763955650091],[0.08952461832875856,-1.1230914278347397]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.6365147298548739,-0.42659050873923254,0.71338606911949],"aabb_xy":[[0.6140155941286468,-0.4490905095174956],[0.6590138655811008,-0.4040905079609696]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.21399516579823546,-2.3362543396309126,0.71338606911949],"aabb_xy":[[-0.2939889893767937,-2.416254342223754],[-0.13400134221967724,-2.256254337038071]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.5533361100904048,0.7852165046539046,0.71338606911949],"aabb_xy":[[-0.5955205242512357,0.7212165043766934],[-0.5111516959295742,0.8492165049311158]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.0824553604806264,-2.1178628375196173,0.71338606911949],"aabb_xy":[[0.047455361350670744,-2.1236080585952815],[0.11745535961058207,-2.1121176164439532]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.31066495421596085,-1.3461868774718024,0.71338606911949],"aabb_xy":[[-0.3143682155450997,-1.3498888957805202],[-0.3069616928868219,-1.3424848591630842]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.29271251158072964,-1.2499467907581754,0.71338606911949],"aabb_xy":[[0.20271250924671058,-1.327429145343288],[0.3827125139147487,-1.1724644361730627]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.4515729779850187,-0.15178332551116824,0.71338606911949],"aabb_xy":[[-0.5315729766419048,-0.16628818443543103],[-0.37157297932813277,-0.13727846658690546]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[0.4944029696841865,-1.2866005411213206,0.71338606911949],"aabb_xy":[[0.44912435480303725,-1.3506005404695045],[0.5396815845653358,-1.2226005417731372]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.14282449820264442,0.7312257763214411,0.71338606911949],"aabb_xy":[[-0.1978177095397812,0.6762257759826477],[-0.08783128686550766,0.786225776660235]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.3476477850167974,1.7871240043000038,0.71338606911949],"aabb_xy":[[0.3301477847574608,1.7730324621112317],[0.36514778527613406,1.801215546488777]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[0.38279343703910684,-2.566030401890919,0.71338606911949],"aabb_xy":[[0.37479994724382487,-2.574028533831395],[0.390786926834389,-2.5580322699504436]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[-0.1423346338491146,-1.2690182600559003,0.71338606911949],"aabb_xy":[[-0.14791630548324336,-1.2815182598736756],[-0.13675296221498584,-1.2565182602381246]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.48621361812616315,1.1772100456651455,0.71338606911949],"aabb_xy":[[0.42221362082381675,1.1328436186972886],[0.5502136154285096,1.221576472633002]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[-0.43483023497117373,-0.7430333945547538,0.71338606911949],"aabb_xy":[[-0.453714618739684,-0.7619193193351066],[-0.4159458512026636,-0.724147469774401]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.1302004610043782,-0.8658238094088688,0.71338606911949],"aabb_xy":[[-0.14711119344071996,-0.8792960150014832],[-0.11328972856803642,-0.8523516038162542]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_30","position":[-0.5538609107401327,-1.094326014906732,0.71338606911949],"aabb_xy":[[-0.5783745348371385,-1.1185906082087684],[-0.5293472866431268,-1.0700614216046955]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_31","position":[0.6311138948402004,0.5795123198360717,0.71338606911949],"aabb_xy":[[0.5511138915761872,0.5659522875271582],[0.7111138981042134,0.5930723521449849]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_32","position":[-0.43381568963161876,-1.892534909096495,0.71338606911949],"aabb_xy":[[-0.49781569130961617,-1.9410523005758091],[-0.36981568795362146,-1.8440175176171807]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_33","position":[0.5947312907128672,-1.1352045894131289,0.71338606911949],"aabb_xy":[[0.5247312889041219,-1.1565583581773162],[0.6647312925216128,-1.1138508206489415]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_34","position":[-0.6097067538190736,0.9633658338325328,0.71338606911949],"aabb_xy":[[-0.6185088091280463,0.9555545076776036],[-0.6009046985101009,0.9711771599874618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6785980131295428,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6008.png","name":"6008"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6008.png","name":"6008"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5789.png","name":"5789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9363.png","name":"9363"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6537.png","name":"6537"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/459.png","name":"459"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.1346973417053,"rotation_z_degrees":106.59291954018302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0063495352846675394,0.017188671358557377,-0.0016154362959672486]},{"name":"camera_2","offset_m":[-0.017966259682105683,0.019923496575562475,-0.006587349322993666]},{"name":"camera_3","offset_m":[-0.012623308212844075,0.008084189229243186,-0.012709672178912529]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012358548145800204,0.0013492627834577912,0.0011228917560291902],"end_effector_yaw_offset_degrees":-0.8535540926090701},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011583910012329234,-0.00023747466195179145,0.00029229656265567644],"end_effector_yaw_offset_degrees":-0.6068245213617571},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016261833837356854,0.0008199110557297008,0.0006542560252208694],"end_effector_yaw_offset_degrees":0.5587943647710152}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002156534698506175,0.0038696107086286973],"position_m":[0.18934346530149382,0.028369610708628697,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00022746242260023638,0.0006082392162696237],"position_m":[0.3231725375773998,0.32960823921626964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001325956772473015,-0.0016024268288427801],"position_m":[0.354574043227527,0.06169757317115721,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.722999602248395e-05,-0.0030251884380252535],"position_m":[0.21827722999602248,-0.37432518843802526,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"494f6a6e84226b07ccb427a37d349ce01a3ff5780f2afa78d42577138240d268","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6008/tex_ceiling_textures_459/tex_floor_textures_6537/tex_table_textures_5789/tex_wall_textures_9363","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2671165117360140977,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2671165117360140977,"visual_seed":2671165117360140977,"scene_id":"lab_003","finished_at":"2026-09-02T23:18:18"} +{"episode_id":"ep_000016","started_at":"2026-09-02T23:18:20","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.17443649444911125,1.0764341277331768,0.71338606911949],"aabb_xy":[[-0.2444364978406732,1.0411183540297457],[-0.10443649105754925,1.1117499014366075]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.6553832721537387,0.6930292245131175,0.71338606911949],"aabb_xy":[[0.6216077129630457,0.6789907292999525],[0.6891588313444317,0.7070677197262826]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.5736831818943675,-2.273862494358542,0.71338606911949],"aabb_xy":[[-0.5807234918279045,-2.3538624937582138],[-0.5666428719608305,-2.193862494958871]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.5839756574462146,1.6459870134533428,0.71338606911949],"aabb_xy":[[-0.6042599601696133,1.625704388310634],[-0.5636913547228157,1.6662696385960516]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.4953069441141458,-1.8331229508744205,0.71338606911949],"aabb_xy":[[0.44520948013307216,-1.8971229513842325],[0.5454044080952194,-1.7691229503646089]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.4782959264640714,-0.8203889036019871,0.71338606911949],"aabb_xy":[[0.428312976276592,-0.8703889032445475],[0.5282788766515506,-0.7703889039594267]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.18421961860907643,1.07594970478387,0.71338606911949],"aabb_xy":[[0.14921961863258063,1.0664850887362534],[0.2192196185855723,1.0854143208314866]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.08635733896448172,-0.4845966283991907,0.71338606911949],"aabb_xy":[[-0.09131335914936294,-0.5070966286013124],[-0.08140131877960054,-0.4620966281970692]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.04316599570503199,-0.8114960710668437,0.71338606911949],"aabb_xy":[[0.03180426105174583,-0.8228645374731316],[0.05452773035831815,-0.8001276046605554]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.7024204248922556,-2.084931411905056,0.71338606911949],"aabb_xy":[[0.695378973941508,-2.0919581636428504],[0.7094618758430032,-2.0779046601672615]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.6267787039947297,0.02920743087646427,0.71338606911949],"aabb_xy":[[0.5627830065996331,-0.034792567424244414],[0.6907744013898263,0.09320742917717295]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.33377140598680677,-0.4865909427443169,0.71338606911949],"aabb_xy":[[-0.3977714066902762,-0.5326093252172379],[-0.2697714052833375,-0.4405725602713959]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.27305080065838294,-1.3336156310376155,0.71338606911949],"aabb_xy":[[-0.29805080059090083,-1.3404982992585388],[-0.24805080072586505,-1.3267329628166922]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.07504240512662697,1.7628727631736738,0.71338606911949],"aabb_xy":[[-0.13904240550416058,1.7131274963228615],[-0.011042404749093335,1.812618030024486]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.4862116314461944,0.37538122846705013,0.71338606911949],"aabb_xy":[[-0.5662116288497877,0.2953886572688673],[-0.4062116340426009,0.45537379966523295]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.14351735506566143,-0.9408392521476225,0.71338606911949],"aabb_xy":[[0.13343564798708793,-1.020839250039737],[0.15359906214423488,-0.8608392542555077]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.46909468395077214,0.8453952975510388,0.71338606911949],"aabb_xy":[[0.4611714037120238,0.8228952973130355],[0.47701796418952047,0.8678952977890422]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[0.4137322761066602,-1.0818469892255687,0.71338606911949],"aabb_xy":[[0.40909716095442683,-1.0857143243027172],[0.41836739125889355,-1.0779796541484197]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.37804473413001843,-0.3084327295831777,0.71338606911949],"aabb_xy":[[-0.42804400929845465,-0.35843273085912486],[-0.3280454589615823,-0.2584327283072305]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.6565150194556291,-1.7863417341326366,0.71338606911949],"aabb_xy":[[-0.6691418067428254,-1.7958878078342095],[-0.6438882321684327,-1.7767956604310637]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.3885208513759814,1.6799517810048266,0.71338606911949],"aabb_xy":[[-0.45252085342571347,1.6398572979155186],[-0.32452084932624947,1.7200462640941345]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.10987954403598366,-2.1414628797548705,0.71338606911949],"aabb_xy":[[-0.11868159934495637,-2.149274205909799],[-0.10107748872701094,-2.133651553599941]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.01489362178161413,-1.8919980940772705,0.71338606911949],"aabb_xy":[[-0.07989361993753319,-1.918294338627183],[0.05010637637430493,-1.8657018495273585]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[0.48264973161849745,-0.6139711418596077,0.71338606911949],"aabb_xy":[[0.4374784137703286,-0.6779711390041461],[0.5278210494666665,-0.5499711447150692]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.4063989466067648,0.03309244571089387,0.71338606911949],"aabb_xy":[[-0.4375458654503479,-0.03690755297591331],[-0.3752520277631817,0.10309244439770104]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.05295440935540374,0.8605588303053988,0.71338606911949],"aabb_xy":[[-0.09045440985276199,0.8565901467572805],[-0.015454408858045492,0.8645275138535173]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[-0.5722354377029124,-1.2480071414498173,0.71338606911949],"aabb_xy":[[-0.5756761139429696,-1.2518685744241818],[-0.5687947614628552,-1.2441457084754528]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.0069771386336268115,1.2941024994328134,0.71338606911949],"aabb_xy":[[-0.024477138892963442,1.2800109572440408],[0.010522861625709813,1.308194041621586]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[0.228138921058739,1.4161082468024957,0.71338606911949],"aabb_xy":[[0.20563892054669838,1.3936163884370973],[0.2506389215707796,1.438600105167894]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[-0.6211280037640099,0.12919622177919932,0.71338606911949],"aabb_xy":[[-0.6440437166490598,0.10629192464277581],[-0.59821229087896,0.15210051891562282]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[0.6001707763317257,-2.2298852080921296,0.71338606911949],"aabb_xy":[[0.5201769527531674,-2.3098852106849708],[0.6801645999102839,-2.1498852054992876]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[-0.4478486702891052,-1.0197492992561352,0.71338606911949],"aabb_xy":[[-0.5128486712462323,-1.0716975111898406],[-0.382848669331978,-0.9678010873224295]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[0.54061552815975,-1.2871642461025723,0.71338606911949],"aabb_xy":[[0.47061552552316355,-1.3072691110984376],[0.6106155307963362,-1.2670593811067066]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_33","position":[0.33658310830160687,-1.1502631089199225,0.71338606911949],"aabb_xy":[[0.32533805273098904,-1.1615049066440177],[0.3478281638722247,-1.1390213111958272]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_34","position":[-0.5219055247200474,-0.8850238570118725,0.71338606911949],"aabb_xy":[[-0.5258193979154699,-0.8937728724184293],[-0.5179916515246248,-0.8762748416053157]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748390442292027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8585.png","name":"8585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8585.png","name":"8585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2239.png","name":"2239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1069.png","name":"1069"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9730.png","name":"9730"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":840.9075731515154,"rotation_z_degrees":358.4048568243207,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[5.705086360709155e-05,0.013522219942004237,-0.005204422187420002]},{"name":"camera_2","offset_m":[0.016333390182232597,-0.0008343612233669348,0.0044553399466895245]},{"name":"camera_3","offset_m":[0.003769448843843625,0.00671890856801742,-0.015951296887701374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003521265963396592,0.0004384465779472902,-0.00035591355623091573],"end_effector_yaw_offset_degrees":0.6831203733486413},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00021774843908001608,-0.0013135696657990159,0.00048795069836937927],"end_effector_yaw_offset_degrees":-0.7866409830946728},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005284077964452156,-0.0008266036067117461,-0.0016115694215230129],"end_effector_yaw_offset_degrees":-0.30869606673219185}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018563956786213573,-0.0022514095522436005],"position_m":[0.19335639567862137,0.0222485904477564,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00416489982917616,-4.754188599024548e-05],"position_m":[0.31923510017082385,0.32895245811400975,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024084026733773864,-0.0010370200910846802],"position_m":[0.3583084026733774,0.062262979908915314,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004368192331325694,0.004971941680109949],"position_m":[0.21863681923313258,-0.36632805831989007,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b7a19b769b27314ae5c86df53674cb187d907dd0e6569686383dea9ad80d00e6","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8585/tex_ceiling_textures_9730/tex_floor_textures_1069/tex_table_textures_1606/tex_wall_textures_2239","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4103697784844779751,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4103697784844779751,"visual_seed":4103697784844779751,"scene_id":"lab_003","finished_at":"2026-09-02T23:20:53"} +{"episode_id":"ep_000017","started_at":"2026-09-02T23:22:20","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.3922993705829891,-1.4924544652221383,0.71338606911949],"aabb_xy":[[-0.4201444073635962,-1.52323896396045],[-0.36445433380238196,-1.4616699664838266]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.35137338269004914,-1.4136400335092727,0.71338606911949],"aabb_xy":[[0.2613733859544389,-1.4668234968265672],[0.4413733794256593,-1.3604565701919782]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.10321137077639642,-1.1915599778743502,0.71338606911949],"aabb_xy":[[-0.1832113729391589,-1.2715151615004938],[-0.023211368613633945,-1.1116047942482066]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.45201354526556237,0.39924585419116987,0.71338606911949],"aabb_xy":[[-0.5120135457734152,0.34239912050524857],[-0.39201354475770944,0.45609258787709117]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.46276433727791755,0.6775104147869078,0.71338606911949],"aabb_xy":[[0.42928517001687666,0.6440313014158008],[0.49624350453895855,0.7109895281580147]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.6693391779192739,-2.0472319984851035,0.71338606911949],"aabb_xy":[[-0.6868858728353928,-2.084732000049355],[-0.651792483003155,-2.009731996920852]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.3683657973791442,-0.8727227259517893,0.71338606911949],"aabb_xy":[[-0.3857965124581506,-0.8899948406156399],[-0.3509350823001376,-0.8554506112879383]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.0651292522968766,-1.1095013433784757,0.71338606911949],"aabb_xy":[[0.027629251112083805,-1.113919566074536],[0.10262925348166939,-1.105083120682415]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.12117659491412869,0.26976048572730615,0.71338606911949],"aabb_xy":[[-0.12525475282117843,0.2656795054790428],[-0.11709843700707896,0.2738414659755694]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.03477868967547093,-1.3849026868761536,0.71338606911949],"aabb_xy":[[-0.03022130820617687,-1.4360263505826945],[0.09977868755711874,-1.3337790231696127]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.5990197953835019,-1.2407896558441576,0.71338606911949],"aabb_xy":[[0.5490197943643667,-1.2772558715819857],[0.6490197964026372,-1.2043234401063299]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.49020995627732133,-0.46342024695038786,0.71338606911949],"aabb_xy":[[-0.5542099565512996,-0.5134863471476758],[-0.4262099560033431,-0.4133541467530999]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.623348766274723,1.1402198788972617,0.71338606911949],"aabb_xy":[[0.5858487654827276,1.1338520379390715],[0.6608487670667185,1.146587719855452]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.5466724932372911,1.287825408637386,0.71338606911949],"aabb_xy":[[0.45667249673641924,1.2419137662189277],[0.6366724897381627,1.3337370510558442]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.47263448072602565,-1.0580456153807063,0.71338606911949],"aabb_xy":[[-0.49513090215988975,-1.0805456151874535],[-0.45013805929216155,-1.0355456155739586]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.614849200459,1.5428818895731244,0.71338606911949],"aabb_xy":[[0.6055021928767047,1.5285782673554806],[0.6241962080412952,1.5571855117907687]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.3842059334113608,1.4122880168037475,0.71338606911949],"aabb_xy":[[0.3675287974182653,1.3955880928298172],[0.4008830694044563,1.4289879407776778]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.043308708791380934,-0.9174101740673639,0.71338606911949],"aabb_xy":[[-0.05591140792845739,-0.9300055702922295],[-0.030706009654304478,-0.9048147778424985]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.06379695682076159,-1.949485880904802,0.71338606911949],"aabb_xy":[[-0.08200278048200928,-1.9605112814867938],[-0.04559113315951392,-1.9384604803228105]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.48103410692350007,-1.774435037886738,0.71338606911949],"aabb_xy":[[-0.4866157785576289,-1.7869350377045137],[-0.47545243528937137,-1.7619350380689627]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.02335629553666685,1.4349446402944817,0.71338606911949],"aabb_xy":[[0.018925666181826672,1.429496268559799],[0.027786924891507025,1.440393012029164]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.42952688905919967,0.4032211646189241,0.71338606911949],"aabb_xy":[[0.42149055435791477,0.3951830453145073],[0.43756322376048445,0.4112592839233409]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.5854958698287398,0.30932657640235206,0.71338606911949],"aabb_xy":[[-0.6032893767636562,0.2915268308065544],[-0.5677023628938234,0.3271263219981497]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[0.3064354819296511,0.4330666987089793,0.71338606911949],"aabb_xy":[[0.2689354815814233,0.42127530312789563],[0.3439354822778788,0.44485809429006273]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[0.2251253854592402,-0.9060830050140665,0.71338606911949],"aabb_xy":[[0.21497236990509078,-0.9421525465868067],[0.23527840101338954,-0.870013463441326]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[0.20727741636350283,0.589232777074681,0.71338606911949],"aabb_xy":[[0.2018194707264828,0.5092327737670219],[0.21273536200052293,0.6692327803823401]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[-0.38627854694983416,-0.03375663723010813,0.71338606911949],"aabb_xy":[[-0.396034536459008,-0.04351917128934257],[-0.3765225574406602,-0.023994103170873693]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.5950477239254265,0.9273202594473462,0.71338606911949],"aabb_xy":[[-0.6037616929753608,0.9048202587881577],[-0.5863337548754918,0.9498202601065342]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_28","position":[-0.273136945514722,-0.5065288350551009,0.71338606911949],"aabb_xy":[[-0.28823924697574005,-0.5216303566861625],[-0.25803464405370385,-0.49142731342403895]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[-0.18479862465765817,0.18599425714691886,0.71338606911949],"aabb_xy":[[-0.19570440074522089,0.10599426074808971],[-0.17389284857009546,0.265994253545748]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_30","position":[0.20081946332344058,1.5112939726490366,0.71338606911949],"aabb_xy":[[0.17753762112530921,1.4262939713518084],[0.2241013055215719,1.5962939739462645]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.39775699659212527,-2.21028508279602,0.71338606911949],"aabb_xy":[[0.3858242622302972,-2.2226672356038795],[0.40968973095395333,-2.1979029299881607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6793852794117328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4066.png","name":"4066"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3744.png","name":"3744"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3520.png","name":"3520"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1554.png","name":"1554"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":605.2837040131609,"rotation_z_degrees":233.32331410733767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01449604375100007,-0.013600469304101278,-0.008881648210284698]},{"name":"camera_2","offset_m":[0.0012319993814890809,0.010582344262979375,-0.0013884054012654433]},{"name":"camera_3","offset_m":[-0.00782395492132384,0.011415362115504302,0.013243190988013288]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001421678798278525,-0.0016383711548191551,-0.0019890847586085136],"end_effector_yaw_offset_degrees":0.11371868362463289},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015169268407126562,0.0010909001289593607,-0.0013890488937816298],"end_effector_yaw_offset_degrees":0.6730844435707903},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016931230008796537,0.0018838565998301289,-0.0006750794146078577],"end_effector_yaw_offset_degrees":-0.24752476735542528}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036671144217149043,0.003087903703625814],"position_m":[0.19516711442171492,0.027587903703625814,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004829173199120164,0.002683099094408817],"position_m":[0.322917082680088,0.33168309909440885,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00014655544317947015,-0.0033718731107289755],"position_m":[0.3557534445568205,0.059928126889271016,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028285217558136526,-0.002087568910372517],"position_m":[0.22102852175581367,-0.37338756891037256,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3f14f569972ea6eaba509dd9e24ac4e2cb563dff42a3b6a937e6c8d4b252b820","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8997/tex_ceiling_textures_1554/tex_floor_textures_3520/tex_table_textures_4066/tex_wall_textures_3744","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8016807734146597072,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8016807734146597072,"visual_seed":8016807734146597072,"scene_id":"lab_003","finished_at":"2026-09-02T23:25:05"} +{"episode_id":"ep_000018","started_at":"2026-09-02T23:25:10","dimensions":{"distractor":{"count":23,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.4055460150611694,1.0055624252067203,0.71338606911949],"aabb_xy":[[0.3155460183255591,0.9523789618894258],[0.49554601179677954,1.0587458885240149]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[0.33951974641623917,-1.6208370614450123,0.71338606911949],"aabb_xy":[[0.2595197461426322,-1.693786609270729],[0.41951974668984615,-1.5478875136192956]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.06324519489321545,0.4516932839359806,0.71338606911949],"aabb_xy":[[-0.07880096430348073,0.43614285069157355],[-0.0476894254829502,0.46724371718038793]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.6014377250483839,-0.6613164164989267,0.71338606911949],"aabb_xy":[[-0.6373512294733734,-0.6972299247156811],[-0.5655242206233941,-0.6254029082821718]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.30902638274711225,1.5869678195829002,0.71338606911949],"aabb_xy":[[0.2865263827369639,1.572871599943297],[0.3315263827572605,1.6010640392225035]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.18046951013310975,0.8104951124099684,0.71338606911949],"aabb_xy":[[0.1727663194590327,0.8027857417112302],[0.1881727008071868,0.8182044831087062]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.16492194600602073,-1.9061570599800643,0.71338606911949],"aabb_xy":[[0.16049131665118055,-1.9116054317147473],[0.1693525753608609,-1.9007086882453823]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.15194772348408536,-0.29702858720943626,0.71338606911949],"aabb_xy":[[-0.2159477257044924,-0.34140167133472454],[-0.08794772126367834,-0.25265550308414797]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.10189199200859245,-0.6287591941099273,0.71338606911949],"aabb_xy":[[-0.132290103107736,-0.6591660961115967],[-0.07149388090944885,-0.5983522921082577]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.08263247293527698,-1.577379062563757,0.71338606911949],"aabb_xy":[[-0.14663247615391484,-1.6241021744627653],[-0.018632469716639136,-1.5306559506647486]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.5439611025127296,0.31910996378023615,0.71338606911949],"aabb_xy":[[-0.6339611019311003,0.2857344669360464],[-0.45396110309435855,0.3524854606244259]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.42358057999197063,1.618207735218625,0.71338606911949],"aabb_xy":[[-0.4610805804893289,1.6142390516705067],[-0.3860805794946124,1.6221764187667438]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.502654318662185,-1.270303134595332,0.71338606911949],"aabb_xy":[[0.44265431815433215,-1.3271498682812533],[0.5626543191700379,-1.2134564009094106]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[0.2592944149088541,-1.1942593017653071,0.71338606911949],"aabb_xy":[[0.2093156063985382,-1.2442593017710257],[0.30927322341916996,-1.1442593017595881]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.3726956736982606,-1.8912495589637235,0.71338606911949],"aabb_xy":[[-0.41982505270009624,-1.9552495600081252],[-0.3255662946964249,-1.8272495579193213]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.08249776122556896,-1.7388240764514276,0.71338606911949],"aabb_xy":[[0.07125270565495112,-1.7500658741755228],[0.09374281679618679,-1.7275822787273323]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.6514220430180986,-0.892134026786024,0.71338606911949],"aabb_xy":[[0.5964220433963529,-0.947117719573497],[0.7064220426398445,-0.8371503339985515]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.21537702006408055,-0.18528376446514327,0.71338606911949],"aabb_xy":[[-0.23787344149794465,-0.20778376427189071],[-0.19288059863021645,-0.16278376465839584]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.5782109648418362,-2.2787865414865043,0.71338606911949],"aabb_xy":[[-0.5933738378187734,-2.2939519987816235],[-0.5630480918648992,-2.263621084191386]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.672866838547481,-1.7066692792589557,0.71338606911949],"aabb_xy":[[0.6655845221708171,-1.7966692828684645],[0.6801491549241444,-1.6166692756494465]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.4375827335900106,1.7499381854833262,0.71338606911949],"aabb_xy":[[-0.48706315480396944,1.6859381875704746],[-0.38810231237605186,1.8139381833961783]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.4972428990507462,-1.9983205744808112,0.71338606911949],"aabb_xy":[[-0.5222428989832641,-2.0052032427017346],[-0.47224289911822837,-1.991437906259888]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.6193949621401381,0.9276451579785152,0.71338606911949],"aabb_xy":[[-0.654394962116634,0.9181805419308985],[-0.5843949621636423,0.9371097740261317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770615493174826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6745.png","name":"6745"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1280.png","name":"1280"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":646.9450169122754,"rotation_z_degrees":239.21106627756382,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00971310008056707,-0.01825134243600243,0.010070441778325091]},{"name":"camera_2","offset_m":[-0.004137378267095301,0.014950033559777014,-0.012564081310238642]},{"name":"camera_3","offset_m":[0.012323238124746016,0.019331275102551126,0.009647371405323318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005648439329726841,-0.0018945314425930296,0.00020298377945163247],"end_effector_yaw_offset_degrees":-0.4027228666003657},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014924995264950884,0.001347794488798854,-0.001045772408209386],"end_effector_yaw_offset_degrees":0.61388294441726},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001339071734146899,-0.001982058845041688,-0.0010845552939516764],"end_effector_yaw_offset_degrees":0.5791058960661775}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030175319799225974,0.001414785665183117],"position_m":[0.1945175319799226,0.02591478566518312,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027222823328143585,0.0019262194826900284],"position_m":[0.32067771766718567,0.33092621948269,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004634485702199009,-0.004353288791845928],"position_m":[0.360534485702199,0.05894671120815407,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008692142873737256,0.00025865866135651745],"position_m":[0.21906921428737372,-0.3710413413386435,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c6eaaa291a6b4e9d3dcd79a73f8fc8a12d60eb6fdb0e6b9bd9f1a0993359ebda","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3292/tex_ceiling_textures_3276/tex_floor_textures_3238/tex_table_textures_6745/tex_wall_textures_1280","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1044892493167291671,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1044892493167291671,"visual_seed":1044892493167291671,"scene_id":"lab_003","finished_at":"2026-09-02T23:27:57"} +{"episode_id":"ep_000019","started_at":"2026-09-02T23:28:00","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.41312243290324646,-0.3270064895988063,0.71338606911949],"aabb_xy":[[-0.4290069261685716,-0.3413594298976304],[-0.3972379396379213,-0.3126535492999823]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.5547275249881681,-1.4377141071382276,0.71338606911949],"aabb_xy":[[-0.6247275276247544,-1.4578189721340928],[-0.4847275223515817,-1.4176092421423618]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.0763769207718632,-1.0852302366179476,0.71338606911949],"aabb_xy":[[-0.13637692136787938,-1.140042709163171],[-0.016376920175847035,-1.0304177640727241]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.1298219550311216,-2.0885766854464687,0.71338606911949],"aabb_xy":[[0.11857689946050373,-2.099818483170564],[0.1410670106017394,-2.0773348877223734]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.22536523078217513,-1.4176521837097529,0.71338606911949],"aabb_xy":[[-0.24315873771709157,-1.4354519293055505],[-0.2075717238472587,-1.3998524381139552]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.4820917781241191,0.3675467652669244,0.71338606911949],"aabb_xy":[[-0.49184776763329296,0.3577842312076899],[-0.4723357886149452,0.37730929932615875]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.0995228688391877,1.659812302770653,0.71338606911949],"aabb_xy":[[-0.16952286524914947,1.6393743671189709],[-0.029522872429225907,1.6802502384223343]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.18395574426536343,-0.19851240732587305,0.71338606911949],"aabb_xy":[[-0.19452322392346244,-0.20905743743888158],[-0.17338826460726442,-0.18796737721286447]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.27225167635207204,1.7580760684954853,0.71338606911949],"aabb_xy":[[-0.30090100871248826,1.7294305092184092],[-0.2436023439916558,1.7867216277725608]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.5718967537257919,1.7875536146587243,0.71338606911949],"aabb_xy":[[-0.5820497692799411,1.7514840730859838],[-0.5617437381716424,1.8236231562314644]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.4031565259715586,-0.9975404896018889,0.71338606911949],"aabb_xy":[[0.38851312041752556,-1.012199209258673],[0.41779993152559153,-0.9828817699451046]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5206130908979439,-0.3959769197699412,0.71338606911949],"aabb_xy":[[-0.5705861564304595,-0.4459769195824742],[-0.4706400253654286,-0.34597691995740837]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.29165678505236703,-1.7792869964756814,0.71338606911949],"aabb_xy":[[0.24165678376852703,-1.8292658508663036],[0.34165678633620694,-1.7293081420850593]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.5213540176236675,-1.9234151305666412,0.71338606911949],"aabb_xy":[[0.48385401695908875,-1.939102188566863],[0.5588540182882461,-1.9077280725664185]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.5587170362659353,0.6034331788200036,0.71338606911949],"aabb_xy":[[-0.6387170349228213,0.5889283198957409],[-0.47871703760904927,0.6179380377442665]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.48218343239351347,-0.8229682466085195,0.71338606911949],"aabb_xy":[[0.40218343498992004,-0.9029608178067022],[0.5621834297971069,-0.7429756754103366]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.18441013460964295,0.7910465013050842,0.71338606911949],"aabb_xy":[[0.1797750194574095,0.7871791662279355],[0.18904524976187628,0.7949138363822328]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.08632567205820274,0.9883332469036294,0.71338606911949],"aabb_xy":[[0.02232567347163028,0.9413262835041206],[0.1503256706447752,1.0353402103031382]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.17044928768634704,0.7912816462675458,0.71338606911949],"aabb_xy":[[-0.17847555831697304,0.7825301512901932],[-0.16242301705572104,0.8000331412448984]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.11951438069391196,-1.6199579458752302,0.71338606911949],"aabb_xy":[[0.09496816507116124,-1.6502068424242673],[0.14406059631666268,-1.5897090493261932]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.20931893466403395,-2.506773751741816,0.71338606911949],"aabb_xy":[[0.18098922471549372,-2.511234493935533],[0.23764864461257418,-2.5023130095480988]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.6624786866252281,-1.9430211016663053,0.71338606911949],"aabb_xy":[[0.6496067831242879,-2.0230211020801416],[0.6753505901261682,-1.8630211012524691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770657162999895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4405.png","name":"4405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4405.png","name":"4405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7172.png","name":"7172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7000.png","name":"7000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7391.png","name":"7391"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.9093057959237,"rotation_z_degrees":156.58797617641787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007518124941103875,0.003975796149067481,-0.018010074131950625]},{"name":"camera_2","offset_m":[-0.018973007927224415,-0.01664608088952075,0.002605783270077565]},{"name":"camera_3","offset_m":[-0.01177028406217636,0.00971255360608424,-0.012339941344371344]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008010987781735821,-0.00014920566426959258,-0.0009510149642670282],"end_effector_yaw_offset_degrees":-0.1697384892531726},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014685848821049795,0.00022449016715494433,-0.0014157739492787597],"end_effector_yaw_offset_degrees":-0.9640535270301016},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010653249451271296,0.0008164183518590607,0.0005608617968359993],"end_effector_yaw_offset_degrees":0.5039916313819628}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00427527279938966,0.0046346604952066375],"position_m":[0.19577527279938967,0.02913466049520664,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020438255103195323,0.0007208613245777125],"position_m":[0.3213561744896805,0.32972086132457773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004225931556023659,0.0048135027083738785],"position_m":[0.3601259315560236,0.06811350270837388,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009903042482330435,-0.0028868275960940173],"position_m":[0.21720969575176696,-0.37418682759609406,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c068157fe9fdd574b66b6beda1dc4cd1cd547eb1ecc97716caaabd84e99dc79","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4405/tex_ceiling_textures_7391/tex_floor_textures_2211/tex_table_textures_7172/tex_wall_textures_7000","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1674831394320265485,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1674831394320265485,"visual_seed":1674831394320265485,"scene_id":"lab_003","finished_at":"2026-09-02T23:30:48"} +{"episode_id":"ep_000020","started_at":"2026-09-02T23:33:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.47525964387909836,0.9417810135646567,0.71338606911949],"aabb_xy":[[0.4466103115186821,0.9131354542875807],[0.5039089762395146,0.9704265728417323]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.6329967571627331,-2.0815071229786763,0.71338606911949],"aabb_xy":[[-0.6704967574549078,-2.08554859837928],[-0.5954967568705581,-2.0774656475780726]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.5229426921152979,-0.39680919862980657,0.71338606911949],"aabb_xy":[[-0.5729375250432396,-0.4468091975250501],[-0.4729478591873564,-0.34680919973456303]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.6592459227424474,0.9827855041286355,0.71338606911949],"aabb_xy":[[-0.6897301728694775,0.9327855043471396],[-0.6287616726154172,1.0327855039101315]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.361698492827661,-1.4353987113224216,0.71338606911949],"aabb_xy":[[0.32419849233030273,-1.4393673948705399],[0.3991984933250192,-1.4314300277743028]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.561606618090883,-1.2456383521870145,0.71338606911949],"aabb_xy":[[0.5230609252656819,-1.2841841232432032],[0.600152310916084,-1.2070925811308257]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.6815189039954571,0.2943418471283663,0.71338606911949],"aabb_xy":[[-0.6894421842342054,0.271841846890363],[-0.6735956237567088,0.3168418473663697]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.4376058617255952,-1.7523134597506842,0.71338606911949],"aabb_xy":[[-0.46011955354905243,-1.8223134603516915],[-0.41509216990213804,-1.6823134591496764]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.06663674920933738,-0.540810571970455,0.71338606911949],"aabb_xy":[[-0.07127186436157075,-0.5446779070476035],[-0.06200163405710398,-0.5369432368933063]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.38943228747364284,-0.799193100745367,0.71338606911949],"aabb_xy":[[-0.4694322844878908,-0.8193276524187783],[-0.30943229045939485,-0.7790585490719557]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.02712289823234071,0.8072136231012008,0.71338606911949],"aabb_xy":[[-0.05787710018508252,0.7223393276389157],[0.11212289664976394,0.8920879185634857]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.5203096452953677,-0.6488196569139533,0.71338606911949],"aabb_xy":[[-0.5653022320138181,-0.693819656188402],[-0.4753170585769173,-0.6038196576395045]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.3603682711445866,1.1262014578324884,0.71338606911949],"aabb_xy":[[0.2903682685080001,1.1060965928366229],[0.4303682737811728,1.1463063228283539]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.24309518795871243,-0.5885460181028874,0.71338606911949],"aabb_xy":[[0.21951006449481758,-0.6535460203483192],[0.2666803114226073,-0.5235460158574556]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.19146207966328554,-1.9190405379399968,0.71338606911949],"aabb_xy":[[0.1364620800415397,-1.9740242307274698],[0.2464620792850314,-1.8640568451525243]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.5131229780307642,0.21815452545280056,0.71338606911949],"aabb_xy":[[0.47934741884007115,0.2041160302396355],[0.5468985372214571,0.23219302066596556]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.21917401719232033,-1.7795711889797463,0.71338606911949],"aabb_xy":[[-0.22308789038774282,-1.788320204386303],[-0.21526014399689777,-1.7708221735731893]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.2201168728828316,-1.5573025245591638,0.71338606911949],"aabb_xy":[[-0.23356339951687496,-1.570772376212255],[-0.2066703462487883,-1.5438326729060727]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.5665633009122131,-2.510884101818393,0.71338606911949],"aabb_xy":[[0.5290633001202176,-2.517251942776583],[0.6040633017042085,-2.5045162608602025]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.6226960957625098,-2.3923160759594704,0.71338606911949],"aabb_xy":[[-0.6286626347032456,-2.3982772206188345],[-0.6167295568217741,-2.3863549313001062]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.46170258530900754,1.2752234340796935,0.71338606911949],"aabb_xy":[[0.4392025850654921,1.2630187994199218],[0.4842025855525229,1.2874280687394657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832590219915544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3323.png","name":"3323"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1674.png","name":"1674"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/994.png","name":"994"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":755.5206507348275,"rotation_z_degrees":170.7742174537608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008169885657088937,0.007599902235437283,-0.008205863639542867]},{"name":"camera_2","offset_m":[0.011824130386872907,-0.014986149618433631,-0.007883546282233627]},{"name":"camera_3","offset_m":[0.019903507427220368,0.012826663106041022,-0.00018352911102821265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003863961803562269,-0.0007401802380605097,-0.0008373155559579252],"end_effector_yaw_offset_degrees":-0.5405204907049368},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004702384515242919,0.0011155417360817648,-0.0016327187326260644],"end_effector_yaw_offset_degrees":-0.12454367202880712},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001694250968565846,-0.0005924516975334756,-0.001423789984917503],"end_effector_yaw_offset_degrees":-0.6744766597766452}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004738162260591057,0.001382980636543957],"position_m":[0.19623816226059107,0.025882980636543956,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038893697069047007,0.002795550228667853],"position_m":[0.3272893697069047,0.33179555022866786,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023596459226131817,0.0017257876617703697],"position_m":[0.3535403540773868,0.06502578766177036,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010461782882371937,0.0023406923917250987],"position_m":[0.2171538217117628,-0.36895930760827494,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b98e6d40ff4344ab4173b845fad35f43290390ed543b06dd4fa83dae2b3d7ee5","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8581/tex_ceiling_textures_994/tex_floor_textures_1674/tex_table_textures_3323/tex_wall_textures_946","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":28061770967166383,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":28061770967166383,"visual_seed":28061770967166383,"scene_id":"lab_003","finished_at":"2026-09-02T23:36:32"} +{"episode_id":"ep_000021","started_at":"2026-09-02T23:36:36","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[0.24637692075579232,1.6304662806575947,0.71338606911949],"aabb_xy":[[0.22386322893233507,1.5604662800565872],[0.26889061257924946,1.7004662812586022]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.22094242647279705,-1.1423915965528237,0.71338606911949],"aabb_xy":[[0.17094931436360522,-1.1923915972270196],[0.27093553858198904,-1.0923915958786283]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.6070818649886169,0.9716169773242589,0.71338606911949],"aabb_xy":[[-0.6770818667973624,0.9502632085600715],[-0.5370818631798715,0.9929707460884463]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.33740941232996957,-0.9698219737480243,0.71338606911949],"aabb_xy":[[0.32862818518273335,-0.9786017210365547],[0.3461906394772058,-0.9610422264594944]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.41382370640385724,-1.6797925526999533,0.71338606911949],"aabb_xy":[[0.39393266652351705,-1.6924483639846502],[0.43371474628419754,-1.6671367414152565]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.12894936031862714,1.5707234428853174,0.71338606911949],"aabb_xy":[[0.10110432353802001,1.5399389441470057],[0.15679439709923426,1.601507941623629]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.4442081493387706,1.6882249400662581,0.71338606911949],"aabb_xy":[[-0.45681084847584713,1.6756295438413926],[-0.4316054502016942,1.7008203362911236]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.6114771324531112,0.6176906906373341,0.71338606911949],"aabb_xy":[[0.547477132179133,0.5676245904400461],[0.6754771327270894,0.667756790834622]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.24520674189177483,-1.8902819754110922,0.71338606911949],"aabb_xy":[[0.1652067439109898,-1.8978835163729442],[0.3252067398725599,-1.8826804344492403]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.43445629364839444,-0.8037471668736162,0.71338606911949],"aabb_xy":[[0.36445629101180804,-0.8238520318694816],[0.5044562962849808,-0.7836423018777506]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.15388211045221867,0.7479427220858437,0.71338606911949],"aabb_xy":[[0.11638211010399088,0.7361513265047601],[0.1913821108004464,0.7597341176669272]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.29187537052244195,-1.454770783299554,0.71338606911949],"aabb_xy":[[0.25741302312430003,-1.4892646656973765],[0.32633771792058364,-1.420276900901731]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[-0.48622600121631304,-0.4893823164255684,0.71338606911949],"aabb_xy":[[-0.5361992952195735,-0.5393823169801157],[-0.43625270721305254,-0.43938231587102106]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.23085821716809418,-0.7791773106377708,0.71338606911949],"aabb_xy":[[0.18086320620864216,-0.8291773096733627],[0.2808532281275462,-0.7291773116021791]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.15434298367259258,1.7281912704178164,0.71338606911949],"aabb_xy":[[-0.20147236267442822,1.6641912693734142],[-0.10721360467075688,1.7921912714622181]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.24609850226329227,0.867288498661253,0.71338606911949],"aabb_xy":[[-0.2502144523753649,0.8631729436284074],[-0.24198255215121955,0.8714040536940985]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.4292878779057642,0.9773628009887854,0.71338606911949],"aabb_xy":[[-0.45146040488241496,0.9551871338326622],[-0.4071153509291133,0.9995384681449085]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.4993303624185652,-0.08498613563602708,0.71338606911949],"aabb_xy":[[0.47068103005814893,-0.11363169491310286],[0.5279796947789814,-0.056340576358951275]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.2729271236505681,-0.24777981107615554,0.71338606911949],"aabb_xy":[[-0.3379271236848708,-0.29448048775648283],[-0.20792712361626536,-0.20107913439582828]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.5737071052912746,-2.27618586574745,0.71338606911949],"aabb_xy":[[0.5087071041853314,-2.301151238815579],[0.638707106397218,-2.2512204926793222]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.021461357034160744,-2.072478507550501,0.71338606911949],"aabb_xy":[[-0.013538641276534702,-2.0801935224740467],[0.05646135534485619,-2.0647634926269554]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.3581261242487601,1.4881911316808911,0.71338606911949],"aabb_xy":[[0.3206261235841813,1.4725040736806685],[0.3956261249133387,1.5038781896811129]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.6181801364312374,-0.6845537199377696,0.71338606911949],"aabb_xy":[[0.6073285301823618,-0.6954130106654206],[0.629031742680113,-0.6736944292101186]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.6126433078505606,1.0348363226131174,0.71338606911949],"aabb_xy":[[0.5843135979020203,1.0303755804194004],[0.6409730177991008,1.0392970648068345]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.675013675155627,-0.20685702681373108,0.71338606911949],"aabb_xy":[[0.6328292609947964,-0.2708570270909423],[0.7171980893164579,-0.14285702653651988]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.6354464188744715,0.21400814834788617,0.71338606911949],"aabb_xy":[[0.6184363215844209,0.19787365984961225],[0.6524565161645222,0.2301426368461601]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[-0.28297658166552564,-0.8880783570842858,0.71338606911949],"aabb_xy":[[-0.37297658399954475,-0.9655607116693984],[-0.19297657933150664,-0.8105960024991731]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.41848216186268117,-2.430104455214217,0.71338606911949],"aabb_xy":[[-0.4684821622232471,-2.48008444242382],[-0.368482161502115,-2.380124468004614]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[-0.11584341196993819,-0.3860288840028132,0.71338606911949],"aabb_xy":[[-0.19584341244015419,-0.39433959161716164],[-0.03584341149972226,-0.3777181763884649]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.6279949068486295,1.4662990509222866,0.71338606911949],"aabb_xy":[[0.5781122099709333,1.416299051676012],[0.6778776037263257,1.5162990501685618]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[-0.3490579510597958,-1.2059244664716087,0.71338606911949],"aabb_xy":[[-0.4130579534025973,-1.250865317715741],[-0.2850579487169942,-1.160983615227476]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[-0.4919283612855669,0.18362648289276695,0.71338606911949],"aabb_xy":[[-0.507812854550892,0.1692735425939429],[-0.47604386802024173,0.197979423191591]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_32","position":[-0.3661585364798757,-0.4594791743791804,0.71338606911949],"aabb_xy":[[-0.37550554406217096,-0.47378279659682443],[-0.3568115288975805,-0.44517555216153637]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_33","position":[0.6980211989297211,0.46982757905967665,0.71338606911949],"aabb_xy":[[0.6829188974687028,0.4547260574286147],[0.713123500390739,0.48492910069073836]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_34","position":[0.37977297409821076,1.3228075156070265,0.71338606911949],"aabb_xy":[[0.3623422590192042,1.3055354009431754],[0.3972036891772172,1.340079630270877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781807051392174,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9306.png","name":"9306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6213.png","name":"6213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1024.png","name":"1024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8572.png","name":"8572"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":532.6288430277884,"rotation_z_degrees":346.21195843024066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016255150591152064,-0.0189829511670676,0.0008628139351254255]},{"name":"camera_2","offset_m":[0.0038087574801020756,-0.01964750924933164,0.011444010525560568]},{"name":"camera_3","offset_m":[0.009311790728049885,0.014325869270021632,0.008454266335828024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015681126413485103,-0.00044897537140516173,0.0013694700591710155],"end_effector_yaw_offset_degrees":0.7233389001574027},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021062148664313662,0.0003733406626600707,0.001681900232447351],"end_effector_yaw_offset_degrees":0.07957176921192954},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012868528907097202,-0.0003470167434190916,0.0007823873891088522],"end_effector_yaw_offset_degrees":0.9902757532034385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024894618728897745,0.0048316856934428115],"position_m":[0.1939894618728898,0.029331685693442813,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019917946588963575,0.0029117213779856896],"position_m":[0.32140820534110365,0.3319117213779857,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017578884603053715,-0.00306392158829937],"position_m":[0.3541421115396946,0.06023607841170062,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024926401495900374,-0.00012593138311057465],"position_m":[0.22069264014959003,-0.3714259313831106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4013854d8e8b2967fc0536c6b8a4b2559320c1d96f1303b296dbff7d1ea1b98c","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7157/tex_ceiling_textures_8572/tex_floor_textures_1024/tex_table_textures_9306/tex_wall_textures_6213","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2769887805224176456,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2769887805224176456,"visual_seed":2769887805224176456,"scene_id":"lab_003","finished_at":"2026-09-02T23:39:25"} +{"episode_id":"ep_000022","started_at":"2026-09-02T23:39:27","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.07264989927960641,-0.6280624742397014,0.71338606911949],"aabb_xy":[[-0.12264917444804257,-0.6780624755156487],[-0.022650624111170248,-0.5780624729637543]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.08719060340666307,-2.0773082443713733,0.71338606911949],"aabb_xy":[[-0.0998173906938594,-2.0868543180729464],[-0.0745638161194667,-2.0677621706698]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.2924221475554688,-0.7851579313651071,0.71338606911949],"aabb_xy":[[0.2024221438785505,-0.8465903379422114],[0.3824221512323868,-0.7237255247880028]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.5099576399322403,-0.833991273693127,0.71338606911949],"aabb_xy":[[-0.5163714535754251,-0.8404010939407953],[-0.5035438262890553,-0.8275814534454586]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.07622335351015308,-0.8575745930665237,0.71338606911949],"aabb_xy":[[0.012223351597810753,-0.9134857423245343],[0.14022335542249542,-0.8016634438085134]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[-0.43316998635470993,0.2124444437611155,0.71338606911949],"aabb_xy":[[-0.4677610692087551,0.1474444434760844],[-0.39857890350066466,0.2774444440461465]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.5760493123248834,-0.7121535741142151,0.71338606911949],"aabb_xy":[[-0.5804799416797237,-0.7176019458488978],[-0.5716186829700434,-0.7067052023795326]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.4193774326161992,0.9313875064746018,0.71338606911949],"aabb_xy":[[0.40194671753719263,0.9141153918107509],[0.43680814769520565,0.9486596211384525]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.4476318293076994,1.098663829249384,0.71338606911949],"aabb_xy":[[-0.5126318303081999,1.047877464094709],[-0.3826318283071989,1.149450194404059]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.21925437699801242,-2.249388439766822,0.71338606911949],"aabb_xy":[[-0.30425437541543565,-2.3342627352291068],[-0.1342543785805892,-2.164514144304537]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.42661082801375527,-0.8145164653920203,0.71338606911949],"aabb_xy":[[-0.45183166487359483,-0.8397402162449069],[-0.4013899911539155,-0.7892927145391334]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[0.5284262362044827,-0.4375219949102389,0.71338606911949],"aabb_xy":[[0.5137828306504496,-0.45218071456702313],[0.5430696417585156,-0.4228632752534546]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.020552146384914094,1.571419833489219,0.71338606911949],"aabb_xy":[[-0.06944785594910496,1.4939374789041067],[0.11055214871893315,1.648902188074332]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5842518868158,-2.3521206058381785,0.71338606911949],"aabb_xy":[[-0.6129012191762162,-2.3807661651152543],[-0.5556025544553838,-2.3234750465611027]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.36829975097014367,1.3200567872333568,0.71338606911949],"aabb_xy":[[-0.41829975133070973,1.270076800023754],[-0.3182997506095776,1.3700367744429598]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.11167212104084412,-1.910515565868775,0.71338606911949],"aabb_xy":[[-0.16166523315003606,-1.9605155665429708],[-0.06167900893165226,-1.8605155651945795]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.029120887956970987,1.1313018288173047,0.71338606911949],"aabb_xy":[[-0.10911471153552921,1.051301826224463],[0.050872935621587234,1.2113018314101462]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.40804615282514656,-1.3631599089363151,0.71338606911949],"aabb_xy":[[-0.4558523204389152,-1.428159911643374],[-0.36023998521137796,-1.2981599062292561]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.33319232884459704,1.1405403608685676,0.71338606911949],"aabb_xy":[[0.2681923277386538,1.1155749878004393],[0.3981923299505404,1.1655057339366959]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.14694510431593755,0.902274679951828,0.71338606911949],"aabb_xy":[[0.13617213039456977,0.8672746817327889],[0.15771807823730533,0.9372746781708668]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.11259673530874281,1.1619968560941967,0.71338606911949],"aabb_xy":[[0.1029650990883132,1.1523595433144875],[0.12222837152917243,1.1716341688739054]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.5805862301569835,-1.3429882704274705,0.71338606911949],"aabb_xy":[[0.5165862298965126,-1.3879970697803985],[0.6445862304174542,-1.2979794710745425]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.5827182420850325,-2.305531201724011,0.71338606911949],"aabb_xy":[[0.5277445200486998,-2.3605312012882442],[0.6376919641213655,-2.250531202159778]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.37725123643856195,1.5614253259322717,0.71338606911949],"aabb_xy":[[-0.38453355281522555,1.4714253223227625],[-0.36996892006189824,1.6514253295417805]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.10455211066702974,-2.0212720264636714,0.71338606911949],"aabb_xy":[[0.09729086309662233,-2.034059036727181],[0.11181335823743715,-2.008485016200162]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.44422162698379297,-1.9207217931597658,0.71338606911949],"aabb_xy":[[-0.514221630375355,-1.9560375668631962],[-0.37422162359223105,-1.8854060194563345]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.5365133798369937,0.17475848514752235,0.71338606911949],"aabb_xy":[[0.45651338124967417,0.09544288320936146],[0.616513378424313,0.25407408708568324]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[-0.021898673579817785,-1.6701051593915808,0.71338606911949],"aabb_xy":[[-0.03969218051473422,-1.6879049049873784],[-0.0041051666449013445,-1.652305413795783]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[0.5476448697306937,-0.25819681298798125,0.71338606911949],"aabb_xy":[[0.5101448685459008,-0.2626150356840417],[0.5851448709154864,-0.2537785902919207]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[-0.11984868841427998,0.8219157056923905,0.71338606911949],"aabb_xy":[[-0.19984868542852796,0.8017811540189792],[-0.039848691400032,0.8420502573658017]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[0.5771743290894238,0.8193957395749467,0.71338606911949],"aabb_xy":[[0.5131743268690168,0.7750226554496583],[0.6411743313098308,0.8637688237002349]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_31","position":[-0.52993180450989,0.8214204362337072,0.71338606911949],"aabb_xy":[[-0.5649318036398456,0.8156752151580431],[-0.4949318053799343,0.8271656573093713]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6773223813678841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3801.png","name":"3801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3801.png","name":"3801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7772.png","name":"7772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1885.png","name":"1885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8918.png","name":"8918"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.5622980909302,"rotation_z_degrees":26.329670851596816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019555823490425978,-0.01848094615903793,-0.012209039722045935]},{"name":"camera_2","offset_m":[-0.012419707937599776,0.008099470079837447,0.017594682764194926]},{"name":"camera_3","offset_m":[0.006104045445767321,-0.005210756526064508,-0.009549722844390814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040682334244852934,-0.0010955367937000911,-0.0011700003851612979],"end_effector_yaw_offset_degrees":0.9696283813985771},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006172637742815575,0.001829504929923783,0.0002790659897558526],"end_effector_yaw_offset_degrees":-0.24047596768962776},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0001397567837199713,-0.000980885118008636,-0.0016896067142188902],"end_effector_yaw_offset_degrees":-0.42776307136880165}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009197067990972399,-0.004711262890320288],"position_m":[0.19241970679909726,0.019788737109679714,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006488536772911689,-0.0036209057120415757],"position_m":[0.3240488536772912,0.3253790942879584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025218345913211723,0.0017039338334873082],"position_m":[0.35842183459132115,0.0650039338334873,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037459862009684365,0.0033623496699110014],"position_m":[0.21445401379903156,-0.367937650330089,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"907b50d7dbb40d82b0b20e6de01a537c519235f0a0cb5dcaf360a579d686af9b","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3801/tex_ceiling_textures_6430/tex_floor_textures_8918/tex_table_textures_7772/tex_wall_textures_1885","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6370501505713416046,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6370501505713416046,"visual_seed":6370501505713416046,"scene_id":"lab_003","finished_at":"2026-09-02T23:42:09"} +{"episode_id":"ep_000023","started_at":"2026-09-02T23:43:36","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.48666198413219397,0.8607473141730595,0.71338606911949],"aabb_xy":[[0.4769059946230201,0.8509847801138251],[0.49641797364136786,0.8705098482322939]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.07661864573819532,-2.1312250782260778,0.71338606911949],"aabb_xy":[[-0.15661864432551476,-2.2105406801642387],[0.003381352849124094,-2.051909476287917]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.43914953784597976,1.2892784024341535,0.71338606911949],"aabb_xy":[[0.3751495359336375,1.233367253176143],[0.5031495397583221,1.345189551692164]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.3729808055772365,1.150225764582272,0.71338606911949],"aabb_xy":[[-0.3951533325538873,1.1280500974261487],[-0.35080827860058567,1.1724014317383948]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.1374562871966435,-1.4037450752355947,0.71338606911949],"aabb_xy":[[0.04745628777827257,-1.4371205720797842],[0.22745628661501435,-1.3703695783914047]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.33433039307553836,0.8362943818501565,0.71338606911949],"aabb_xy":[[0.31999596794937496,0.8242341662956176],[0.34866481820170186,0.8483545974046953]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.6257656247336485,-1.9264423861843611,0.71338606911949],"aabb_xy":[[0.6131388374464521,-1.9359884598859338],[0.6383924120208448,-1.916896312482788]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.5302065915169132,-1.2042273234211027,0.71338606911949],"aabb_xy":[[-0.5902065913634801,-1.2610459456141414],[-0.4702065916703465,-1.147408701228064]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.16836581097675907,-1.6855088625634078,0.71338606911949],"aabb_xy":[[0.1318699903494803,-1.7219928049901652],[0.20486163160403778,-1.64902492013665]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.2642245621099344,-1.8871509822088415,0.71338606911949],"aabb_xy":[[0.2582580231691986,-1.8931121268682052],[0.2701911010506702,-1.8811898375494769]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.0884205887685704,1.65578464087231,0.71338606911949],"aabb_xy":[[0.03842058840800432,1.6058046536627069],[0.13842058912913643,1.7057646280819128]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.17918274622001096,-2.0460627865251806,0.71338606911949],"aabb_xy":[[0.12918791329206936,-2.096062785420424],[0.22917757914795256,-1.996062787629937]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.38027562978936735,1.7192837170881439,0.71338606911949],"aabb_xy":[[-0.4602694533679256,1.639283714495302],[-0.30028180621080913,1.7992837196809852]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.5819868291924793,-2.0768591620461074,0.71338606911949],"aabb_xy":[[-0.5901004838658563,-2.0849649785001363],[-0.5738731745191021,-2.0687533455920786]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.6015609933815672,-0.6019535050499838,0.71338606911949],"aabb_xy":[[-0.6097755384972511,-0.610630095347625],[-0.5933464482658831,-0.5932769147523423]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.3770579338345095,0.4892101936605844,0.71338606911949],"aabb_xy":[[-0.38966063297158593,0.47661479743571894],[-0.364455234697433,0.5018055898854499]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.08063636597788515,0.7901953244178084,0.71338606911949],"aabb_xy":[[0.0006363657042781772,0.7172457765920918],[0.16063636625149214,0.8631448722435252]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.42324248236893164,-1.3816508463679102,0.71338606911949],"aabb_xy":[[-0.48724248166309986,-1.4456369867367642],[-0.3592424830747634,-1.3176647059990558]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.14235789693959877,-1.5749856669017053,0.71338606911949],"aabb_xy":[[0.1346547062655217,-1.5826950376004432],[0.1500610876136758,-1.567276296202967]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.5461797538356803,-1.2251798929738207,0.71338606911949],"aabb_xy":[[0.5405980822015514,-1.237679892791596],[0.551761425469809,-1.212679893156045]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.22796044471272192,-1.1131742885075866,0.71338606911949],"aabb_xy":[[0.14796044673193687,-1.1207758294694385],[0.307960442693507,-1.1055727475457346]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.23600548034313884,-0.7632953334175288,0.71338606911949],"aabb_xy":[[-0.3260054826771579,-0.8407776880026414],[-0.14600547800911975,-0.6858129788324161]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.07451510112274695,1.4692906697734007,0.71338606911949],"aabb_xy":[[-0.08250859091802899,1.4612925378329253],[-0.06652161132746494,1.4772888017138766]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.07312710625147589,-1.2138601011379946,0.71338606911949],"aabb_xy":[[-0.15312710341105118,-1.2254077020958116],[0.006872890908099408,-1.2023125001801775]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.45777132653855235,0.27779082727152904,0.71338606911949],"aabb_xy":[[-0.5077501350488682,0.22779082726581024],[-0.4077925180282365,0.32779082727724784]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[0.23762327562478902,-1.05653756111581,0.71338606911949],"aabb_xy":[[0.20262327735466912,-1.0636116888107983],[0.2726232738949089,-1.049463433420822]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.47676634492625414,0.6954929027258538,0.71338606911949],"aabb_xy":[[-0.531759556263391,0.6404929023870602],[-0.42177313358911744,0.7504929030646476]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.3811610859408092,0.7400514379265113,0.71338606911949],"aabb_xy":[[0.3731247512395244,0.7320133186220943],[0.38919742064209406,0.7480895572309278]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[0.602512854405018,-1.5643382648290898,0.71338606911949],"aabb_xy":[[0.5385128541310399,-1.614404365026378],[0.6665128546789963,-1.514272164631802]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.6622770941841206,-1.5240572019125547,0.71338606911949],"aabb_xy":[[-0.679707809263127,-1.5413293165764053],[-0.644846379105114,-1.5067850872487036]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_30","position":[-0.17247450599684477,1.8198058357674012,0.71338606911949],"aabb_xy":[[-0.2099745058138783,1.8151676244562593],[-0.1349745061798112,1.824444047078543]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847604930029928,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1427.png","name":"1427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1427.png","name":"1427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5625.png","name":"5625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5100.png","name":"5100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3163.png","name":"3163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4697.png","name":"4697"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":536.120261218914,"rotation_z_degrees":309.58223791344113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015360542308145753,0.014509387949824423,-0.017956569531648658]},{"name":"camera_2","offset_m":[-0.008310217124853728,-0.009868583894275371,0.0035955425454164795]},{"name":"camera_3","offset_m":[-0.009223525170932159,-0.0021235922560670153,0.008912583292467732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012529282333294152,0.000775491943309344,0.0009363883918322696],"end_effector_yaw_offset_degrees":-0.7663443843928051},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003206975699523366,-3.781507411851608e-05,0.0008358107076535158],"end_effector_yaw_offset_degrees":0.5374105066638226},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013650555817961768,0.0008329176834458701,-0.0006807576203655135],"end_effector_yaw_offset_degrees":-0.6166309602738222}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004855354222674786,0.004231248917198547],"position_m":[0.18664464577732523,0.028731248917198547,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004482517448245343,0.004816439496743767],"position_m":[0.32788251744824537,0.3338164394967438,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001985445958555424,-0.004132197699660582],"position_m":[0.35391455404144456,0.05916780230033941,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004442768043547713,-0.002686752334428546],"position_m":[0.2226427680435477,-0.3739867523344286,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a177afd14ea13075fba371fa74d84e203b17dde62df9c5c0febc6043e0f6482e","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1427/tex_ceiling_textures_4697/tex_floor_textures_3163/tex_table_textures_5625/tex_wall_textures_5100","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8907891091030783722,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8907891091030783722,"visual_seed":8907891091030783722,"scene_id":"lab_003","finished_at":"2026-09-02T23:46:27"} +{"episode_id":"ep_000024","started_at":"2026-09-02T23:46:29","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.4053107068718151,0.5603018125287793,0.71338606911949],"aabb_xy":[[-0.45529365705929437,0.5103018128862187],[-0.3553277566843357,0.6103018121713395]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.0773078213313404,-2.4474946462631406,0.71338606911949],"aabb_xy":[[0.022307823129595557,-2.488016612889578],[0.1323078195330852,-2.406972679636703]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.3143485667831189,-1.5888480882003098,0.71338606911949],"aabb_xy":[[-0.3643273752934348,-1.6388480882060288],[-0.264369758272803,-1.5388480881945912]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.6332488952776427,-1.6499928229009115,0.71338606911949],"aabb_xy":[[0.598248893926161,-1.6703525588577324],[0.6682488966291245,-1.6296330869440907]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.16805887249471474,1.7855897298953978,0.71338606911949],"aabb_xy":[[0.15295657103369661,1.7704882082643354],[0.1831611739557328,1.8006912515264593]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.19585178190153618,-0.9103773426949104,0.71338606911949],"aabb_xy":[[0.16545367080239254,-0.94078424469658],[0.2262498930006797,-0.8799704406932409]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.27340354483986634,-1.4056682723481733,0.71338606911949],"aabb_xy":[[-0.2959035443635737,-1.4281642197987936],[-0.2509035453161589,-1.383172324897552]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.6532485747050469,-0.8655447334616551,0.71338606911949],"aabb_xy":[[0.603248573421207,-0.915523587852277],[0.7032485759888869,-0.8155658790710328]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[0.49599203064692454,0.24585305083699138,0.71338606911949],"aabb_xy":[[0.49191387273987486,0.24177207058872807],[0.5000701885539742,0.2499340310852547]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.5418486272771572,0.6001582974945046,0.71338606911949],"aabb_xy":[[0.4778486281073873,0.5533916103755421],[0.6058486264469272,0.646924984613467]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.5676812389491442,0.8933681753001919,0.71338606911949],"aabb_xy":[[-0.6316812353447173,0.8294048868814583],[-0.5036812425535712,0.9573314637189254]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.09896952854688035,-0.5149099859034423,0.71338606911949],"aabb_xy":[[-0.10506415643499865,-0.5234793804551111],[-0.09287490065876201,-0.5063405913517737]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.1570674286200442,1.7553422878773834,0.71338606911949],"aabb_xy":[[-0.20706742963917948,1.7188760721395557],[-0.10706742760090893,1.7918085036152116]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.32897370619806754,1.5693369679900795,0.71338606911949],"aabb_xy":[[-0.37907117017914116,1.5053369674802677],[-0.2788762422169939,1.6333369684998913]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.09776262618461351,1.5536645541166956,0.71338606911949],"aabb_xy":[[-0.18776262477908345,1.5374139678032748],[-0.007762627590143567,1.5699151404301168]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.6255635754573963,-1.8336984104222078,0.71338606911949],"aabb_xy":[[-0.689563575717867,-1.8787072097751356],[-0.5615635751969253,-1.7886896110692796]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.2057108715100145,-2.2863682594075803,0.71338606911949],"aabb_xy":[[-0.22281294946838262,-2.30347506493885],[-0.1886087935516463,-2.2692614538763105]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.6179503047844288,-0.23742617221751727,0.71338606911949],"aabb_xy":[[0.5479503021478423,-0.2575310372133827],[0.687950307421015,-0.21732130722165172]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.1852046527067106,0.7137254332595444,0.71338606911949],"aabb_xy":[[-0.22270465389150337,0.7093072105634838],[-0.14770465152191778,0.7181436559556048]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.4451541827338799,-2.313171400328786,0.71338606911949],"aabb_xy":[[-0.47863334999492085,-2.3466505136998936],[-0.41167501547283897,-2.2796922869576797]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.5188647328158515,1.3790955322474132,0.71338606911949],"aabb_xy":[[0.5154240565757944,1.3752340992730487],[0.5223054090559087,1.3829569652217777]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.13810167467032264,0.43056929133532806,0.71338606911949],"aabb_xy":[[-0.14343418932493565,0.42524496309009246],[-0.13276916001570968,0.43589361958056366]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.5466554788204276,-0.88748802704508,0.71338606911949],"aabb_xy":[[0.5357497027328649,-0.9674880234439092],[0.5575612549079904,-0.8074880306462509]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6786575576826638,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7207.png","name":"7207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4479.png","name":"4479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4439.png","name":"4439"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7524.png","name":"7524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5332.png","name":"5332"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":639.5072620030231,"rotation_z_degrees":137.6462097688844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033245835380200754,-0.006332415150071805,-0.018398145290028978]},{"name":"camera_2","offset_m":[-0.002372855159871786,0.015443432827554341,-0.0014195472261332859]},{"name":"camera_3","offset_m":[-0.009013597641942903,-0.0034805274505185363,-0.018506848049576138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009684488487647263,0.0003576472580860612,-0.00019885291646270305],"end_effector_yaw_offset_degrees":0.7965512800152339},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005104504102802583,-0.00020863368050201645,-0.00046997063024007573],"end_effector_yaw_offset_degrees":-0.21943425361433122},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007296521857304472,-0.0015038820379209032,-0.0013949168424183859],"end_effector_yaw_offset_degrees":-0.475805976194251}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014936827644553927,-0.0015968332657189323],"position_m":[0.1929936827644554,0.02290316673428107,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016676520778332806,0.0033084355310875812],"position_m":[0.32173234792216676,0.3323084355310876,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004512222474661491,-0.000920239940645615],"position_m":[0.3604122224746615,0.06237976005935438,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002557512198392694,-0.001306213249567032],"position_m":[0.21845575121983926,-0.37260621324956705,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b66a6b4fefe4902b37868a4618784135c16431431974aae61012f056df01d994","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7207/tex_ceiling_textures_5332/tex_floor_textures_7524/tex_table_textures_4479/tex_wall_textures_4439","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7997972503568853596,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7997972503568853596,"visual_seed":7997972503568853596,"scene_id":"lab_003","finished_at":"2026-09-02T23:49:05"} +{"episode_id":"ep_000025","started_at":"2026-09-02T23:49:08","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.3184875248649821,1.5379989076646567,0.71338606911949],"aabb_xy":[[0.3008118942763838,1.5203186913852538],[0.33616315545358044,1.5556791239440593]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.030530702681935584,-1.875450231548668,0.71338606911949],"aabb_xy":[[-0.003931644716206223,-1.90994411394649],[0.06499305008007736,-1.8409563491508447]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.6485815165991289,0.8009502377952988,0.71338606911949],"aabb_xy":[[0.5935815174225394,0.7459605630203412],[0.7035815157757184,0.8559399125702565]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.46250176633402473,0.8574493551575277,0.71338606911949],"aabb_xy":[[-0.5174754883703576,0.8024493555932947],[-0.4075280442976919,0.912449354721761]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.11544495318416315,-2.2642875576010684,0.71338606911949],"aabb_xy":[[0.11136679527711339,-2.2683685378493323],[0.11952311109121287,-2.2602065773528053]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.6193410580830813,-2.3921157004671456,0.71338606911949],"aabb_xy":[[-0.689341054493043,-2.412553636118827],[-0.5493410616731194,-2.3716777648154634]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[-0.47720229907537537,1.098101215753832,0.71338606911949],"aabb_xy":[[-0.49970229931889076,1.0858965810940602],[-0.45470229883186,1.110305850413604]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.13245375494026235,-1.6194122725501583,0.71338606911949],"aabb_xy":[[-0.16745375483628122,-1.6277865080620981],[-0.09745375504424349,-1.6110380370382185]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.3730285410382166,-1.0882805503533863,0.71338606911949],"aabb_xy":[[0.2930285440239686,-1.1084151020267976],[0.45302853805246457,-1.068145998679975]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.5374251728675867,-0.23876937215707184,0.71338606911949],"aabb_xy":[[-0.5544352701576373,-0.25490386065534576],[-0.520415075577536,-0.2226348836587979]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.4537353814072307,0.28671794650117954,0.71338606911949],"aabb_xy":[[0.4312353818835232,0.26422199905055865],[0.47623538093093803,0.3092138939518002]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.34545558129508325,-1.9688997088669145,0.71338606911949],"aabb_xy":[[0.33732789310177,-1.9778133172776224],[0.35358326948839647,-1.959986100456207]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.45087834857265197,0.9328906607402327,0.71338606911949],"aabb_xy":[[0.44031086891455296,0.9223456306272243],[0.461445828230751,0.9434356908532414]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.6218315148125338,0.1085398123677197,0.71338606911949],"aabb_xy":[[-0.6311251330496844,0.07103981387958579],[-0.6125378965753833,0.1460398108558536]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.2267157787752378,0.10528678914877077,0.71338606911949],"aabb_xy":[[-0.23321741528324247,0.09551896712246101],[-0.22021414226723324,0.11505461117508055]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.4072891031114063,-1.1996400480827918,0.71338606911949],"aabb_xy":[[0.39212623013446934,-1.2148055053779108],[0.4224519760883435,-1.1844745907876733]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.005503975268360994,-2.481151605836505,0.71338606911949],"aabb_xy":[[-0.0017572723020464198,-2.493938616100014],[0.012765222838768409,-2.468364595572995]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.659404848698193,-1.7499920765371306,0.71338606911949],"aabb_xy":[[-0.6880541810586092,-1.7786376358142064],[-0.6307555163377767,-1.7213465172600548]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.5098030562714674,0.546314312364526,0.71338606911949],"aabb_xy":[[-0.5998030556898382,0.5129388155203362],[-0.4198030568530964,0.5796898092087156]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.1592260693015496,0.931820248646154,0.71338606911949],"aabb_xy":[[0.1342260700295873,0.9154748850499916],[0.18422606857351187,0.9481656122423163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756963758278228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7824.png","name":"7824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7824.png","name":"7824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5118.png","name":"5118"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8058.png","name":"8058"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9996.png","name":"9996"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.9070901469299,"rotation_z_degrees":347.27706376949413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007406127053357196,-0.013010119935450967,-0.013370547814561977]},{"name":"camera_2","offset_m":[-0.01816335354248714,-0.018337880075269642,0.015813101548234777]},{"name":"camera_3","offset_m":[-0.00947583734920459,-0.0007005035646922668,-0.008685667200431148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001014744734215201,-0.0018477744247175822,0.001006802981396176],"end_effector_yaw_offset_degrees":0.4930111882928252},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019239197389985456,-0.0016560894487511423,0.0005421762054867276],"end_effector_yaw_offset_degrees":0.9130967677127466},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00058304291107704,0.00043722824334179984,0.0016594841287412647],"end_effector_yaw_offset_degrees":-0.8405813025083075}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025696026977818764,0.0013190937935271766],"position_m":[0.18893039730221814,0.025819093793527176,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002727590003878856,-0.0008663630443025558],"position_m":[0.3206724099961212,0.32813363695569747,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037205020500596354,0.0029235606308146223],"position_m":[0.35217949794994036,0.06622356063081462,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00014509494259812815,-0.003945853130923766],"position_m":[0.21805490505740188,-0.3752458531309238,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3b205ae7135bc7a10cfc2771f2b385fc582254357d94513765bec4ab866337c5","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7824/tex_ceiling_textures_9996/tex_floor_textures_6237/tex_table_textures_5118/tex_wall_textures_8058","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8866183580133362950,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8866183580133362950,"visual_seed":8866183580133362950,"scene_id":"lab_003","finished_at":"2026-09-02T23:52:03"} +{"episode_id":"ep_000026","started_at":"2026-09-02T23:52:06","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.4998869877480434,-0.31719860692740554,0.71338606911949],"aabb_xy":[[0.49498769544147986,-0.34487552622997425],[0.5047862800546068,-0.2895216876248367]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.6366684499151084,-0.11207838476992427,0.71338606911949],"aabb_xy":[[-0.6599502921132396,-0.1970783860671523],[-0.613386607716977,-0.027078383472696196]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.04590790273813394,-2.150375079125611,0.71338606911949],"aabb_xy":[[-0.0809079026341528,-2.158749314637551],[-0.010907902842115067,-2.142000843613671]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.3191720992530953,-0.2884191271577188,0.71338606911949],"aabb_xy":[[-0.32738664436877923,-0.29709571745536],[-0.3109575541374113,-0.27974253686007744]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.37562530191387666,-1.8964101707918948,0.71338606911949],"aabb_xy":[[0.32563218980468484,-1.9464101714660909],[0.42561841402306866,-1.8464101701176996]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.44896375111463716,0.6508121402479392,0.71338606911949],"aabb_xy":[[0.418479500987607,0.6008121404664433],[0.4794480012416673,0.7008121400294351]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.14630860530657142,-1.145710738080335,0.71338606911949],"aabb_xy":[[-0.155602223543722,-1.183210736568469],[-0.13701498706942083,-1.1082107395922012]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.3627500878521348,0.9536963658212287,0.71338606911949],"aabb_xy":[[-0.4077500893183637,0.9086965089597482],[-0.31775008638590596,0.9986962226827095]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.24863218465995163,1.7344544195376064,0.71338606911949],"aabb_xy":[[-0.28717787748515267,1.6959086484814176],[-0.2100864918347506,1.773000190593795]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.23017114529299654,1.7680706501165129,0.71338606911949],"aabb_xy":[[0.22574051593815636,1.7626222783818306],[0.2346017746478367,1.7735190218511956]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.43907590811941366,-2.04633193828452,0.71338606911949],"aabb_xy":[[-0.5030759072891835,-2.0930986254034822],[-0.3750759089496437,-1.9995652511655575]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.5682965151511117,0.4342457929835266,0.71338606911949],"aabb_xy":[[0.48830269157255346,0.3542457903906851],[0.6482903387296699,0.5142457955763682]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.27815563335139837,0.4349985940605161,0.71338606911949],"aabb_xy":[[-0.31917357673776925,0.3849985934295587],[-0.2371376899650275,0.4849985946914734]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.3284515882580661,-2.0774265191297885,0.71338606911949],"aabb_xy":[[0.2644515868500754,-2.1292154706537127],[0.39245158966605675,-2.0256375676058633]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.685017280565301,1.0304191534579665,0.71338606911949],"aabb_xy":[[0.6505548025522131,1.0237554762750436],[0.7194797585783886,1.037082830640889]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.2950143008603723,-0.7380231971747193,0.71338606911949],"aabb_xy":[[0.21501429759635915,-0.7515832294836327],[0.3750143041243854,-0.724463164865806]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.6017427895364973,-2.306296136299446,0.71338606911949],"aabb_xy":[[-0.6867427879539205,-2.391170431761731],[-0.5167427911190741,-2.221421840837161]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.06175781123369961,0.6444573732089864,0.71338606911949],"aabb_xy":[[0.04860656526241025,0.6194573734522999],[0.07490905720498897,0.669457372965673]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[-0.06968621208602699,-0.65246647257112,0.71338606911949],"aabb_xy":[[-0.12468621028777183,-0.6929884391975574],[-0.014686213884282163,-0.6119445059446822]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.5959717139555712,-2.0290911681421533,0.71338606911949],"aabb_xy":[[-0.6158627538359116,-2.04174697942685],[-0.5760806740752311,-2.0164353568574565]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.04119704117151002,0.8403886703168482,0.71338606911949],"aabb_xy":[[0.018697040659469415,0.8178968119514499],[0.06369704168355061,0.8628805286822466]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.08905979404710695,-1.8625989294875047,0.71338606911949],"aabb_xy":[[-0.13904274423458626,-1.912598929130065],[-0.03907684385962761,-1.812598929844944]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.6589566652038816,-0.3112618498776465,0.71338606911949],"aabb_xy":[[0.594956664826348,-0.36100711672845875],[0.7229566655814152,-0.2615165830268342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6763914599337455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5119.png","name":"5119"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5119.png","name":"5119"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4243.png","name":"4243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/16.png","name":"16"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8544.png","name":"8544"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5846.png","name":"5846"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":552.7218671794487,"rotation_z_degrees":228.29070843900107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002926335002288529,0.016057870486384723,0.0030999078013792675]},{"name":"camera_2","offset_m":[0.0027213539313161277,0.006312626566926844,-0.018599890873366515]},{"name":"camera_3","offset_m":[0.012966092812772317,-0.0037402547831661657,-0.010504958334503546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001127210011051775,0.0006880377368811653,1.3254133945809175e-05],"end_effector_yaw_offset_degrees":0.43734039302057437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000605054763316367,0.0005421782927030757,0.00038103354074589535],"end_effector_yaw_offset_degrees":0.01648828733659302},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00043315044232328584,0.0019341704188218355,0.0014344108758003928],"end_effector_yaw_offset_degrees":0.6296939591214832}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012513888128980167,-0.003108122013225855],"position_m":[0.19024861118710198,0.021391877986774145,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00030251649260601074,-0.003821942004063619],"position_m":[0.32309748350739403,0.3251780579959364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034427302698625773,0.0042389518724651526],"position_m":[0.3524572697301374,0.06753895187246514,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013318851316445127,-0.00016832261894304899],"position_m":[0.2195318851316445,-0.3714683226189431,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4d2d2722d73820b4c412881f3a251910551eb256dd7e78755945e8edc9f7b793","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5119/tex_ceiling_textures_5846/tex_floor_textures_8544/tex_table_textures_4243/tex_wall_textures_16","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":489006624556590353,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":489006624556590353,"visual_seed":489006624556590353,"scene_id":"lab_003","finished_at":"2026-09-02T23:54:37"} +{"episode_id":"ep_000027","started_at":"2026-09-02T23:56:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[0.3033005946858407,-1.5011988129202973,0.71338606911949],"aabb_xy":[[0.2695250354951477,-1.515237308133462],[0.33707615387653367,-1.4871603177071322]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.08175048701323895,-2.059837837318218,0.71338606911949],"aabb_xy":[[-0.09053171416047517,-2.0686175846067485],[-0.07296925986600272,-2.051058090029688]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.6788445975112241,-0.49141524725606933,0.71338606911949],"aabb_xy":[[-0.6858860484619717,-0.4984419989938639],[-0.6718031465604765,-0.4843884955182748]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.25250274102321185,-1.5505297257625552,0.71338606911949],"aabb_xy":[[-0.2946871551840426,-1.6145297260397664],[-0.2103183268623811,-1.486529725485344]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.5956862218465708,-2.5437956006508475,0.71338606911949],"aabb_xy":[[0.5781862215872342,-2.55788714283962],[0.6131862221059075,-2.529704058462075]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.5002955046402188,-1.7488033507892504,0.71338606911949],"aabb_xy":[[-0.537090137765125,-1.7857092258858325],[-0.4635008715153125,-1.711897475692668]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.10595397398294293,0.6937034765485124,0.71338606911949],"aabb_xy":[[-0.14095397387896177,0.6853292410365724],[-0.07095397408692404,0.7020777120604523]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.4089313891621841,-2.512237887247749,0.71338606911949],"aabb_xy":[[-0.45392397588063443,-2.5572378865221976],[-0.3639388024437336,-2.4672378879733]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.06687765241375343,0.41752441811018226,0.71338606911949],"aabb_xy":[[-0.13187765244805616,0.3708237414298549],[-0.0018776523794507005,0.4642250947905095]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.4024989697386381,-0.46674334612434354,0.71338606911949],"aabb_xy":[[0.3873360967617011,-0.4819088034194624],[0.41766184271557527,-0.4515778888292249]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.20813029708605607,1.2907676009950628,0.71338606911949],"aabb_xy":[[-0.22277370264008906,1.2761088813382786],[-0.1934868915320231,1.305426320651847]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.22746962935675813,-1.25870993129957,0.71338606911949],"aabb_xy":[[-0.31746963169077713,-1.3361922858846826],[-0.13746962702273904,-1.1812275767144573]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.13288006866521151,1.1135555161269974,0.71338606911949],"aabb_xy":[[-0.19788006654685936,1.0624318524204566],[-0.06788007078356374,1.1646791798335383]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.08561954798192006,0.26298250746287133,0.71338606911949],"aabb_xy":[[-0.09525118420234967,0.2533451946831624],[-0.07598791176149043,0.27261982024258025]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[0.2002772140383431,-1.0060232199354535,0.71338606911949],"aabb_xy":[[0.19216355936496599,-1.0141290363894826],[0.2083908687117202,-0.9979174034814244]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.7008585971883794,1.526881858404495,0.71338606911949],"aabb_xy":[[0.679580589044907,1.4618818560784217],[0.7221366053318515,1.5918818607305678]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.6312036956724494,1.2179368766472738,0.71338606911949],"aabb_xy":[[0.5937036950078707,1.2022498186470514],[0.6687036963370281,1.2336239346474958]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.30511152160414934,-2.4829421329480863,0.71338606911949],"aabb_xy":[[0.27514396469432373,-2.5129421332459723],[0.33507907851397506,-2.4529421326502003]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.35685000066253336,1.3653640849720663,0.71338606911949],"aabb_xy":[[-0.37376073309887514,1.3518918793794514],[-0.3399392682261916,1.3788362905646807]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.36366024653701046,1.0958351142422766,0.71338606911949],"aabb_xy":[[0.31384346707217564,1.045835115757973],[0.41347702600184516,1.1458351127265798]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.13911613576950144,-2.4915577250688634,0.71338606911949],"aabb_xy":[[-0.14401542807606493,-2.5192346443714317],[-0.13421684346293794,-2.463880805766294]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.5026488638415696,1.6095226440126553,0.71338606911949],"aabb_xy":[[-0.5826488670994125,1.5295261362206714],[-0.42264886058372664,1.6895191518046393]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.015564317188076271,-1.8089201299157556,0.71338606911949],"aabb_xy":[[-0.06556431884957102,-1.858918572171458],[0.034435684473418486,-1.7589216876600526]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.18862831740350128,1.779676673929623,0.71338606911949],"aabb_xy":[[-0.27862831390437304,1.7337650315111648],[-0.09862832090262953,1.8255883163480813]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.3560960874700116,0.3763308429140375,0.71338606911949],"aabb_xy":[[-0.3988627943494318,0.3123308394922351],[-0.3133293805905914,0.44033084633584]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679506983924686,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4853.png","name":"4853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4604.png","name":"4604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2377.png","name":"2377"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.5421100625337,"rotation_z_degrees":222.8184671142578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019535609468679313,0.01161983343642738,0.018672268883760505]},{"name":"camera_2","offset_m":[-0.01535253377886086,0.012311069844000735,0.014611802367718984]},{"name":"camera_3","offset_m":[-0.005012078426038147,-0.0028884372892032037,-0.01522125990887007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006036683737166027,-0.001461811989857448,0.00044035624269956036],"end_effector_yaw_offset_degrees":0.09141753794142149},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010164698223294488,-0.0016757381957399806,0.0010371960235569444],"end_effector_yaw_offset_degrees":-0.5041600728405242},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00041829756066353186,-0.0011976888392497206,-0.0008751984032516584],"end_effector_yaw_offset_degrees":0.00510251592420885}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012355578073110964,-0.004294515443437393],"position_m":[0.1927355578073111,0.020205484556562608,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006944467892935,0.000820431066152867],"position_m":[0.3240944467892935,0.3298204310661529,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014223024861974853,-0.004418284884750715],"position_m":[0.35732230248619745,0.058881715115249283,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013537238327997183,0.004029091387225433],"position_m":[0.21684627616720029,-0.36727090861277456,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e708ed20a156508013b1cb8cfdd969c1bda9625c8da4d249c19ca450435c0b56","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2238/tex_ceiling_textures_2377/tex_floor_textures_4604/tex_table_textures_4853/tex_wall_textures_5167","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2641540266355614414,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2641540266355614414,"visual_seed":2641540266355614414,"scene_id":"lab_003","finished_at":"2026-09-02T23:58:44"} +{"episode_id":"ep_000028","started_at":"2026-09-02T23:58:48","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.5901566360649873,0.8854403642799196,0.71338606911949],"aabb_xy":[[0.5656104204422365,0.8551914677308825],[0.614702851687738,0.9156892608289566]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.45588163457479586,0.9716543907698982,0.71338606911949],"aabb_xy":[[-0.4635848252488729,0.9639450200711601],[-0.4481784439007188,0.9793637614686361]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.24632843982530084,-1.3469909869771466,0.71338606911949],"aabb_xy":[[0.22882844054721393,-1.3643290870434925],[0.2638284391033877,-1.3296528869108006]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.20719060504587716,-0.7189418700828338,0.71338606911949],"aabb_xy":[[-0.2421906042386954,-0.7299089160804964],[-0.17219060585305887,-0.7079748240851711]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.5900718952928606,0.45265562138696014,0.71338606911949],"aabb_xy":[[-0.6129876081779105,0.42975132425053664],[-0.5671561824078107,0.47555991852338364]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.5111635350940542,-0.6433721553026801,0.71338606911949],"aabb_xy":[[0.4650784438393228,-0.7073721525552351],[0.5572486263487857,-0.5793721580501249]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.3898606747655824,-0.7891463940851362,0.71338606911949],"aabb_xy":[[0.3724299596865758,-0.8064185087489868],[0.4072913898445888,-0.7718742794212852]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.6521767136492239,-1.455183388898702,0.71338606911949],"aabb_xy":[[-0.6696766470832073,-1.4726833888189363],[-0.6346767802152405,-1.4376833889784673]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.16142568456230433,0.5928676655472329,0.71338606911949],"aabb_xy":[[0.1541644369918969,0.5800806552837234],[0.16868693213271174,0.6056546758107424]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[0.6024003608977162,0.08761448659242532,0.71338606911949],"aabb_xy":[[0.5224003634941228,0.007621915394242506],[0.6824003583013096,0.1676070577906081]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.4027055894445422,0.6882624206428636,0.71338606911949],"aabb_xy":[[-0.4667055858718641,0.6410927968207671],[-0.3387055930172203,0.73543204446496]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5338858684313195,-2.3574105734863227,0.71338606911949],"aabb_xy":[[0.5052365360709031,-2.3860561327633985],[0.5625352007917356,-2.328765014209247]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.5580045374672249,-1.6856272591917205,0.71338606911949],"aabb_xy":[[-0.6417267629673074,-1.7756272627264165],[-0.47428231196714243,-1.5956272556570246]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.3463363938023066,-0.07540643787653512,0.71338606911949],"aabb_xy":[[-0.3713363930742688,-0.09175180147269746],[-0.32133639453034424,-0.05906107428037278]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.2269602688196774,-1.2962194308276391,0.71338606911949],"aabb_xy":[[-0.29096026521525054,-1.3601827192463727],[-0.16296027242410435,-1.2322561424089056]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.3753549150235627,1.146407347388001,0.71338606911949],"aabb_xy":[[-0.3806924906895673,1.1214073464588614],[-0.37001733935755815,1.171407348317141]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.1008967394560144,1.3393668875874916,0.71338606911949],"aabb_xy":[[-0.13774728739300202,1.301866886764458],[-0.06404619151902681,1.3768668884105255]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.140282183243861,-1.530914591492748,0.71338606911949],"aabb_xy":[[-0.16411840088446605,-1.6209145923012347],[-0.11644596560325593,-1.4409145906842615]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.06961663420234065,-1.0947056987104251,0.71338606911949],"aabb_xy":[[0.0460315107384458,-1.1597057009558571],[0.09320175766623551,-1.0297056964649935]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.4118526582970312,-1.001887471857393,0.71338606911949],"aabb_xy":[[0.4038163235957463,-1.0099255911618095],[0.419888992998316,-0.9938493525529759]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.21897605088639693,1.1628081843811549,0.71338606911949],"aabb_xy":[[0.13897604872363445,1.0828530007550112],[0.2989760530491594,1.2427633680072985]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.19196895900501376,-1.9319427732963748,0.71338606911949],"aabb_xy":[[-0.1966040741572471,-1.9358101083735229],[-0.18733384385278032,-1.9280754382192253]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791192140380753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6919.png","name":"6919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/151.png","name":"151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/550.png","name":"550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6898.png","name":"6898"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":730.3652822742326,"rotation_z_degrees":109.6989628866735,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01333211650337186,-0.0057735084122837,0.003994282801012154]},{"name":"camera_2","offset_m":[-0.006109220829545334,-0.014015152869605623,-0.019062536788888834]},{"name":"camera_3","offset_m":[0.01201461039024473,-0.010316148892526932,-0.016696674537072596]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007246905370925623,-0.0012865238047521008,-0.0002642818008113657],"end_effector_yaw_offset_degrees":-0.5106726741413223},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005310324926687576,-0.0014576594418986622,0.0007119225313301429],"end_effector_yaw_offset_degrees":-0.874482384475743},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001141893910349085,0.00026574133089010124,-1.7682563191085115e-05],"end_effector_yaw_offset_degrees":0.43110245462395835}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001846276681862537,0.0024781880042622694],"position_m":[0.19334627668186255,0.02697818800426227,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024279271620368855,-0.003128897715058067],"position_m":[0.3258279271620369,0.3258711022849419,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002003236292256144,0.0008359352192926746],"position_m":[0.3579032362922561,0.06413593521929267,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039615167901352775,0.004024749148167503],"position_m":[0.2221615167901353,-0.3672752508518325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"88c61bcf0574f93cc0230f0a35a45912797c773e127f1f50c2a871cb4dfd70eb","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2620/tex_ceiling_textures_6898/tex_floor_textures_550/tex_table_textures_6919/tex_wall_textures_151","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5318896966108578749,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5318896966108578749,"visual_seed":5318896966108578749,"scene_id":"lab_003","finished_at":"2026-09-03T00:01:26"} +{"episode_id":"ep_000029","started_at":"2026-09-03T00:01:30","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.670521484978229,-1.893961602922094,0.71338606911949],"aabb_xy":[[0.6480214849680808,-1.908057822561697],[0.6930214849883773,-1.8798653832824905]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.10468194216606919,-1.8817739562889764,0.71338606911949],"aabb_xy":[[-0.1646819426739221,-1.9386206899748977],[-0.04468194165821627,-1.824927222603055]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.5572807561596065,-1.7105815413311936,0.71338606911949],"aabb_xy":[[-0.562618331825611,-1.7355815422603333],[-0.5519431804936019,-1.6855815404020538]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.308406818633701,-1.1905525391675256,0.71338606911949],"aabb_xy":[[0.2996047633247283,-1.1983638653224546],[0.3172088739426737,-1.1827412130125965]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.15482880470764515,1.3624069745904905,0.71338606911949],"aabb_xy":[[-0.24482880838456325,1.300974568013386],[-0.06482880103072693,1.4238393811675947]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[0.3869893530569566,0.26875479185982654,0.71338606911949],"aabb_xy":[[0.36198935378499436,0.2524094282636642],[0.4119893523289189,0.2851001554559889]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.03895645248113444,-1.0995155819877143,0.71338606911949],"aabb_xy":[[-0.1189564504619195,-1.107117122949566],[0.0410435454996506,-1.091914041025862]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.19273578104466216,1.7506510535849293,0.71338606911949],"aabb_xy":[[0.15523578075248734,1.7466095781843258],[0.23023578133683698,1.7546925289855329]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.36063024604819827,-1.555942018780685,0.71338606911949],"aabb_xy":[[0.3428367391132818,-1.5737417643764828],[0.37842375298311465,-1.5381422731848875]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.0494817953093557,-0.9992391484000338,0.71338606911949],"aabb_xy":[[-0.06706009749830255,-1.0168136379741388],[-0.03190349312040885,-0.9816646588259288]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.4776304742220707,1.4464755704589636,0.71338606911949],"aabb_xy":[[0.4624583049404374,1.4313067135307602],[0.49280264350370406,1.461644427387167]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.4297621793701462,1.3969778582224834,0.71338606911949],"aabb_xy":[[-0.4937621817129478,1.3520370069783507],[-0.36576217702734465,1.4419187094666157]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.4932564781684222,-1.9059441302688622,0.71338606911949],"aabb_xy":[[-0.5532564787644384,-1.960756602814086],[-0.43325647757240604,-1.851131657723639]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.1256602018223969,1.5264133524639276,0.71338606911949],"aabb_xy":[[0.07066020264580739,1.4714236776889698],[0.18066020099898636,1.581403027238885]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.13618848093234226,-1.3898552777258921,0.71338606911949],"aabb_xy":[[0.05619465735378407,-1.4698552803187337],[0.2161823045109005,-1.3098552751330506]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.4244069706769403,-0.3367610492050277,0.71338606911949],"aabb_xy":[[-0.4743899208644196,-0.38676104884758805],[-0.37442402048946094,-0.28676104956246723]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.1652821817109449,-0.7875312120353875,0.71338606911949],"aabb_xy":[[-0.19568029281008845,-0.8179381140370569],[-0.13488407061180127,-0.7571243100337178]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.006070164298187297,-2.2499467978218424,0.71338606911949],"aabb_xy":[[-0.013694432388365544,-2.257580021358386],[0.0015541037919909466,-2.2423135742852986]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.04102262445288829,-1.192925414846513,0.71338606911949],"aabb_xy":[[0.032324662162173,-1.2050503891539877],[0.049720586743603586,-1.1808004405390382]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.5497787702661809,-0.5315869170216163,0.71338606911949],"aabb_xy":[[-0.5538947203782535,-0.5357024720544618],[-0.5456628201541082,-0.5274713619887706]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.24823529650298642,-0.2665209922975613,0.71338606911949],"aabb_xy":[[-0.2832352964794823,-0.27598560834517794],[-0.21323529652649065,-0.2570563762499447]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.36553268706539466,-0.061861554883409386,0.71338606911949],"aabb_xy":[[-0.40303268741362236,-0.07365295046449293],[-0.32803268671716684,-0.05007015930232582]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.42244950023012173,-1.4696583428804526,0.71338606911949],"aabb_xy":[[-0.44603462369401664,-1.5346583451258842],[-0.39886437676622694,-1.4046583406350206]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[-0.578270879548114,0.045637970762111735,0.71338606911949],"aabb_xy":[[-0.600735649519519,0.023137969883251237],[-0.5558061095767087,0.06813797164097224]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[-0.6040921683253699,-1.151557967667566,0.71338606911949],"aabb_xy":[[-0.6540921696092099,-1.201536822058188],[-0.55409216704153,-1.1015791132769437]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.14825791012702583,0.3640078703398668,0.71338606911949],"aabb_xy":[[-0.22825791338486875,0.28401136254788284],[-0.06825790686918284,0.4440043781318508]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.2826816804279357,-1.186737149796712,0.71338606911949],"aabb_xy":[[-0.29231331664836524,-1.196374462576421],[-0.273050044207506,-1.1770998370170032]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[-0.06972458876388599,-1.6611549901718476,0.71338606911949],"aabb_xy":[[-0.11972386393232215,-1.711154991447795],[-0.019725313595449823,-1.6111549888959007]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_28","position":[0.0853369802377989,0.9008900703464722,0.71338606911949],"aabb_xy":[[0.03534196927834687,0.8508900713108805],[0.13533199119725092,0.9508900693820639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6790490598453924,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9753.png","name":"9753"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7609.png","name":"7609"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9306.png","name":"9306"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.6635919591336,"rotation_z_degrees":230.71107301446665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006721248742384219,0.0197508426078714,0.014763210240654082]},{"name":"camera_2","offset_m":[-0.010407959885257912,-0.0077760096385911266,-0.017569639353597965]},{"name":"camera_3","offset_m":[0.006172665287378053,0.003699068639778029,0.007153889679821727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012624468778538404,-0.0007922092000127621,0.0016654883598336318],"end_effector_yaw_offset_degrees":0.7267332093960892},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006102933838207387,-0.00021985778458824437,0.0003243409148497357],"end_effector_yaw_offset_degrees":0.022753037407337473},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007220164351866339,0.0005083655542426732,0.0011215069892986608],"end_effector_yaw_offset_degrees":-0.13379694719795965}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00231616166584182,-0.003329052414376623],"position_m":[0.1938161616658418,0.02117094758562338,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017053448922126867,-0.0019568203003518816],"position_m":[0.3251053448922127,0.32704317969964813,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003854277456132385,0.0046836020452702435],"position_m":[0.3562854277456132,0.06798360204527024,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016849683099122627,0.001985677420028048],"position_m":[0.21988496830991228,-0.369314322579972,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7165f5904e4a96dd7338230af15201ef46f4d86f5249b6f62be73e2f4f6cbbdd","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8258/tex_ceiling_textures_9306/tex_floor_textures_7609/tex_table_textures_6043/tex_wall_textures_9753","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7002111217645139977,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7002111217645139977,"visual_seed":7002111217645139977,"scene_id":"lab_003","finished_at":"2026-09-03T00:04:07"} +{"episode_id":"ep_000030","started_at":"2026-09-03T00:07:05","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.2679623510513474,1.6541160330882732,0.71338606911949],"aabb_xy":[[-0.3179623520018802,1.622566886084752],[-0.2179623501008146,1.6856651800917948]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.4271296353967895,1.7933829293360026,0.71338606911949],"aabb_xy":[[0.42305147748973976,1.7893019490877393],[0.43120779330383924,1.797463909584266]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.41295384716986683,-1.7605978890911875,0.71338606911949],"aabb_xy":[[0.4066417476335284,-1.7663648283444062],[0.41926594670620526,-1.7548309498379684]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.27981870785415053,-1.7730861180586914,0.71338606911949],"aabb_xy":[[0.2424874313289079,-1.8077391728535435],[0.3171499843793931,-1.738433063263839]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.3921058679369138,-1.5181715533249331,0.71338606911949],"aabb_xy":[[0.3671058686649515,-1.5345169169210955],[0.41710586720887605,-1.5018261897287708]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.31414826897866804,0.976336790955973,0.71338606911949],"aabb_xy":[[-0.3201852819793328,0.9703100898870248],[-0.3081112559780034,0.9823634920249212]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.13203428837181164,1.578726510036748,0.71338606911949],"aabb_xy":[[0.08203428735267636,1.5422602942989203],[0.1820342893909469,1.6151927257745762]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.4324792193119426,-1.993691822138972,0.71338606911949],"aabb_xy":[[-0.5174792180040173,-2.025677685533851],[-0.34747922061986797,-1.961705958744093]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.291672330965322,0.7159081867450885,0.71338606911949],"aabb_xy":[[-0.30303406561860813,0.7045397203388003],[-0.2803105963120358,0.7272766531513765]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.04113374726073071,0.08831672498166387,0.71338606911949],"aabb_xy":[[-0.045768862412964094,0.08444938990451521],[-0.03649863210849732,0.09218406005881251]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.513785236256171,0.49712291044281587,0.71338606911949],"aabb_xy":[[-0.5837852380649164,0.47576914167862855],[-0.44378523444742557,0.5184766792070032]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.0068355906985371195,-1.1233110279922942,0.71338606911949],"aabb_xy":[[-0.09183558911596035,-1.2081853234545792],[0.07816440771888611,-1.0384367325300092]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.4525853417977729,0.9996645431848532,0.71338606911949],"aabb_xy":[[-0.4605793303754762,0.9916644630897626],[-0.44459135322006943,1.0076646232799433]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.564721689145351,-1.8051497124778626,0.71338606911949],"aabb_xy":[[-0.5990186001630915,-1.839446598687804],[-0.5304247781276104,-1.7708528262679213]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.2198769722492278,1.4983013162248855,0.71338606911949],"aabb_xy":[[-0.25842266507442885,1.4597555451686968],[-0.18133127942402677,1.5368470872810742]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[0.49464695266036895,-0.49504223530188884,0.71338606911949],"aabb_xy":[[0.4701007370376183,-0.5252911318509258],[0.5191931682831197,-0.4647933387528517]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.13701118618043528,-0.7627624716840022,0.71338606911949],"aabb_xy":[[-0.14234876184643985,-0.7877624726131421],[-0.13167361051443072,-0.7377624707548626]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.6242342886172175,-1.4333219169994227,0.71338606911949],"aabb_xy":[[-0.6542018455270433,-1.4633219172973084],[-0.594266731707392,-1.403321916701537]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.18948354248215749,-1.9143075840248367,0.71338606911949],"aabb_xy":[[0.15448354421203755,-1.921381711719825],[0.22448354075227736,-1.9072334563298488]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.6014075332683029,1.5898646155781262,0.71338606911949],"aabb_xy":[[0.559223119107472,1.5258646153009148],[0.6435919474291335,1.6538646158553372]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.5827558704555231,1.1136856214374729,0.71338606911949],"aabb_xy":[[0.5027558724747381,1.106084080475621],[0.6627558684363082,1.1212871623993248]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.22090640427249475,-2.197841456945092,0.71338606911949],"aabb_xy":[[0.1569064010538569,-2.2445645688441003],[0.2849064074911326,-2.1511183450460836]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.06941020755711258,0.2097785084303614,0.71338606911949],"aabb_xy":[[-0.10691020805447081,0.20580982488224292],[-0.03191020705975432,0.21374719197847974]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.0632195227026805,-1.614683698852254,0.71338606911949],"aabb_xy":[[-0.09568122358460793,-1.6448165309671563],[-0.030757821820753022,-1.5845508667373511]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.4188304445823494,1.2189896034341534,0.71338606911949],"aabb_xy":[[0.4013304443230129,1.204898061245381],[0.43633044484168615,1.2330811456229263]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.2811802758950085,-2.4180619115787754,0.71338606911949],"aabb_xy":[[-0.3711802753133794,-2.451437408422965],[-0.1911802764766376,-2.3846864147345856]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.1825913805279744,-2.393476376382435,0.71338606911949],"aabb_xy":[[0.17466810028922605,-2.4159763766204385],[0.19051466076672272,-2.370976376144432]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.5881721963871387,0.8571989632449637,0.71338606911949],"aabb_xy":[[0.5785405601667091,0.8475616504652548],[0.5978038326075683,0.8668362760246726]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.3643647735253363,-1.6538198265192983,0.71338606911949],"aabb_xy":[[-0.38686477333923874,-1.6582944428897792],[-0.341864773711434,-1.6493452101488177]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[0.638424877394465,0.44136248811372214,0.71338606911949],"aabb_xy":[[0.6009248772225929,0.4086617527308149],[0.6759248775663368,0.47406322349662927]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[-0.15042924182526873,-0.6229174996370799,0.71338606911949],"aabb_xy":[[-0.15684305546845365,-0.6293273198847481],[-0.14401542818208377,-0.6165076793894114]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_31","position":[-0.6039993893139358,0.04336218134819525,0.71338606911949],"aabb_xy":[[-0.6215460842300546,0.005862179783943988],[-0.5864526943978168,0.08086218291244651]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_32","position":[-0.6686087555926109,-0.7277791938081191,0.71338606911949],"aabb_xy":[[-0.6768233007082947,-0.7364557841057602],[-0.6603942104769267,-0.7191026035104775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6806302476569154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7388.png","name":"7388"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5580.png","name":"5580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5433.png","name":"5433"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":527.0976971679637,"rotation_z_degrees":63.85504445418328,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011943189269839869,0.016803248052137672,-0.019891356178295495]},{"name":"camera_2","offset_m":[0.006571138818988569,-0.014669086297309963,-0.003724815221456946]},{"name":"camera_3","offset_m":[-0.0047507373992769966,0.008711447522962167,-0.018603357418355358]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016741363242440315,-0.0012030903754863573,0.0012189104116124639],"end_effector_yaw_offset_degrees":0.5580914310008156},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00024362409698171607,-0.0011039312033221996,-0.001885764486948208],"end_effector_yaw_offset_degrees":0.05508907113775163},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011741251249830238,0.00044251640386246474,-0.0005548874162910069],"end_effector_yaw_offset_degrees":0.007542033343342913}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002726299847524455,0.004703242389885999],"position_m":[0.18877370015247555,0.029203242389886,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004197434888505931,-0.0032165949328575062],"position_m":[0.32759743488850596,0.3257834050671425,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002349329587206681,-5.3407119954299205e-05],"position_m":[0.3535506704127933,0.0632465928800457,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025073201096976485,0.0009585000135326127],"position_m":[0.21569267989030236,-0.3703414999864674,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e360b7b2329fa9362d3a8612a6103ddf69960f7c6d8f404233140a23af1c079b","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9454/tex_ceiling_textures_5433/tex_floor_textures_5580/tex_table_textures_7388/tex_wall_textures_5909","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6761978046511978991,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6761978046511978991,"visual_seed":6761978046511978991,"scene_id":"lab_003","finished_at":"2026-09-03T00:09:43"} +{"episode_id":"ep_000031","started_at":"2026-09-03T00:09:49","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.6387564223934807,0.6266015836874987,0.71338606911949],"aabb_xy":[[-0.6505246091881383,0.5416015837822773],[-0.6269882355988232,0.7116015835927204]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.40993443228143134,-2.4373470368390375,0.71338606911949],"aabb_xy":[[0.38208939550082427,-2.468131535577349],[0.4377794690620385,-2.406562538100726]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.5983261465664333,-2.238844772747173,0.71338606911949],"aabb_xy":[[-0.6186104492898321,-2.2591273978898823],[-0.5780418438430346,-2.218562147604464]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.5028625079377289,-0.44436677888776055,0.71338606911949],"aabb_xy":[[0.46536250727315015,-0.4600538368879827],[0.5403625086023075,-0.4286797208875383]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.34501920986531043,0.7726673078718092,0.71338606911949],"aabb_xy":[[0.31042812701126515,0.707667307586778],[0.3796102927193556,0.8376673081568401]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.5956006480847269,-2.1013822519765566,0.71338606911949],"aabb_xy":[[-0.6606006491906702,-2.126347625044685],[-0.5306006469787836,-2.0764168789084283]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.008016944956596106,1.5830368758995328,0.71338606911949],"aabb_xy":[[-0.06198305843496587,1.5477211021961017],[0.07801694834815807,1.6183526496029634]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.3151743425764577,-0.9686869869057801,0.71338606911949],"aabb_xy":[[0.22517434398198777,-0.9849375732192012],[0.40517434117092765,-0.9524364005923591]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.5517474994980351,-1.4683840916936532,0.71338606911949],"aabb_xy":[[-0.6367474979154585,-1.5532583871559382],[-0.466747501080612,-1.3835097962313683]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.4237661776900745,-1.1849009666428727,0.71338606911949],"aabb_xy":[[-0.43533515843701104,-1.2099009667598044],[-0.4121971969431379,-1.159900966525941]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[-0.49541469788339065,-0.4199147633596181,0.71338606911949],"aabb_xy":[[-0.55041017570405,-0.47491476479352496],[-0.4404192200627312,-0.3649147619257111]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.4443589251158621,0.15800771647170597,0.71338606911949],"aabb_xy":[[-0.4993521364529989,0.10300771613291235],[-0.3893657137787254,0.21300771681049957]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.22882376929602655,-0.793909742552998,0.71338606911949],"aabb_xy":[[0.21366089631908952,-0.8090751998481168],[0.24398664227296368,-0.7787442852578793]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.13305889297597484,0.11119801701200593,0.71338606911949],"aabb_xy":[[-0.18305889255230956,0.0612174380599],[-0.08305889339964012,0.16117859596411188]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.5066313215752569,-1.1804036595357845,0.71338606911949],"aabb_xy":[[0.4985949868739721,-1.1884417788402013],[0.5146676562765418,-1.1723655402313677]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.6051236382015228,-0.13723719092093578,0.71338606911949],"aabb_xy":[[-0.6194580633276863,-0.14929740647547463],[-0.5907892130753594,-0.12517697536639694]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.5753382405873257,0.871776496776874,0.71338606911949],"aabb_xy":[[-0.6393382438059636,0.8250533848778656],[-0.5113382373686879,0.9184996086758823]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.1366204737787895,1.4539421064207123,0.71338606911949],"aabb_xy":[[0.1021579957657017,1.4472784292377896],[0.17108295179187724,1.460605783603635]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[-0.38915955284055165,-2.5048500389469113,0.71338606911949],"aabb_xy":[[-0.43915955412439156,-2.5548288933375334],[-0.3391595515567116,-2.454871184556289]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.055172819051651834,0.31927918138487765,0.71338606911949],"aabb_xy":[[-0.0676401771613875,0.3068138567515542],[-0.0427054609419162,0.3317445060182012]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.16453295071390994,-2.26338529830228,0.71338606911949],"aabb_xy":[[-0.20203295121126819,-2.2673539818503987],[-0.1270329502165517,-2.2594166147541617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726958323163043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6351.png","name":"6351"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7952.png","name":"7952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3110.png","name":"3110"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":782.9739078662989,"rotation_z_degrees":245.009787869354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002012307306195886,-0.009788804511746298,-0.016335367381048797]},{"name":"camera_2","offset_m":[-0.012906106336838356,-0.005818716502225603,-0.007610924246612982]},{"name":"camera_3","offset_m":[0.013540241088821747,0.0015362363201174047,0.011356094184338712]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017232346415432791,0.00044007340382613055,0.0010786638076776415],"end_effector_yaw_offset_degrees":0.6932435096734755},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000923262365324899,0.0014826023903198563,-0.0005937913555976531],"end_effector_yaw_offset_degrees":0.3996587050811029},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00011390906597739774,-0.0014854054015822809,0.0018338188818837627],"end_effector_yaw_offset_degrees":-0.3299368700579608}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002919326620007649,0.0026693350145760835],"position_m":[0.19179193266200076,0.027169335014576086,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004121691878109488,-0.004545464281685972],"position_m":[0.3192783081218905,0.32445453571831406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00012793962194660238,0.003003154726227847],"position_m":[0.3560279396219466,0.06630315472622784,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028386365326549057,0.0017595637138186305],"position_m":[0.2153613634673451,-0.3695404362861814,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8cc23367b9eb451c69241133ad16d1713a306d4743763ab6fc3e3f7b0a851f39","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9484/tex_ceiling_textures_3110/tex_floor_textures_716/tex_table_textures_6351/tex_wall_textures_7952","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6967478819125758708,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6967478819125758708,"visual_seed":6967478819125758708,"scene_id":"lab_003","finished_at":"2026-09-03T00:12:24"} +{"episode_id":"ep_000032","started_at":"2026-09-03T00:12:27","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.4390192867425808,1.6488722838100682,0.71338606911949],"aabb_xy":[[-0.5190192837568288,1.628737732136657],[-0.35901928972833286,1.6690068354834795]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.10683888028502597,-2.0037636580405125,0.71338606911949],"aabb_xy":[[-0.18683887894191198,-2.018268516964776],[-0.026838881628139966,-1.98925879911625]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.2342432137877713,-1.074358078971973,0.71338606911949],"aabb_xy":[[-0.2717432122111716,-1.0875222929398036],[-0.19674321536437092,-1.0611938650041421]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.1508737113958608,0.00684521650553771,0.71338606911949],"aabb_xy":[[-0.1640249573671502,-0.018154783251148835],[-0.13772246542457148,0.03184521626222426]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.6354026933920499,0.41985773272526794,0.71338606911949],"aabb_xy":[[-0.6478700515017857,0.40739240809194444],[-0.6229353352823144,0.43232305735859144]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.24727770037128016,0.6295108513612302,0.71338606911949],"aabb_xy":[[0.16727770239049508,0.6219093103993781],[0.32727769835206516,0.637112392323082]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.1350532979487722,-0.6131175233892838,0.71338606911949],"aabb_xy":[[-0.15268613354229973,-0.6307404694049068],[-0.1174204623552446,-0.5954945773736608]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.5372852677681381,-2.2150012137428217,0.71338606911949],"aabb_xy":[[0.4672852659593927,-2.236354982507009],[0.6072852695768836,-2.1936474449786343]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.35493956787782843,-1.727525357667497,0.71338606911949],"aabb_xy":[[0.3514988916377713,-1.7313867906418614],[0.35838024411788566,-1.7236639246931325]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.561116609820629,0.22405558075340792,0.71338606911949],"aabb_xy":[[-0.5802289171786079,0.2049208018761659],[-0.5420043024626502,0.24319035963064994]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.17366956097912722,-1.233182695669903,0.71338606911949],"aabb_xy":[[-0.21116956147648544,-1.2371513792180213],[-0.13616956048176895,-1.2292140121217847]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.32563675565130823,-1.1607640491309492,0.71338606911949],"aabb_xy":[[-0.3349837632336034,-1.1750676713485935],[-0.31628974806901294,-1.1464604269133054]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.06064070165236268,-0.907812148835998,0.71338606911949],"aabb_xy":[[0.0066251053704626806,-0.9718121517282552],[0.11465629793426269,-0.8438121459437409]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[-0.30859018204521005,0.7184236479201145,0.71338606911949],"aabb_xy":[[-0.3172881443359254,0.7062986736126399],[-0.2998922197544948,0.7305486222275893]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.09366235498427533,-2.3890634067300556,0.71338606911949],"aabb_xy":[[0.058662355854319656,-2.3948086278057197],[0.128662354114231,-2.3833181856543915]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[-0.3510631558954478,-0.2436879451515228,0.71338606911949],"aabb_xy":[[-0.41506315448202025,-0.29069490855103153],[-0.2870631573088753,-0.19668098175201407]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.47980934478561044,-2.529353240015476,0.71338606911949],"aabb_xy":[[0.4623093445262739,-2.543444782204249],[0.49730934504494717,-2.5152616978267037]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.1510754570758016,-0.8330651812114871,0.71338606911949],"aabb_xy":[[-0.19232426810571632,-0.8880651807237044],[-0.10982664604588686,-0.7780651816992695]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[0.030188169842177315,-1.3634018818017581,0.71338606911949],"aabb_xy":[[-0.007311831673454391,-1.374628654817903],[0.06768817135780902,-1.3521751087856129]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.2892498871806387,-1.814915018394664,0.71338606911949],"aabb_xy":[[-0.35424988721494144,-1.8616156950749911],[-0.22424988714633598,-1.7682143417143366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6794191305064727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9850.png","name":"9850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9850.png","name":"9850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3593.png","name":"3593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2498.png","name":"2498"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":716.4115996713361,"rotation_z_degrees":347.8292059105918,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0001556983981459495,-0.018833658045063643,0.004324020282859799]},{"name":"camera_2","offset_m":[0.0065835170285282844,0.01263600904305692,0.013646879542400788]},{"name":"camera_3","offset_m":[-0.01939046624753427,0.0175885932044379,0.015604606106101326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000989320235150415,-0.0011376777134990811,-0.0007635152097020907],"end_effector_yaw_offset_degrees":0.6975772990131277},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00040844710856289754,0.0019585734589938533,0.0017918499987825127],"end_effector_yaw_offset_degrees":0.5926505911758235},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014012072730711083,0.0010203790736530898,0.0013200693043334982],"end_effector_yaw_offset_degrees":-0.44083623662816773}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0039269079137098485,-0.004460752378081743],"position_m":[0.19542690791370984,0.020039247621918256,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001731708377722985,-0.0012369883415104454],"position_m":[0.325131708377723,0.3277630116584896,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004630482481008971,0.003367392015576411],"position_m":[0.36053048248100894,0.06666739201557641,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006301277678491136,0.003372221563268856],"position_m":[0.21756987223215088,-0.3679277784367312,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3afd6c651a0d694221c4554fbdb7f4917ea03e8aaa20508a65d8b0ac211a4264","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9850/tex_ceiling_textures_2498/tex_floor_textures_5057/tex_table_textures_9145/tex_wall_textures_3593","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8338162528996001282,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8338162528996001282,"visual_seed":8338162528996001282,"scene_id":"lab_003","finished_at":"2026-09-03T00:15:01"} +{"episode_id":"ep_000033","started_at":"2026-09-03T00:15:05","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.5316218693643691,1.231478674323601,0.71338606911949],"aabb_xy":[[0.48163891917688967,1.1814786746810404],[0.5816048195518483,1.2814786739661612]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.5342474353198077,1.4209574276160413,0.71338606911949],"aabb_xy":[[0.5031005164762246,1.3509574289292339],[0.5653943541633908,1.4909574263028482]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.2211813907370287,-1.6490301746200189,0.71338606911949],"aabb_xy":[[0.2130677360636516,-1.657135991074048],[0.2292950454104058,-1.6409243581659898]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.26623162545097534,-1.3138512481000009,0.71338606911949],"aabb_xy":[[-0.29252044977141595,-1.3401226817546519],[-0.23994280113053465,-1.2875798144453494]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.5968481705940462,-1.9300789936254046,0.71338606911949],"aabb_xy":[[-0.6076211445154139,-1.965078991844444],[-0.5860751966726784,-1.895078995406366]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.6219303446627626,-0.1281701989957882,0.71338606911949],"aabb_xy":[[0.612636726425612,-0.16567019748392206],[0.6312239628999131,-0.09067020050765426]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.4875344815525531,1.1030150183258645,0.71338606911949],"aabb_xy":[[-0.5074255214328935,1.0903592070411676],[-0.467643441672213,1.1156708296105613]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.25486946232816554,1.198012845395982,0.71338606911949],"aabb_xy":[[0.21801891439117793,1.1605128445729482],[0.29172001026515315,1.2355128462190157]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.3191308060787923,-1.8374680074690106,0.71338606911949],"aabb_xy":[[0.2541308034409988,-1.8889476061684576],[0.3841308087165858,-1.7859884087695637]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.4350348359488382,-0.5227658748486292,0.71338606911949],"aabb_xy":[[-0.4532406596100859,-0.533791275430621],[-0.41682901228759056,-0.5117404742666377]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.2298239363938845,0.4454857013337912,0.71338606911949],"aabb_xy":[[-0.2548239356658467,0.42914033773762883],[-0.2048239371219222,0.4618310649299535]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.1251219627059268,0.33797693893346503,0.71338606911949],"aabb_xy":[[-0.15012196225766528,0.3278344550683303],[-0.10012196315418831,0.34811942279859975]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.022253818112595636,-1.0976412924744288,0.71338606911949],"aabb_xy":[[-0.1122538204466147,-1.1751236470595414],[0.06774618422142342,-1.020158937889316]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.37153534350870043,-2.5058977057588123,0.71338606911949],"aabb_xy":[[-0.4215353445278358,-2.5423639214966403],[-0.3215353424895652,-2.4694314900209844]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.27532543392163444,-2.38564607059052,0.71338606911949],"aabb_xy":[[0.229240342666903,-2.449646067843075],[0.3214105251763659,-2.321646073337965]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.3852679278153852,0.4420704772832651,0.71338606911949],"aabb_xy":[[0.377140239622072,0.43315686887255744],[0.39339561600869843,0.45098408569397275]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.2489304982357078,-1.5881765589370826,0.71338606911949],"aabb_xy":[[-0.2620817442069972,-1.6131765586937696],[-0.23577925226441848,-1.5631765591803966]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.4911386656040626,-0.5035619247550409,0.71338606911949],"aabb_xy":[[0.40113866618569166,-0.5369374215992305],[0.5811386650224335,-0.4701864279108511]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.6686288155362479,-2.4484922577439363,0.71338606911949],"aabb_xy":[[0.6527443222709227,-2.4628451980427606],[0.684513308801573,-2.434139317445112]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.10801337305258596,0.17116576802495764,0.71338606911949],"aabb_xy":[[-0.15798643858510145,0.12116576821242478],[-0.058040307520070514,0.2211657678374906]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.13461133075771747,1.0752924747709915,0.71338606911949],"aabb_xy":[[0.09711133081395107,1.066999384736155],[0.17211133070148388,1.0835855648058281]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.677387130909288,-0.4589290216403539,0.71338606911949],"aabb_xy":[[0.6658181501623516,-0.4839290217572855],[0.6889561116562247,-0.4339290215234221]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[0.6315302723675129,-0.7858212349446592,0.71338606911949],"aabb_xy":[[0.5862516574863635,-0.8498212342928428],[0.6768088872486621,-0.7218212355964755]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.3945931990374799,-2.2205156323033104,0.71338606911949],"aabb_xy":[[-0.42889011005522043,-2.2548125185132513],[-0.3602962880197392,-2.1862187460933686]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.5647264592806323,0.6643973498137759,0.71338606911949],"aabb_xy":[[0.5456141519226533,0.6452625709365339],[0.583838766638611,0.683532128691018]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.5102060760314784,0.0415064290788445,0.71338606911949],"aabb_xy":[[0.496975130496797,0.02827901005684507],[0.5234370215661596,0.05473384810084391]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[-0.3440747676221372,-1.455007702268039,0.71338606911949],"aabb_xy":[[-0.408074767882608,-1.500016501620967],[-0.28007476736166637,-1.409998902915111]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_27","position":[-0.32592463691002527,0.24211006231278853,0.71338606911949],"aabb_xy":[[-0.3434246371550746,0.22461027447322168],[-0.3084246366649758,0.2596098501523554]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_28","position":[0.6064780305543624,-2.544890812501507,0.71338606911949],"aabb_xy":[[0.593031503920319,-2.558360664154598],[0.6199245571884057,-2.5314209608484153]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[-0.011798528157269228,0.8131749400537789,0.71338606911949],"aabb_xy":[[-0.02442531544446558,0.8036288663522059],[0.0008282591299271242,0.8227210137553517]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_30","position":[0.31277086925952036,-1.1424801999074554,0.71338606911949],"aabb_xy":[[0.3015258136889025,-1.1537219976315507],[0.3240159248301382,-1.1312384021833601]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_31","position":[0.09746509635608225,1.5062730769313721,0.71338606911949],"aabb_xy":[[0.08942173643012707,1.4212730758360057],[0.10550845628203742,1.5912730780267386]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_32","position":[0.284433864126191,-2.12385612348755,0.71338606911949],"aabb_xy":[[0.20444004054763276,-2.2038561260803915],[0.3644276877047492,-2.0438561208947084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6834792908686204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/150.png","name":"150"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7891.png","name":"7891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2432.png","name":"2432"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":602.0776394240628,"rotation_z_degrees":301.6078284499731,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019773934364614606,-0.016855296646482585,-0.007351944492963619]},{"name":"camera_2","offset_m":[0.010592820407445462,-0.01232874494017875,-0.0019271499525436789]},{"name":"camera_3","offset_m":[0.008881493776191456,0.008585197804863096,0.0053282919331783495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008061475865671626,0.0003048164855090972,-0.0002185421938035374],"end_effector_yaw_offset_degrees":-0.10522798720238091},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031730555443908984,0.0007496383929735872,0.001054063878632681],"end_effector_yaw_offset_degrees":-0.7150047748714952},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001343094148132625,-0.00046496889349194825,-0.0017673863022593657],"end_effector_yaw_offset_degrees":-0.8959843042291258}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00045519994922590176,-0.0019114979573826665],"position_m":[0.1910448000507741,0.022588502042617333,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004631043767284877,0.0019120712584081356],"position_m":[0.3280310437672849,0.33091207125840816,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038197565245213306,0.0028830867747996333],"position_m":[0.35208024347547867,0.06618308677479963,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005909334642312638,9.640080377886981e-05],"position_m":[0.21879093346423126,-0.37120359919622115,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"16b33144bf203302e45ba8606b9b269196c4d63c86793821079818cf3f688f7d","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1321/tex_ceiling_textures_2432/tex_floor_textures_6982/tex_table_textures_150/tex_wall_textures_7891","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6755780451219130650,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6755780451219130650,"visual_seed":6755780451219130650,"scene_id":"lab_003","finished_at":"2026-09-03T00:17:45"} +{"episode_id":"ep_000034","started_at":"2026-09-03T00:22:03","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.3836526076141056,-2.479222726743464,0.71338606911949],"aabb_xy":[[-0.38735586894324436,-2.482924745052182],[-0.37994934628496657,-2.4755207084347464]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.5227152294996849,-0.6969468237694441,0.71338606911949],"aabb_xy":[[0.44271523091236537,-0.7762624257076048],[0.6027152280870042,-0.617631221831283]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.028376626914164427,-1.0768507557639353,0.71338606911949],"aabb_xy":[[-0.09337662694846716,-1.1235514324442626],[0.0366233731201383,-1.030150079083608]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.24768260001206277,1.5487093236219018,0.71338606911949],"aabb_xy":[[0.23632086535877664,1.5373408572156135],[0.25904433466534893,1.5600777900281897]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.1289887996723562,-0.7258379325394992,0.71338606911949],"aabb_xy":[[0.10447517557535035,-0.7501025258415357],[0.15350242376936207,-0.7015733392374628]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[-0.5433747837943572,-1.6759506924944363,0.71338606911949],"aabb_xy":[[-0.6233747840679642,-1.748900240320153],[-0.4633747835207503,-1.6030011446687196]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.3136924085305205,0.3734225668589488,0.71338606911949],"aabb_xy":[[-0.39369240569009584,0.3618749659011317],[-0.23369241137094526,0.3849701678167658]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.5250728502047295,-0.14501711485936664,0.71338606911949],"aabb_xy":[[-0.54208294749478,-0.16115160335764056],[-0.5080627529146787,-0.1288826263610927]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.5483568203090077,1.195368024372871,0.71338606911949],"aabb_xy":[[0.49336456967349673,1.1403680226295583],[0.6033490709445186,1.2503680261161838]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.22008470467885904,-0.908948596470549,0.71338606911949],"aabb_xy":[[-0.26138924774259503,-0.9729485960386661],[-0.17878016161512306,-0.844948596902432]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.1582938150517209,0.6737699318944577,0.71338606911949],"aabb_xy":[[0.10427821876982091,0.6097699290022004],[0.2123094113336209,0.7377699347867147]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.3234206915847,0.47292607158084676,0.71338606911949],"aabb_xy":[[0.289104414410082,0.42292607160766904],[0.3577369687593179,0.5229260715540245]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.22409037774364476,-2.1775972042313674,0.71338606911949],"aabb_xy":[[-0.28809037413921784,-2.241560492650101],[-0.1600903813480717,-2.113633915812634]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.6945585555783158,-1.2982811454562362,0.71338606911949],"aabb_xy":[[0.6770585564439485,-1.308160772493824],[0.7120585547126829,-1.2884015184186484]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.10033808726749138,0.46241001193331677,0.71338606911949],"aabb_xy":[[-0.12533808681922987,0.452267528068182],[-0.0753380877157529,0.47255249579845143]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.28798379055855816,1.3655690817856918,0.71338606911949],"aabb_xy":[[0.28074002451231284,1.285569083582089],[0.2952275566048035,1.4455690799892937]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.4268843558836095,0.25685156376417906,0.71338606911949],"aabb_xy":[[-0.46438435654818816,0.2411645057639568],[-0.38938435521903075,0.27253862176440113]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.492750068329036,-2.5344350288609054,0.71338606911949],"aabb_xy":[[0.47959882235774665,-2.559435028617592],[0.5059013143003254,-2.509435029104219]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.11946346661253204,-0.4771652256955141,0.71338606911949],"aabb_xy":[[-0.15696346690470686,-0.48120670109611774],[-0.08196346632035723,-0.4731237502949105]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.013560945517103073,-2.157730801816893,0.71338606911949],"aabb_xy":[[-0.003116190475992431,-2.1744307257908226],[0.030238081510198578,-2.141030877842962]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[-0.6181950664594784,0.31183837274408477,0.71338606911949],"aabb_xy":[[-0.6781950663060452,0.2550197505510461],[-0.5581950666129116,0.36865699493712345]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.5204601098188988,-1.0196860126129212,0.71338606911949],"aabb_xy":[[-0.5654526965373492,-1.0646860118873702],[-0.4754675231004484,-0.9746860133384727]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.4012873824009996,-1.380877002899312,0.71338606911949],"aabb_xy":[[-0.46528737968664824,-1.4223837218521562],[-0.33728738511535095,-1.3393702839464683]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.19503647202151342,1.2486415046524475,0.71338606911949],"aabb_xy":[[-0.24502070772969062,1.198641505838952],[-0.14505223631333616,1.298641503465943]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.11458336197813446,0.2633314192592273,0.71338606911949],"aabb_xy":[[-0.13704813194953958,0.2408314183803668],[-0.09211859200672932,0.2858314201380878]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.44770206076307617,0.08108622280509437,0.71338606911949],"aabb_xy":[[0.4102020621874553,0.06834992714153641],[0.4852020593386969,0.09382251846865229]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.566761841509352,-1.3937812289050675,0.71338606911949],"aabb_xy":[[0.5167618405588192,-1.4253303759085887],[0.6167618424598849,-1.3622320819015459]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.007226831750091756,1.2763160742674833,0.71338606911949],"aabb_xy":[[-0.06277317164147021,1.2410003005640524],[0.07722683514165372,1.3116318479709141]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.6017977830455756,1.6889271032479694,0.71338606911949],"aabb_xy":[[-0.6218561946588159,1.668862016338812],[-0.5817393714323353,1.7089921901571268]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.23109835473369478,-1.240608422120014,0.71338606911949],"aabb_xy":[[-0.2660983547101906,-1.2500730381676306],[-0.19609835475719892,-1.2311438060723974]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[-0.11394253368027052,1.0497514562704673,0.71338606911949],"aabb_xy":[[-0.12904483514128856,1.0346499346394051],[-0.0988402322192524,1.064852977901529]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_31","position":[-0.12338881683780778,-2.520926421744959,0.71338606911949],"aabb_xy":[[-0.1873888172153414,-2.5706716885957714],[-0.05938881646027416,-2.471181154894147]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_32","position":[-0.09150598728722414,1.5430230855877425,0.71338606911949],"aabb_xy":[[-0.1039733453969598,1.5305577609544188],[-0.0790386291774885,1.5554884102210658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6807040609674834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1084.png","name":"1084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8849.png","name":"8849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7594.png","name":"7594"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4200.png","name":"4200"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":504.0355875202011,"rotation_z_degrees":123.53289562151076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009712207811046106,-0.010720440928294992,0.0021565238268640326]},{"name":"camera_2","offset_m":[-0.014889790251179487,0.012127752903672132,-0.006291087216796814]},{"name":"camera_3","offset_m":[0.0014832197227604912,-0.014463986365559168,-0.008231329337901574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019516863260456,0.00133406500310208,-0.0018709498395358289],"end_effector_yaw_offset_degrees":-0.43354111695427133},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004524985935459838,-0.0005138783950986965,3.050946536147913e-05],"end_effector_yaw_offset_degrees":0.24911177005514062},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016784342678022352,-0.0016843396647505365,0.0001302847226797672],"end_effector_yaw_offset_degrees":0.6847306448977315}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004123116311438499,0.0005396786846722989],"position_m":[0.1956231163114385,0.0250396786846723,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024495496862953683,0.00012204418834948268],"position_m":[0.32584954968629537,0.3291220441883495,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003978627424544633,0.002373818108354039],"position_m":[0.35987862742454463,0.06567381810835403,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00016883789645160893,0.0026664172077344606],"position_m":[0.21836883789645162,-0.36863358279226555,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dfd7b6552397cbeb9f95524781485e1a656287c1e1d1d8760b08711e33f621f6","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_585/tex_ceiling_textures_4200/tex_floor_textures_7594/tex_table_textures_1084/tex_wall_textures_8849","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5234109142319391963,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5234109142319391963,"visual_seed":5234109142319391963,"scene_id":"lab_003","finished_at":"2026-09-03T00:24:40"} +{"episode_id":"ep_000035","started_at":"2026-09-03T00:24:42","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.6522375896255526,-1.788752810365906,0.71338606911949],"aabb_xy":[[-0.6872375887555081,-1.7944980314415702],[-0.6172375904955968,-1.783007589290242]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.31891765831864194,-0.6829572456128081,0.71338606911949],"aabb_xy":[[0.2990266184383017,-0.695613056897505],[0.3388086981989822,-0.6703014343281113]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.22651914266105316,0.5573057840904232,0.71338606911949],"aabb_xy":[[-0.2905191390883751,0.5101361602683268],[-0.1625191462337313,0.6044754079125196]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.3897134520097205,-2.342751527614513,0.71338606911949],"aabb_xy":[[0.35471345281690214,-2.3537185736121753],[0.42471345120253867,-2.3317844816168503]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.5857405420630073,0.8867536350054244,0.71338606911949],"aabb_xy":[[-0.6357193505733232,0.8367536349997056],[-0.5357617335526914,0.9367536350111432]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.2975275814724536,-1.755705462948641,0.71338606911949],"aabb_xy":[[-0.31510588366140047,-1.7732799525227463],[-0.27994927928350677,-1.7381309733745363]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.21828732835483716,1.214655971314278,0.71338606911949],"aabb_xy":[[-0.22621060859358552,1.1921559710762744],[-0.21036404811608886,1.237155971552281]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.033009927094081015,0.37640090054974173,0.71338606911949],"aabb_xy":[[-0.055506348527945115,0.35390090074299435],[-0.010513505660216915,0.39890090035648923]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.42998662715187047,1.0482880803292214,0.71338606911949],"aabb_xy":[[-0.4408271053783854,1.0311017990385727],[-0.41914614892535557,1.06547436161987]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.5973239711439693,1.505374437196465,0.71338606911949],"aabb_xy":[[0.5598239696283376,1.4941476641803197],[0.634823972659601,1.5166012102126099]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.3543802516614729,-1.7122499905040485,0.71338606911949],"aabb_xy":[[0.29038025138749474,-1.7623160907013362],[0.4183802519354512,-1.6621838903067603]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.3140361230229811,0.14476251510097216,0.71338606911949],"aabb_xy":[[-0.34236583297152134,0.1403017729072551],[-0.2857064130744409,0.14922325729468922]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.17310878276688746,-2.306816028959661,0.71338606911949],"aabb_xy":[[-0.17724463909958768,-2.3443160284040183],[-0.1689729264341873,-2.2693160295153043]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.4195883260315818,1.446969755624281,0.71338606911949],"aabb_xy":[[0.4125468750808342,1.4399430038864867],[0.4266297769823294,1.4539965073620755]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.15975209886880448,1.3296598591291011,0.71338606911949],"aabb_xy":[[-0.16737636695898275,1.3220266355925576],[-0.15212783077862627,1.337293082665645]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.28083757113734,-2.5468274734279612,0.71338606911949],"aabb_xy":[[-0.3608375722104603,-2.5566055197653457],[-0.20083757006421965,-2.537049427090577]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.3903881922334269,-1.2378770818811706,0.71338606911949],"aabb_xy":[[0.38543217204854585,-1.2603770820832925],[0.3953442124183082,-1.2153770816790492]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.15153154486848674,-1.7381063675692414,0.71338606911949],"aabb_xy":[[-0.15957490479444192,-1.8231063686646076],[-0.14348818494253157,-1.6531063664738748]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.09408654405735695,-1.9992945759235499,0.71338606911949],"aabb_xy":[[0.08400483697878346,-2.0792945738156643],[0.10416825113593041,-1.9192945780314352]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.1640916408168116,-0.5988758005235804,0.71338606911949],"aabb_xy":[[-0.17919394227782964,-0.613977322154642],[-0.14898933935579345,-0.5837742788925183]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.5683473089347462,0.10157308560647138,0.71338606911949],"aabb_xy":[[-0.6333473099352467,0.05078672045179643],[-0.5033473079342456,0.15235945076114632]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.21809863858918072,1.6826212883632237,0.71338606911949],"aabb_xy":[[-0.30809863831235484,1.6595479358280436],[-0.1280986388660065,1.7056946408984033]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.3588178368048501,0.30273058851934653,0.71338606911949],"aabb_xy":[[-0.3647843757455858,0.2967694438599825],[-0.35285129786411423,0.30869173317871057]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.05262625223706263,1.208433381474002,0.71338606911949],"aabb_xy":[[-0.06353202832462534,1.1284333850751729],[-0.04172047614949991,1.2884333778728312]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.5811406339641673,-1.884310166500844,0.71338606911949],"aabb_xy":[[-0.5884018815345746,-1.8970971767643534],[-0.5738793863937599,-1.8715231562373345]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[-0.3352778483375765,0.9311141390641229,0.71338606911949],"aabb_xy":[[-0.3992778500155738,0.8825967475848085],[-0.2712778466595791,0.979631530543437]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[0.4264757968524857,1.7984618928406921,0.71338606911949],"aabb_xy":[[0.4183621421791086,1.790356076386663],[0.4345894515258628,1.8065677092947212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831520897475521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9163.png","name":"9163"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9163.png","name":"9163"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1765.png","name":"1765"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2954.png","name":"2954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3856.png","name":"3856"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":740.3051375030445,"rotation_z_degrees":255.18376057313824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016651912228767003,-0.014915163727758064,-0.016586853888565824]},{"name":"camera_2","offset_m":[-0.008879302273109478,-0.003468995363231416,-0.00113487019341239]},{"name":"camera_3","offset_m":[0.008604395707740561,0.0024185671664414335,-0.004039738504431241]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007588531659697643,-0.001869395668123377,-0.0006751579153949235],"end_effector_yaw_offset_degrees":-0.4864802751862809},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018088331828893965,-0.0005982356889165463,0.00029874159741088546],"end_effector_yaw_offset_degrees":-0.18021917781411423},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011283766937090055,0.0010445122359260535,0.000979066669753394],"end_effector_yaw_offset_degrees":-0.2645949746152725}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018915841038584713,-0.0008336447193497973],"position_m":[0.18960841589614152,0.023666355280650204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027730917048015054,0.004578191225234223],"position_m":[0.3261730917048015,0.33357819122523424,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006871851310177824,-0.0029922403482038062],"position_m":[0.3552128148689822,0.06030775965179619,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003210571569918751,-0.004098263918578227],"position_m":[0.22141057156991875,-0.3753982639185782,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d48251ffdde778147cc23522b52ca2d289c9cfe39e04de43b13a1a4c4f09b61","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9163/tex_ceiling_textures_3856/tex_floor_textures_2592/tex_table_textures_1765/tex_wall_textures_2954","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7740533147063658152,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7740533147063658152,"visual_seed":7740533147063658152,"scene_id":"lab_003","finished_at":"2026-09-03T00:27:26"} +{"episode_id":"ep_000036","started_at":"2026-09-03T00:27:28","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.628270146581937,-1.0575836691266463,0.71338606911949],"aabb_xy":[[-0.6362641351596404,-1.0655837492217366],[-0.6202761580042336,-1.049583589031556]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.2680143231447798,0.6046946106621469,0.71338606911949],"aabb_xy":[[0.18801432207165947,0.5949165643247625],[0.34801432421790013,0.6144726569995314]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.5746784713492417,-1.2233197710988342,0.71338606911949],"aabb_xy":[[-0.5864466581438992,-1.3083197710040557],[-0.5629102845545841,-1.1383197711936126]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.5558832484837148,0.877791497808972,0.71338606911949],"aabb_xy":[[0.46588324480679644,0.8163590912318675],[0.6458832521606328,0.9392239043860762]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.38605682660151924,-1.1757174438105493,0.71338606911949],"aabb_xy":[[-0.42355682694974695,-1.1875088393916327],[-0.34855682625329143,-1.1639260482294655]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.5200311972435507,1.4081560376192543,0.71338606911949],"aabb_xy":[[0.4825311988201503,1.3949918236514236],[0.557531195666951,1.421320251587085]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.156828415187246,-1.9551206546264157,0.71338606911949],"aabb_xy":[[0.13555040704377372,-2.020120656952489],[0.17810642333071822,-1.8901206523003429]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[-0.4146989126599518,-0.5783352159683322,0.71338606911949],"aabb_xy":[[-0.4746989143028736,-0.6303353652602763],[-0.3546989110170299,-0.526335066676388]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.47438564735553024,0.562771143301021,0.71338606911949],"aabb_xy":[[-0.5543856495182927,0.4828159596748772],[-0.39438564519276775,0.6427263269271645]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.13594910669541138,-2.5765151411267615,0.71338606911949],"aabb_xy":[[-0.17344910788020415,-2.580933363822821],[-0.09844910551061857,-2.5720969184307]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.5424643452311573,1.1675388082974711,0.71338606911949],"aabb_xy":[[0.5049643450592852,1.134838072914564],[0.5799643454030291,1.2002395436803783]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.02976382826047108,-1.0534686090916787,0.71338606911949],"aabb_xy":[[-0.0913545874844639,-1.1174686072007258],[0.03182693096352173,-0.9894686109826321]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.6886781071148802,-1.2807765153022066,0.71338606911949],"aabb_xy":[[0.671178107980513,-1.2906561423397942],[0.7061781062492474,-1.2708968882646186]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.5309602816956672,0.2420629319648162,0.71338606911949],"aabb_xy":[[-0.5374619182036718,0.23229510993850647],[-0.5244586451876626,0.251830753991126]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[0.42720581416250636,0.4891441332920854,0.71338606911949],"aabb_xy":[[0.4189912690468223,0.480467542994444],[0.4354203592781903,0.49782072358972657]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.5718271992463462,-0.7557422686548714,0.71338606911949],"aabb_xy":[[0.5602582184994096,-0.7807422687718031],[0.5833961799932827,-0.7307422685379397]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.06511904211658626,1.5763630191015348,0.71338606911949],"aabb_xy":[[0.028084932688526527,1.541985811767825],[0.10215315154464595,1.6107402264352437]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[0.5399779956015187,-1.2192497999833485,0.71338606911949],"aabb_xy":[[0.5161417779609137,-1.3092498007918352],[0.5638142132421238,-1.1292497991748622]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.44936742785028716,0.08107278206036739,0.71338606911949],"aabb_xy":[[-0.4664695058086553,0.06396597652909763],[-0.432265349891919,0.09817958759163714]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.33004543936369224,-1.9939675918418018,0.71338606911949],"aabb_xy":[[0.3050454400917299,-2.0103129554379637],[0.35504543863565446,-1.9776222282456393]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.5572147598499455,-0.4274021632385785,0.71338606911949],"aabb_xy":[[0.4722147614325223,-0.5122764587008635],[0.6422147582673687,-0.3425278677762935]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.07471672219235481,1.6989863308519024,0.71338606911949],"aabb_xy":[[-0.11221672200938837,1.6943481195407604],[-0.037216722375321254,1.703624542163044]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.5532481820896871,-0.9335571461696344,0.71338606911949],"aabb_xy":[[-0.6032412941988791,-0.9835571468438302],[-0.5032550699804953,-0.883557145495439]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.627120752646445,-0.4897037170641152,0.71338606911949],"aabb_xy":[[-0.6771207543079396,-0.5397021593198177],[-0.5771207509849501,-0.43970527480841237]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.6306013262791013,-1.7232214724623636,0.71338606911949],"aabb_xy":[[0.5666013255756319,-1.769239854935285],[0.6946013269825706,-1.677203089989443]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.17956106112985126,-2.1996994085062855,0.71338606911949],"aabb_xy":[[0.16288392513675576,-2.216399332480216],[0.19623819712294677,-2.1829994845323553]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[-0.631634119164323,-1.3623093457698718,0.71338606911949],"aabb_xy":[[-0.6515251590446632,-1.374965157054569],[-0.6117430792839827,-1.3496535344851752]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.47150989121523224,-2.3762898810106883,0.71338606911949],"aabb_xy":[[0.46754940744549794,-2.383957745596209],[0.47547037498496664,-2.3686220164251677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680232965822955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9634.png","name":"9634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9634.png","name":"9634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4976.png","name":"4976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5787.png","name":"5787"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.2648654944117,"rotation_z_degrees":133.29736684329978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[1.8951947497639066e-05,-0.0059929302984619605,-0.0006981224539436871]},{"name":"camera_2","offset_m":[-0.002906550079987205,0.018122743422622104,0.008790725226383609]},{"name":"camera_3","offset_m":[0.008195982439206991,-0.009233942898393686,-0.0017018483028012482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007931949307798418,0.0011877726945763306,-0.0014026759448019783],"end_effector_yaw_offset_degrees":0.3371202198548209},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005781656860588495,0.0004360553279836475,-0.0006032908445787789],"end_effector_yaw_offset_degrees":-0.8311582842969278},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013066939064540531,0.0011134233240390817,-0.0019006152112315102],"end_effector_yaw_offset_degrees":-0.3101201552297832}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042308566753967575,-0.0025211270257446327],"position_m":[0.18726914332460326,0.021978872974255367,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00021172116379383678,0.003177662632100912],"position_m":[0.32361172116379383,0.3321776626321009,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034369094438421958,0.0002161951450920666],"position_m":[0.3524630905561578,0.06351619514509206,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018211174698386842,-0.004843290845945978],"position_m":[0.21838211174698388,-0.376143290845946,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"19ca8356767a1e02ac5214838f242f865bcb8dfb21b067b414b0d078da97c662","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9634/tex_ceiling_textures_5787/tex_floor_textures_6642/tex_table_textures_7534/tex_wall_textures_4976","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5411214008369919482,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5411214008369919482,"visual_seed":5411214008369919482,"scene_id":"lab_003","finished_at":"2026-09-03T00:30:20"} +{"episode_id":"ep_000037","started_at":"2026-09-03T00:30:24","dimensions":{"distractor":{"count":31,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.19775460003077117,0.7038906720900422,0.71338606911949],"aabb_xy":[[0.1807445027407205,0.6877561835917682],[0.2147646973208218,0.720025160588316]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.5909126181529007,0.46955015769597575,0.71338606911949],"aabb_xy":[[-0.6709126151671487,0.4494156060225645],[-0.5109126211386528,0.489684709369387]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.531093708385407,-1.6791699703489842,0.71338606911949],"aabb_xy":[[0.5262501136241772,-1.6840216228279683],[0.5359373031466371,-1.67431831787]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.1340723350674895,-2.1782520425096688,0.71338606911949],"aabb_xy":[[-0.16853468246563127,-2.2127459249074906],[-0.09960998766934769,-2.143758160111845]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.30171281302739167,-2.3103204302627764,0.71338606911949],"aabb_xy":[[-0.3113444492478213,-2.3199577430424854],[-0.29208117680696205,-2.3006831174830675]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[0.3531872503986395,-2.350817015297306,0.71338606911949],"aabb_xy":[[0.34234677217212456,-2.3680032965879545],[0.36402772862515437,-2.333630734006657]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.16923594378785656,-2.2159745114012948,0.71338606911949],"aabb_xy":[[0.10523594352738573,-2.2609833107542223],[0.23323594404832734,-2.1709657120483663]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.09643325954803794,-0.7282165846389466,0.71338606911949],"aabb_xy":[[0.0414332599262921,-0.7832002774264193],[0.15143325916978378,-0.6732328918514738]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.2801663132053196,1.3703957232824746,0.71338606911949],"aabb_xy":[[-0.30881564556573576,1.3417501640053988],[-0.2515169808449033,1.3990412825595504]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.6070009871840594,-0.4294506390858639,0.71338606911949],"aabb_xy":[[0.54300098648059,-0.475469021558785],[0.6710009878875287,-0.383432256612943]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.10022598102181302,-2.3314063763988506,0.71338606911949],"aabb_xy":[[-0.11772591445579637,-2.3489063763190847],[-0.08272604758782963,-2.3139063764786156]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[0.5322502605685826,-2.087533018349164,0.71338606911949],"aabb_xy":[[0.5039205506200425,-2.091993760542881],[0.5605799705171229,-2.083072276155447]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.5806130449262393,-1.567531210339571,0.71338606911949],"aabb_xy":[[-0.5913860188476071,-1.60253120855861],[-0.5698400710048716,-1.5325312121205321]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.0316321584256134,-1.7181804998594792,0.71338606911949],"aabb_xy":[[0.014132159147526524,-1.7355185999258251],[0.049132157703700274,-1.7008423997931332]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.687049647726762,1.4288438365404832,0.71338606911949],"aabb_xy":[[0.6620496485611289,1.4218915908351266],[0.7120496468923951,1.4357960822458398]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.41329763660000274,1.8207179607645272,0.71338606911949],"aabb_xy":[[0.40288607791951897,1.8153722274286284],[0.4237091952804864,1.8260636941004251]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.2871924983265336,-1.2394958980912865,0.71338606911949],"aabb_xy":[[0.26730145844619335,-1.2521517093759833],[0.30708353820687384,-1.2268400868065896]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.20965529162193636,-1.9531182673204395,0.71338606911949],"aabb_xy":[[-0.24465529151795526,-1.9614925028323795],[-0.1746552917259175,-1.9447440318084994]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.3164820582323278,-0.8751864525411022,0.71338606911949],"aabb_xy":[[0.31051551929159193,-0.8811475972004661],[0.3224485971730635,-0.869225307881738]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.0921279093539149,0.5917072377661654,0.71338606911949],"aabb_xy":[[-0.1146279093640632,0.5776110181265621],[-0.06962790934376661,0.6058034574057687]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.3580666973963652,1.0879539413540855,0.71338606911949],"aabb_xy":[[-0.3923636084141058,1.053657055144144],[-0.3237697863786245,1.1222508275640266]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.16214877349077417,1.119306318043935,0.71338606911949],"aabb_xy":[[-0.2521487771676923,1.0578739114668303],[-0.07214876981385597,1.180738724621039]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.2837454139248227,-1.191225417889096,0.71338606911949],"aabb_xy":[[-0.29350140343399655,-1.2009879519483302],[-0.2739894244156488,-1.1814628838298613]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.3562598586813808,-1.7848494390051175,0.71338606911949],"aabb_xy":[[-0.3897000338774004,-1.8182930648360471],[-0.32281968348536116,-1.751405813174187]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[0.6137186885319317,-0.03829340881251486,0.71338606911949],"aabb_xy":[[0.5762186887148981,-0.04293162012365672],[0.6512186883489652,-0.03365519750137299]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.25743718333284366,-0.6896502033340739,0.71338606911949],"aabb_xy":[[-0.3224371812144915,-0.7407738670406148],[-0.19243718545119592,-0.638526539627533]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[-0.42615843779179385,0.6367274971684522,0.71338606911949],"aabb_xy":[[-0.43149095244640684,0.6314031689232167],[-0.42082592313718087,0.6420518254136878]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.3231300284540284,-0.28603919206113826,0.71338606911949],"aabb_xy":[[-0.35813002764684654,-0.29700623805880083],[-0.28813002926121,-0.2750721460634756]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[-0.5231308022781793,-1.1992780288648122,0.71338606911949],"aabb_xy":[[-0.5362820482494688,-1.2242780286214987],[-0.5099795563068901,-1.1742780291081256]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_29","position":[-0.28794292568329494,-1.4471160225908344,0.71338606911949],"aabb_xy":[[-0.36794292366408,-1.4547175635526859],[-0.2079429277025099,-1.439514481628982]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[0.43925163206037654,-2.571529922955549,0.71338606911949],"aabb_xy":[[0.4017516313957978,-2.5872169809557706],[0.4767516327249552,-2.555842864955326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6816807275030552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5550.png","name":"5550"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5550.png","name":"5550"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7091.png","name":"7091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1576.png","name":"1576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6400.png","name":"6400"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":653.6441474608783,"rotation_z_degrees":69.93535424134738,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004939784058484423,-0.012625854370702964,0.01313205775061949]},{"name":"camera_2","offset_m":[-0.007998719535335033,0.011310045495985844,-0.01893003950185554]},{"name":"camera_3","offset_m":[0.008504306069592245,-0.005114306540757351,-0.01050312333206489]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006659594891864841,-0.0009847791038184157,0.001552584760130679],"end_effector_yaw_offset_degrees":0.6203000362966087},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014754664785586167,0.0009531095218909633,0.00020619658768458466],"end_effector_yaw_offset_degrees":-0.28961535312494524},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00032473878085142365,-0.0016399060054175553,-0.0012819630895177813],"end_effector_yaw_offset_degrees":0.9703992476934251}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012322648851482536,0.0004299723237970012],"position_m":[0.19273226488514825,0.024929972323797,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002159067711270804,0.0026594614007946996],"position_m":[0.3255590677112708,0.3316594614007947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002809534814713792,0.004936900741303012],"position_m":[0.3587095348147138,0.06823690074130301,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004677253007925971,-0.000991676515606008],"position_m":[0.22287725300792596,-0.372291676515606,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"da30c15310c6e9f5b23c977a1a21435ec43eca62ae0e13b44269cfa8c3d8f098","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5550/tex_ceiling_textures_6400/tex_floor_textures_5405/tex_table_textures_7091/tex_wall_textures_1576","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2123467503070623643,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2123467503070623643,"visual_seed":2123467503070623643,"scene_id":"lab_003","finished_at":"2026-09-03T00:33:01"} +{"episode_id":"ep_000038","started_at":"2026-09-03T00:36:02","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.5212764740699491,-0.9117378372640847,0.71338606911949],"aabb_xy":[[0.5057207046596839,-0.9272882705084919],[0.5368322434802144,-0.8961874040196776]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.10149942397945177,-1.6325144881331464,0.71338606911949],"aabb_xy":[[0.07035250513586865,-1.7025144868199535],[0.1326463428230349,-1.5625144894463392]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.36414315476558556,-1.6111455208377465,0.71338606911949],"aabb_xy":[[0.35601546657227234,-1.620059129248454],[0.3722708429588988,-1.602231912427039]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.46862196888647945,-2.3684534324483844,0.71338606911949],"aabb_xy":[[-0.473959544552484,-2.393453433377524],[-0.4632843932204749,-2.3434534315192446]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.5977928916769556,1.3905713342869408,0.71338606911949],"aabb_xy":[[-0.6352928928617482,1.38615311159088],[-0.5602928904921626,1.394989556983001]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.37214923317778537,-1.5285672096990526,0.71338606911949],"aabb_xy":[[0.3615817535196863,-1.5391122398120611],[0.3827167128358843,-1.518022179586044]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.6081121051659706,-2.5303798322420032,0.71338606911949],"aabb_xy":[[0.5281121019019575,-2.5439398645509166],[0.6881121084299837,-2.51681979993309]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.5705450556028819,0.7213630517791132,0.71338606911949],"aabb_xy":[[0.5650871099658619,0.641363048471454],[0.576003001239902,0.8013630550867722]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.6346617914252424,1.6562394647348166,0.71338606911949],"aabb_xy":[[-0.6824679590390109,1.5912394620277575],[-0.5868556238114736,1.7212394674418754]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.11265078364246084,-0.9258638955817542,0.71338606911949],"aabb_xy":[[-0.12206825821232359,-0.9352800727194732],[-0.10323330907259809,-0.9164477184440352]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.1192653339735994,0.8636981660776155,0.71338606911949],"aabb_xy":[[0.04926533237131993,0.8502653728759579],[0.18926533557587888,0.8771309592792731]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.5109398984163624,0.994191275792419,0.71338606911949],"aabb_xy":[[0.46969108738644766,0.9391912762802014],[0.5521887094462771,1.0491912753046362]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.4843994410456727,-1.0671726691736556,0.71338606911949],"aabb_xy":[[0.46056322340506767,-1.1571726699821423],[0.5082356586862777,-0.9771726683651694]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.16953247619360656,0.5050799242422888,0.71338606911949],"aabb_xy":[[-0.21962994017468018,0.44107992373247695],[-0.11943501221253294,0.5690799247521006]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.443805627964736,0.5402380689699005,0.71338606911949],"aabb_xy":[[-0.5334927042728514,0.4502380687154499],[-0.3541185516566205,0.630238069224351]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.37899200544734746,1.2112602402289814,0.71338606911949],"aabb_xy":[[0.3750315216776131,1.2035923756434606],[0.3829524892170818,1.2189281048145018]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.6198389283508126,-1.950073006428358,0.71338606911949],"aabb_xy":[[-0.6431207705489439,-2.035073007725586],[-0.5965570861526812,-1.86507300513113]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.29643176892217193,1.72834468773816,0.71338606911949],"aabb_xy":[[-0.33020732811286485,1.714306192524995],[-0.2626562097314789,1.7423831829513248]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.5513869573415144,1.5784332736533195,0.71338606911949],"aabb_xy":[[0.47138695868462843,1.5639284147290569],[0.6313869559984004,1.5929381325775827]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.41931579092880983,-1.436211343697728,0.71338606911949],"aabb_xy":[[-0.4793157925717317,-1.4882114929896724],[-0.359315789285888,-1.384211194405784]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.004649719221057724,1.1008363322113577,0.71338606911949],"aabb_xy":[[-0.0033437705742243038,1.0928382002708823],[0.012643209016339755,1.1088344641518335]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.22042107781000492,-0.6700824024755612,0.71338606911949],"aabb_xy":[[-0.22911904010072023,-0.682207376783036],[-0.21172311551928966,-0.6579574281680866]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.5307893761771767,0.04907815344202948,0.71338606911949],"aabb_xy":[[0.4667893797816035,-0.01488513497670408],[0.5947893725727497,0.11304144186076304]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[0.07272079763892214,-2.111799006220037,0.71338606911949],"aabb_xy":[[0.01870520135702211,-2.1757990091122936],[0.12673639392082212,-2.0477990033277793]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.2967159136704379,-0.2763400329592458,0.71338606911949],"aabb_xy":[[-0.386715917347356,-0.3377724395363501],[-0.2067159099935197,-0.2149076263821414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6762229800724082,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/286.png","name":"286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6591.png","name":"6591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4662.png","name":"4662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6262.png","name":"6262"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.5763605184779,"rotation_z_degrees":110.09753939493405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0043993778309716364,-0.008871677148050679,0.008802490298225298]},{"name":"camera_2","offset_m":[-0.00837824055330481,-0.005997824541887478,-0.016413381764924347]},{"name":"camera_3","offset_m":[0.017019545870688064,0.017303528371411556,-0.01725812898264246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003139802253395176,0.001781498775464368,0.00013730375562783512],"end_effector_yaw_offset_degrees":-0.2463349644566304},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014744071128774765,0.0016189921617742109,0.0019358977568302302],"end_effector_yaw_offset_degrees":0.09221252494526322},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001706032508863819,-0.00100934124220419,-0.001491243966737768],"end_effector_yaw_offset_degrees":-0.18485815721292043}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003375696009771555,-0.002868335718157523],"position_m":[0.19487569600977156,0.02163166428184248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025618291552322414,-8.09188070633295e-05],"position_m":[0.3208381708447678,0.32891908119293667,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039050258517244222,0.004115916365906758],"position_m":[0.3598050258517244,0.06741591636590676,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004504950591915158,-2.309598639592663e-05],"position_m":[0.21369504940808484,-0.37132309598639596,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"79c3c9c89751bad68febb8bdbfde670e358519be1d1d09206d5a9e3239afa7ea","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2658/tex_ceiling_textures_6262/tex_floor_textures_4662/tex_table_textures_286/tex_wall_textures_6591","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4474837889856379814,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4474837889856379814,"visual_seed":4474837889856379814,"scene_id":"lab_003","finished_at":"2026-09-03T00:38:45"} +{"episode_id":"ep_000039","started_at":"2026-09-03T00:38:48","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.20964359958148582,-1.3596688176014662,0.71338606911949],"aabb_xy":[[-0.2896436017442483,-1.4396240012276096],[-0.1296435974187233,-1.2797136339753223]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.16546436393713548,0.9683639574306326,0.71338606911949],"aabb_xy":[[-0.17274668031379908,0.8783639538211233],[-0.15818204756047177,1.0583639610401412]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.21383570016862086,-2.1755017813177435,0.71338606911949],"aabb_xy":[[0.1488357001343181,-2.222202457998071],[0.2788357002029236,-2.1288011046374162]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[-0.5305172614513567,-2.132024605411697,0.71338606911949],"aabb_xy":[[-0.5905172623121694,-2.1834510354181833],[-0.47051726059054383,-2.08059817540521]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.5021926000051873,0.5425459660732055,0.71338606911949],"aabb_xy":[[0.4980567436724872,0.5050459666288485],[0.5063284563378876,0.5800459655175625]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.19192604139511726,1.6238524338441853,0.71338606911949],"aabb_xy":[[-0.25192604164651844,1.5695711088077207],[-0.1319260411437161,1.67813375888065]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.46872600403072606,-2.3571440315920356,0.71338606911949],"aabb_xy":[[-0.5387260074222879,-2.3924598052954664],[-0.3987260006391641,-2.3218282578886047]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.013888085558230845,0.23687823350174408,0.71338606911949],"aabb_xy":[[-0.023181703795381422,0.19937823501361018],[-0.004594467321080261,0.274378231989878]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.4138650611432384,-0.7488447439617836,0.71338606911949],"aabb_xy":[[0.34986505923089606,-0.8047558932197941],[0.47786506305558074,-0.6929335947037732]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.45884558699479105,-1.5164441180899,0.71338606911949],"aabb_xy":[[-0.47401775627642445,-1.5316129750181033],[-0.44367341771315777,-1.5012752611616966]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.26299830238364863,1.262044096496017,0.71338606911949],"aabb_xy":[[-0.27967543837674413,1.2453441725220864],[-0.24632116639055313,1.278744020469947]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.4258551181760324,-0.8859872567414608,0.71338606911949],"aabb_xy":[[-0.4508551181085504,-0.8928699249623843],[-0.4008551182435146,-0.8791045885205376]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.44631195750078323,1.2481986140276402,0.71338606911949],"aabb_xy":[[0.3863119569047671,1.193386141482417],[0.5063119580967994,1.303011086572864]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.02489583096865655,1.2815518117316582,0.71338606911949],"aabb_xy":[[-0.032308286510045026,1.2757006013100303],[-0.017483375427268077,1.2874030221532862]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.5364759375154997,-0.2480392233738189,0.71338606911949],"aabb_xy":[[-0.6164759377891066,-0.3209887711995356],[-0.45647593724189267,-0.17508967554810217]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.46168652852847747,-2.5092895004848828,0.71338606911949],"aabb_xy":[[0.44853528255718816,-2.5342895002415693],[0.4748377744997669,-2.484289500728196]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.2504731135288314,-2.200600720141913,0.71338606911949],"aabb_xy":[[-0.3004505303940849,-2.250600721631161],[-0.20049569666357778,-2.150600718652664]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.5194756625291042,-1.3941802849241844,0.71338606911949],"aabb_xy":[[0.4494756661191423,-1.414618220575866],[0.5894756589390658,-1.3737423492725025]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.15954128279772029,-0.6266461555065705,0.71338606911949],"aabb_xy":[[-0.21453676061837965,-0.6816461569404774],[-0.10454580497706087,-0.5716461540726635]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.11842047839021796,-2.515039118320027,0.71338606911949],"aabb_xy":[[0.08382939553617275,-2.580039118605058],[0.15301156124426318,-2.450039118034996]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.5349917355797655,1.2980142988438992,0.71338606911949],"aabb_xy":[[-0.5989917319753385,1.2340510104251654],[-0.47099173918419235,1.3619775872626325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761806784119927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1330.png","name":"1330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/514.png","name":"514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9604.png","name":"9604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/366.png","name":"366"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":767.2875143121636,"rotation_z_degrees":262.90388465621146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003167731541423739,-0.015225257659940209,0.005293918948590312]},{"name":"camera_2","offset_m":[-0.0010429408137960332,-0.0024893581867231306,0.016235769864472133]},{"name":"camera_3","offset_m":[-0.005362131503917001,-0.003693252249471108,0.009858926145630026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024834490773468425,-0.0016535781279104586,0.0015094192867932759],"end_effector_yaw_offset_degrees":-0.12544184735761665},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00013174535275829345,0.001997475300841653,0.00022562687656101305],"end_effector_yaw_offset_degrees":-0.6979707228857805},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014390793361769997,3.863252120396782e-05,0.0005188970717601733],"end_effector_yaw_offset_degrees":0.5384009275183357}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001833194068784124,0.0009146756825428246],"position_m":[0.1916833194068784,0.025414675682542825,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018318847652698013,-0.0014828825822125326],"position_m":[0.3215681152347302,0.3275171174177875,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030875490018200946,-0.0025768322941221266],"position_m":[0.3528124509981799,0.06072316770587787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004959086290353298,0.0009674113557828299],"position_m":[0.2132409137096467,-0.3703325886442172,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b345f7e8e5b1d13ccf992b7255f2e21c2e60ef891c9f0f429b3e1b199f948f2","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2401/tex_ceiling_textures_366/tex_floor_textures_9604/tex_table_textures_1330/tex_wall_textures_514","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2741886240512007017,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2741886240512007017,"visual_seed":2741886240512007017,"scene_id":"lab_003","finished_at":"2026-09-03T00:41:34"} +{"episode_id":"ep_000040","started_at":"2026-09-03T00:41:37","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.6535344210111536,-1.5945317074009027,0.71338606911949],"aabb_xy":[[0.6160344209055605,-1.6013538692538838],[0.6910344211167464,-1.5877095455479215]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.5380885338057295,-1.335972287225994,0.71338606911949],"aabb_xy":[[0.46808853167429987,-1.3587342528516895],[0.608088535937159,-1.3132103216002982]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.49958480308553355,1.117109454616564,0.71338606911949],"aabb_xy":[[-0.5494674999632299,1.0671094553702896],[-0.4497021062078374,1.167109453862839]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.5064169921273605,-1.061345883119683,0.71338606911949],"aabb_xy":[[0.469085715602118,-1.0959989379145352],[0.5437482686526032,-1.0266928283248307]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.33631390942672007,0.336014973854454,0.71338606911949],"aabb_xy":[[-0.36015012706732513,0.2460149730459676],[-0.312477691786115,0.4260149746629406]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.5343081131434102,1.3327979903134648,0.71338606911949],"aabb_xy":[[-0.557893236607305,1.267797988068033],[-0.5107229896795153,1.3977979925588966]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.18459700808347257,-2.104065880357356,0.71338606911949],"aabb_xy":[[0.12960379674633582,-2.15906588069615],[0.23959021942060935,-2.0490658800185626]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.4653883839589822,-1.796225978732867,0.71338606911949],"aabb_xy":[[-0.5106669988401313,-1.8602259780810504],[-0.4201097690778329,-1.732225979384683]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[0.41197995653953345,0.19660006892146953,0.71338606911949],"aabb_xy":[[0.40664744188492047,0.1912757406762339],[0.41731247119414644,0.2019243971667051]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.5908963027917442,-1.8511390934248868,0.71338606911949],"aabb_xy":[[-0.5996983581007168,-1.8589504195798157],[-0.5820942474827714,-1.8433277672699575]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.27824261780323867,-2.565438456110528,0.71338606911949],"aabb_xy":[[-0.31574261762027217,-2.5700766674216697],[-0.24074261798620505,-2.560800244799386]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.5898654233952635,-1.9489307021347886,0.71338606911949],"aabb_xy":[[-0.6798654219897334,-1.9651812884482094],[-0.49986542480079355,-1.9326801158213673]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.6683980999883378,1.726064719540299,0.71338606911949],"aabb_xy":[[-0.6765117546617149,1.71795890308627],[-0.6602844453149607,1.7341705359943282]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.21064509904933887,0.4295293258619566,0.71338606911949],"aabb_xy":[[-0.22765519633938955,0.4133948373636826],[-0.19363500175928824,0.44566381436023045]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.35366559314170165,-1.8528548901237323,0.71338606911949],"aabb_xy":[[0.34757096525358333,-1.8614242846754014],[0.35976022102981997,-1.844285495572064]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.44942605728801044,1.6559639655175924,0.71338606911949],"aabb_xy":[[0.4457227959588715,1.6522619472088746],[0.4531293186171493,1.6596659838263101]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.21724345787659782,0.8829885212080608,0.71338606911949],"aabb_xy":[[0.155652698652605,0.8189885230990139],[0.27883421710059064,0.9469885193171077]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[0.39090374639541325,-2.406953767956388,0.71338606911949],"aabb_xy":[[0.3309037461440121,-2.4612350929928524],[0.45090374664681443,-2.3526724429199226]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.0463413003694616,-1.5986877629740859,0.71338606911949],"aabb_xy":[[0.01071214446950186,-1.6343204297309388],[0.08197045626942134,-1.563055096217233]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.08590074824248206,1.3726093097168421,0.71338606911949],"aabb_xy":[[-0.12090074743530031,1.3616422637191794],[-0.05090074904966378,1.3835763557145044]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.42759508687666853,-1.61048700190273,0.71338606911949],"aabb_xy":[[-0.45544012365727565,-1.6412715006410414],[-0.3997500500960614,-1.579702503164418]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.6227922660242022,-0.4361677550406253,0.71338606911949],"aabb_xy":[[0.6163784523810171,-0.4425775752882936],[0.629206079667387,-0.42975793479295693]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.12716370893441142,0.26641062644630553,0.71338606911949],"aabb_xy":[[-0.17715682104360334,0.21641062577210995],[-0.07717059682521955,0.3164106271205012]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.35633440418228934,-0.976281364724574,0.71338606911949],"aabb_xy":[[-0.4463344039054635,-0.9993547172597536],[-0.2663344044591151,-0.9532080121893939]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.2709195412872196,1.165141671333612,0.71338606911949],"aabb_xy":[[0.261759662343343,1.158610453290075],[0.2800794202310962,1.171672889377149]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.18570662488165113,-0.697183373756838,0.71338606911949],"aabb_xy":[[0.12070662224385764,-0.748662972456285],[0.2507066275194446,-0.6457037750573911]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787439440073716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9670.png","name":"9670"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9670.png","name":"9670"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1240.png","name":"1240"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5553.png","name":"5553"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1720.png","name":"1720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7180.png","name":"7180"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":514.5569404955327,"rotation_z_degrees":15.017196492157083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01727038225586493,-0.015820100838595585,-0.00859797837151517]},{"name":"camera_2","offset_m":[-0.012197321945134593,0.012413289129369492,0.011575409494441306]},{"name":"camera_3","offset_m":[0.0032898492635296574,0.008247742881018913,-0.002833309447638134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012082235409395731,-8.917869413747111e-05,-0.0004829088124297422],"end_effector_yaw_offset_degrees":0.413388978123165},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013183447580280535,0.0008687739260658067,0.0018846648537008764],"end_effector_yaw_offset_degrees":0.5964559255156221},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012524828238501544,-0.0002841138214802856,8.256843783660496e-05],"end_effector_yaw_offset_degrees":0.7722592046219106}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002333831967260118,0.003099045026015281],"position_m":[0.19383383196726012,0.027599045026015283,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003002439357783892,0.0010394039455023565],"position_m":[0.32309975606422164,0.33003940394550235,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003722350241027069,0.003990239868787468],"position_m":[0.3521776497589729,0.06729023986878746,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004979990096846588,0.004725767903647512],"position_m":[0.21322000990315343,-0.3665742320963525,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"83c8c6ea92ed5965233257933d2861f3dc0615b79623455c8ec4a1d6b6fa74b5","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9670/tex_ceiling_textures_7180/tex_floor_textures_1720/tex_table_textures_1240/tex_wall_textures_5553","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3649377642483774242,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3649377642483774242,"visual_seed":3649377642483774242,"scene_id":"lab_003","finished_at":"2026-09-03T00:44:14"} +{"episode_id":"ep_000041","started_at":"2026-09-03T00:44:17","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.014061062258269086,1.4503634340116185,0.71338606911949],"aabb_xy":[[-0.06593276132028913,1.370363431418777],[0.0940548858368273,1.53036343660446]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.13979309714996646,-2.540534578643389,0.71338606911949],"aabb_xy":[[0.12894149090109086,-2.55139386937104],[0.15064470339884206,-2.5296752879157376]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.07325584204665114,-1.7567005585887852,0.71338606911949],"aabb_xy":[[0.06522957141602514,-1.7654520535661378],[0.08128211267727714,-1.7479490636114325]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.21531222240995207,-1.1555042005035012,0.71338606911949],"aabb_xy":[[0.21119627229787938,-1.1596197555363466],[0.2194281725220247,-1.1513886454706554]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.5896330278696713,-1.2458226463290414,0.71338606911949],"aabb_xy":[[0.5521330266848784,-1.2502408690251017],[0.627133029054464,-1.2414044236329806]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.07676493310456978,0.5686479155388922,0.71338606911949],"aabb_xy":[[-0.09926493311471807,0.5545516958992889],[-0.054264933094421486,0.5827441351784954]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.4841095148849963,1.7127446941816244,0.71338606911949],"aabb_xy":[[0.48019564168957374,1.7039956787750674],[0.4880233880804188,1.721493709588181]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.23879650457721857,-1.448564505526762,0.71338606911949],"aabb_xy":[[0.14910942826910312,-1.5385645057812125],[0.328483580885334,-1.3585645052723114]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.2848755941456106,-2.1214437595158326,0.71338606911949],"aabb_xy":[[0.26241082417420547,-2.143943760394693],[0.3073403641170157,-2.098943758636972]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.04744979757776879,-1.5492058756555305,0.71338606911949],"aabb_xy":[[-0.07128601521837387,-1.6392058764640174],[-0.023613579937163738,-1.4592058748470442]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.36558412418544356,1.5331813953809834,0.71338606911949],"aabb_xy":[[-0.3854751640657839,1.5205255840962868],[-0.34569308430510337,1.5458372066656805]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.2593276520046157,-1.6373152336275973,0.71338606911949],"aabb_xy":[[-0.2666099683812793,-1.727315237237106],[-0.252045335627952,-1.547315230018088]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.2348657224744073,1.3133096414181709,0.71338606911949],"aabb_xy":[[-0.3148657239045345,1.2337924864055612],[-0.15486572104428006,1.3928267964307801]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.6098444057063629,1.7475011545979071,0.71338606911949],"aabb_xy":[[-0.6179720938996761,1.7385875461871996],[-0.6017167175130497,1.756414763008615]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.27074687701347944,-1.9175408937842517,0.71338606911949],"aabb_xy":[[0.23959995816989632,-1.9875408924710585],[0.30189379585706255,-1.8475408950974441]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.43944294334781453,-0.36963521277107203,0.71338606911949],"aabb_xy":[[-0.45687365842682104,-0.38690732743492284],[-0.422012228268808,-0.3523630981072212]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.13460952804764714,-2.164677977092798,0.71338606911949],"aabb_xy":[[0.0971095275502889,-2.1686466606409165],[0.17210952854500539,-2.1607092935446794]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.5527524671867824,0.5308772147760563,0.71338606911949],"aabb_xy":[[-0.6022328884007413,0.4668772168632046],[-0.5032720459728237,0.5948772126889083]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.06083239698896181,-0.6748197882986195,0.71338606911949],"aabb_xy":[[0.048205609701765455,-0.6843658620001923],[0.07345918427615816,-0.6652737145970465]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.4621336731294434,-1.7834231106494138,0.71338606911949],"aabb_xy":[[0.38213367265922754,-1.7917338182637625],[0.5421336735996594,-1.7751124030350656]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.1954076838960942,0.7930579897176586,0.71338606911949],"aabb_xy":[[0.13040768386179147,0.7463573130373313],[0.2604076839303969,0.8397586663979859]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.15881899158573498,-0.4067585508807299,0.71338606911949],"aabb_xy":[[-0.2238189925862355,-0.4575449160354048],[-0.09381899058523446,-0.35597218572605493]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.5763237820284444,1.137346152933861,0.71338606911949],"aabb_xy":[[0.5388237834528234,1.124609857270303],[0.6138237806040651,1.1500824485974188]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.6049813487820366,-1.4125889172945771,0.71338606911949],"aabb_xy":[[0.6000253285971555,-1.4350889174966985],[0.6099373689669179,-1.3900889170924553]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.43047882080318733,1.2153785036170457,0.71338606911949],"aabb_xy":[[0.3754833429825279,1.1603785021831385],[0.48547429862384667,1.2703785050509524]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[-0.27329918965872413,-2.412383352886581,0.71338606911949],"aabb_xy":[[-0.3532991866729721,-2.432517904559992],[-0.19329919264447615,-2.39224880121317]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[0.4536048872098748,0.18425452031487,0.71338606911949],"aabb_xy":[[0.44431126897272416,0.14675452182673607],[0.4628985054470253,0.22175451880300387]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.40392086137511307,0.5853151150303528,0.71338606911949],"aabb_xy":[[0.3990215690685495,0.5576381957277841],[0.4088201536816765,0.6129920343329216]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[0.02882376407591436,1.1325766659040526,0.71338606911949],"aabb_xy":[[-0.005473146941826268,1.098279779694111],[0.06312067509365499,1.1668735521139937]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[-0.6228969493914034,1.4633547323311435,0.71338606911949],"aabb_xy":[[-0.659747497328391,1.4258547315081098],[-0.5860464014544158,1.5008547331541773]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.5225074967062056,-2.0924864004649715,0.71338606911949],"aabb_xy":[[0.4772288818250563,-2.156486399813155],[0.5677861115873548,-2.028486401116788]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[0.3763433471031459,-1.8911929582958718,0.71338606911949],"aabb_xy":[[0.35384334728924344,-1.8956675746663527],[0.3988433469170482,-1.8867183419253912]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_32","position":[-0.06205999583659061,-1.8541336699225424,0.71338606911949],"aabb_xy":[[-0.08333800398006286,-1.9191336722486152],[-0.04078198769311836,-1.789133667596469]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[0.6423706019797915,-0.8849302503596805,0.71338606911949],"aabb_xy":[[0.5783706026856232,-0.9489163907285347],[0.7063706012739597,-0.8209441099908263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6757161653579318,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9012.png","name":"9012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4443.png","name":"4443"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":768.9341296637043,"rotation_z_degrees":204.91576043664145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008988344684019173,0.008100118449732116,-0.010545839544232534]},{"name":"camera_2","offset_m":[0.015800692613285355,0.010118084366078063,-0.006000608123641449]},{"name":"camera_3","offset_m":[-0.007009034427158221,-0.011464516558690515,0.0075022812067206505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001290003839287514,0.0010609318922926944,0.0003226457833819204],"end_effector_yaw_offset_degrees":0.0062156056041038354},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001314724926004149,0.0015776864276915961,-0.0015658529315535877],"end_effector_yaw_offset_degrees":-0.4528044945442449},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002882546880977298,0.0002889010051918689,-0.0007304750620418425],"end_effector_yaw_offset_degrees":-0.6438865111201091}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000290417483235373,-0.003126080077159741],"position_m":[0.19120958251676462,0.02137391992284026,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00048688097553682523,-0.00489144304388525],"position_m":[0.3229131190244632,0.3241085569561148,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005839870731625674,-0.004991223136628891],"position_m":[0.35531601292683745,0.0583087768633711,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00357798848818001,0.004709667366549712],"position_m":[0.22177798848818,-0.3665903326334503,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"87eb63989d8070b5beeac168a5065d8063292d178e37fe8bccdafe7d8298ce7f","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1972/tex_ceiling_textures_4443/tex_floor_textures_4444/tex_table_textures_3249/tex_wall_textures_9012","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2292461946401457455,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2292461946401457455,"visual_seed":2292461946401457455,"scene_id":"lab_003","finished_at":"2026-09-03T00:47:08"} +{"episode_id":"ep_000042","started_at":"2026-09-03T00:47:12","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.47023065063102454,-1.667234060568386,0.71338606911949],"aabb_xy":[[0.45762795149394814,-1.6798294567932515],[0.48283334976810105,-1.6546386643435205]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.5585843024290685,1.1504258206612819,0.71338606911949],"aabb_xy":[[-0.5755943997191192,1.134291332163008],[-0.5415742051390179,1.1665603091595558]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.13722520105919467,-0.5935890229888274,0.71338606911949],"aabb_xy":[[-0.1593977280358455,-0.6157646901449506],[-0.11505267408254383,-0.5714133558327043]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.5071985368604575,0.39108094891760103,0.71338606911949],"aabb_xy":[[0.4994953461863804,0.383371578218863],[0.5149017275345344,0.398790319616339]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.2926275485855401,-2.284025016656654,0.71338606911949],"aabb_xy":[[0.2639782162251238,-2.3126705759337294],[0.32127688094595624,-2.255379457379578]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.3894259728387636,1.4046201779604095,0.71338606911949],"aabb_xy":[[-0.39741946263404576,1.3966220460199341],[-0.3814324830434817,1.4126183099008853]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[0.5105081451963214,1.4193359150531744,0.71338606911949],"aabb_xy":[[0.44650814297591446,1.374962830927886],[0.5745081474167285,1.4637089991784626]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.15111246295076608,-1.9343894818631089,0.71338606911949],"aabb_xy":[[-0.19387916983018627,-1.9983894852849111],[-0.10834575607134589,-1.8703894784413062]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.0050003299201035745,1.6372497713253336,0.71338606911949],"aabb_xy":[[-0.032499671264689216,1.632831548629273],[0.042500331104896365,1.641667994021394]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.11287562785708716,-2.4314281844111183,0.71338606911949],"aabb_xy":[[0.03287562459307401,-2.4449882167200316],[0.1928756311211003,-2.417868152102205]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.4650743190676194,1.3157975115660108,0.71338606911949],"aabb_xy":[[0.46043920391538606,1.3119301764888618],[0.4697094342198528,1.3196648466431593]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.2330199758062439,1.619558622989587,0.71338606911949],"aabb_xy":[[0.20187305696266078,1.54955862430278],[0.264166894649827,1.6895586216763943]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.18815611110538355,0.1466544327354402,0.71338606911949],"aabb_xy":[[-0.20160263773942685,0.13318458108234896],[-0.1747095844713402,0.1601242843885314]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.5857248802958601,-0.45226411215647655,0.71338606911949],"aabb_xy":[[0.4957248808774892,-0.4856396090006663],[0.675724879714231,-0.4188886153122868]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.5970405518610294,-0.976102598808448,0.71338606911949],"aabb_xy":[[-0.6392249660218602,-1.0401025990856594],[-0.5548561377001987,-0.9121025985312369]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.37947177578994823,-0.1937502553584589,0.71338606911949],"aabb_xy":[[-0.42946488789914017,-0.24375025603265457],[-0.32947866368075635,-0.14375025468426328]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.010713050955578396,-0.9141078560995153,0.71338606911949],"aabb_xy":[[-0.10071305067875257,-0.9371812086346951],[0.07928694876759577,-0.8910345035643354]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.3598550525830221,-0.8871898101352833,0.71338606911949],"aabb_xy":[[-0.3948550525595179,-0.8966544261829],[-0.32485505260652625,-0.8777251940876668]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[-0.21306861222192536,0.6455328926258277,0.71338606911949],"aabb_xy":[[-0.2591537034766568,0.5815328953732725],[-0.16698352096719388,0.7095328898783827]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.6417600380410086,-0.10606121315991945,0.71338606911949],"aabb_xy":[[-0.6498033979669637,-0.19106121425528588],[-0.6337166781150534,-0.02106121206455301]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.5898889619636163,-1.5479870177576407,0.71338606911949],"aabb_xy":[[-0.6698889605509356,-1.6273026196958016],[-0.5098889633762967,-1.4686714158194798]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.1395400648652686,-2.11370342426485,0.71338606911949],"aabb_xy":[[0.09454006339903978,-2.1587032811263307],[0.18454006633149747,-2.0687035674033694]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.2255286449855214,1.307717986440617,0.71338606911949],"aabb_xy":[[-0.2895286456889907,1.261699603967696],[-0.16152864428205205,1.353736368913538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749916812821732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3702.png","name":"3702"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3702.png","name":"3702"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4065.png","name":"4065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6492.png","name":"6492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5376.png","name":"5376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9092.png","name":"9092"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":634.3749186243665,"rotation_z_degrees":72.97833076232165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01552287016525565,0.007692622892785033,0.0024424834455440865]},{"name":"camera_2","offset_m":[0.01957281083071861,0.012981945356238301,0.01959195533055765]},{"name":"camera_3","offset_m":[0.002696697340051707,0.008362235367478328,-0.009644433245310214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019321254905427633,0.0017671537604968673,0.0012214044515778556],"end_effector_yaw_offset_degrees":-0.23171444391641827},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002317890080477396,-7.650312588312804e-05,-0.0006068934927209884],"end_effector_yaw_offset_degrees":0.5005831581449383},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00189990675236153,-0.0013391587031128171,-0.0006772095806279025],"end_effector_yaw_offset_degrees":-0.5365172092614487}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001533165316563603,-0.0030134833411366957],"position_m":[0.19303316531656362,0.021486516658863305,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019801097636617626,-0.003675130765448097],"position_m":[0.32141989023633827,0.3253248692345519,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001864314444095242,-0.0013367965226946644],"position_m":[0.35403568555590476,0.06196320347730533,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044277418844342106,0.002335812434448235],"position_m":[0.2137722581155658,-0.36896418756555177,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2eeeaa010f1e0e62e73891f7ea421577035b240fbb0f7975761ad2dff9bede49","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0052.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3702/tex_ceiling_textures_9092/tex_floor_textures_5376/tex_table_textures_4065/tex_wall_textures_6492","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8556090890983243602,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8556090890983243602,"visual_seed":8556090890983243602,"scene_id":"lab_003","finished_at":"2026-09-03T00:49:51"} +{"episode_id":"ep_000043","started_at":"2026-09-03T00:49:54","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.426621035048452,-2.3688036205368443,0.71338606911949],"aabb_xy":[[-0.44550541881696226,-2.387689545317197],[-0.40773665127994185,-2.3499176957564916]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.35985984961229556,-1.9916515064640596,0.71338606911949],"aabb_xy":[[-0.4448598483043702,-2.0236373698589385],[-0.2748598509202209,-1.9596656430691808]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.579926387108018,1.1958969523396874,0.71338606911949],"aabb_xy":[[-0.6599263840710572,1.1188213106959137],[-0.49992639014497886,1.2729725939834606]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.4406653074617801,-0.04713618488220561,0.71338606911949],"aabb_xy":[[-0.44944653460901646,-0.055915932170735774],[-0.431884080314544,-0.03835643759367547]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.17616965857933364,-0.7185978080044222,0.71338606911949],"aabb_xy":[[0.14170731118119181,-0.7530916904022448],[0.21063200597747542,-0.6841039256065994]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.6472803909348339,-1.5951748595639916,0.71338606911949],"aabb_xy":[[0.5832803945075121,-1.642344483386088],[0.7112803873621559,-1.5480052357418952]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.5813049603736888,0.020885987523618255,0.71338606911949],"aabb_xy":[[0.5163049622177697,-0.005410257026293941],[0.6463049585296078,0.04718223207353045]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.18673521151713024,0.2607564064909669,0.71338606911949],"aabb_xy":[[-0.24173521113887605,0.20577271370349415],[-0.13173521189538437,0.3157400992784396]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.010930411470281953,1.2387196261995332,0.71338606911949],"aabb_xy":[[-0.02056204769071157,1.2290823134198243],[-0.0012987752498523353,1.2483569389792422]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.21555728726992668,0.5861272088009857,0.71338606911949],"aabb_xy":[[-0.2855572888722061,0.5726944155993281],[-0.14555728566764717,0.5995600020026433]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.01644530977600278,-1.4704784078809352,0.71338606911949],"aabb_xy":[[-0.0335321070892508,-1.5204784093701837],[0.06642272664125635,-1.4204784063916867]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.33785732995495077,0.6907151379711345,0.71338606911949],"aabb_xy":[[0.24785733136048083,0.6744645516577136],[0.4278573285494207,0.7069657242845556]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.38415685929110044,1.657164700615263,0.71338606911949],"aabb_xy":[[-0.42943547417224964,1.5931647012670793],[-0.3388782444099511,1.7211646999634467]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.4267327734262082,-2.1820122948501752,0.71338606911949],"aabb_xy":[[-0.45124639752321405,-2.2062768881522112],[-0.40221914932920233,-2.1577477015481383]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.5941613334982689,1.7287270193072906,0.71338606911949],"aabb_xy":[[0.5892053133133879,1.7062270191051692],[0.5991173536831502,1.7512270195094124]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.00753449867003575,-2.1386226334453546,0.71338606911949],"aabb_xy":[[-0.003305979556479156,-2.1558089147360033],[0.018374976896550654,-2.121436352154706]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.4138126667012492,-1.8518352466366115,0.71338606911949],"aabb_xy":[[-0.419394338335378,-1.8643352464543868],[-0.40823099506712046,-1.8393352468188358]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.25125381187994766,-1.7677249014048533,0.71338606911949],"aabb_xy":[[-0.27316249401929865,-1.789625568224944],[-0.22934512974059656,-1.7458242345847625]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.6654196173189112,1.6219573171404256,0.71338606911949],"aabb_xy":[[-0.6734131071141932,1.6139591851999504],[-0.6574261275236292,1.6299554490809016]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.2562670302343793,0.46857087349525894,0.71338606911949],"aabb_xy":[[-0.3202670309378487,0.422552491022338],[-0.19226702953091002,0.51458925596818]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.5177713557763106,1.4097327406558318,0.71338606911949],"aabb_xy":[[0.4952749343424464,1.3872327408490845],[0.5402677772101746,1.4322327404625794]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.6151269438845357,-1.8540841919534046,0.71338606911949],"aabb_xy":[[0.5651276687160997,-1.904084193229352],[0.665126219052972,-1.8040841906774576]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.2503626083811246,-0.341526544681233,0.71338606911949],"aabb_xy":[[-0.2654649098421426,-0.35662806631229477],[-0.23526030692010644,-0.3264250230501711]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.5585054903337605,-2.2660256199994113,0.71338606911949],"aabb_xy":[[-0.565787806710424,-2.3560256236089194],[-0.5512231739570966,-2.1760256163899014]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.6059337540621956,0.644381591116673,0.71338606911949],"aabb_xy":[[0.5998967410615309,0.6383548900477248],[0.6119707670628604,0.6504082921856212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780203019966428,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2511.png","name":"2511"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2511.png","name":"2511"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2776.png","name":"2776"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9562.png","name":"9562"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1927.png","name":"1927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5010.png","name":"5010"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":682.724208329421,"rotation_z_degrees":151.82707418688432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020992410266635238,-0.009383424997923715,-0.00620531385458822]},{"name":"camera_2","offset_m":[-0.019094746588921855,0.0037879529167783484,0.007556356172177921]},{"name":"camera_3","offset_m":[0.004551641776452949,0.005170048783124086,0.006783143327056131]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012631302983823695,-0.0018234498606058028,0.001872093268590302],"end_effector_yaw_offset_degrees":0.35278449132361844},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00033621764954042295,0.000539973856400876,0.0008841761943354249],"end_effector_yaw_offset_degrees":0.32032289988425866},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003418225889220833,-0.0005340902575068963,0.0011011885209440573],"end_effector_yaw_offset_degrees":-0.09762267901013533}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004246929020454002,0.0010831549180898578],"position_m":[0.195746929020454,0.025583154918089858,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021934304251522716,-0.004993853802170468],"position_m":[0.3255934304251523,0.3240061461978295,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002634617649727391,0.0022051071643384964],"position_m":[0.3532653823502726,0.0655051071643385,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[2.2110904223212463e-05,-0.00039178240322547235],"position_m":[0.21822211090422322,-0.3716917824032255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a7e4d0f60aced539bde9025ea2499d36e1419bdb775e7996604a64910b9197f","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2511/tex_ceiling_textures_5010/tex_floor_textures_1927/tex_table_textures_2776/tex_wall_textures_9562","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1629794505286208924,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1629794505286208924,"visual_seed":1629794505286208924,"scene_id":"lab_003","finished_at":"2026-09-03T00:52:36"} +{"episode_id":"ep_000044","started_at":"2026-09-03T00:52:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.10016195059310917,-2.5692673263586396,0.71338606911949],"aabb_xy":[[-0.11766188402709254,-2.586767326278874],[-0.0826620171591258,-2.551767326438405]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[0.19674576905302688,-0.5848059325595876,0.71338606911949],"aabb_xy":[[0.13174577049595404,-0.6145584659734701],[0.2617457676100997,-0.5550533991457048]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.039521079648859425,1.4660663755248842,0.71338606911949],"aabb_xy":[[-0.0895210806679947,1.4296001597870562],[0.010478921370275842,1.5025325912627123]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.37333217820277614,-0.7675314475132344,0.71338606911949],"aabb_xy":[[-0.3893941056612938,-0.8525314493258261],[-0.3572702507442585,-0.6825314457006425]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.5802297151145284,1.4491397224338294,0.71338606911949],"aabb_xy":[[0.5552297155627899,1.4389972385686949],[0.6052297146662668,1.4592822062989643]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.06773528270349849,-2.237404338203781,0.71338606911949],"aabb_xy":[[0.03023528235527073,-2.2491957337848643],[0.10523528305172625,-2.225612942622697]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.3443367069434564,0.9010003078604316,0.71338606911949],"aabb_xy":[[0.3224469593545156,0.8110003105711824],[0.3662264545323972,0.9910003051496806]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[-0.47961275121869484,-2.46652442172104,0.71338606911949],"aabb_xy":[[-0.4866530611522319,-2.546524421120712],[-0.4725724412851579,-2.386524422321369]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.19813846902307009,-0.961354167391347,0.71338606911949],"aabb_xy":[[0.16313847075295018,-0.9684282950863352],[0.23313846729319,-0.9542800396963589]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.5054957802370541,-1.9120878637183822,0.71338606911949],"aabb_xy":[[0.4704957803410353,-1.9204620992303225],[0.540495780133073,-1.9037136282064424]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.32677517730047956,0.997673265907959,0.71338606911949],"aabb_xy":[[-0.38836593652447243,0.9336732677989122],[-0.2651844180764868,1.061673264017006]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.49346684078262615,-0.04830196302147671,0.71338606911949],"aabb_xy":[[0.40346684218815626,-0.06455254933489774],[0.5834668393770961,-0.03205137670805569]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.3201759677899625,1.1529722961928979,0.71338606911949],"aabb_xy":[[0.29566234369295663,1.1287077028908616],[0.34468959188696835,1.1772368894949345]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.07774449613016254,-2.353114238461135,0.71338606911949],"aabb_xy":[[0.05524449660645513,-2.3756101859117558],[0.10024449565386993,-2.330618291010514]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.2696517761792212,0.4391772922006236,0.71338606911949],"aabb_xy":[[0.26407010454509244,0.4266772923828481],[0.27523344781334996,0.45167729201839907]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[0.6227958448105122,0.3086292941640463,0.71338606911949],"aabb_xy":[[0.5852958436257193,0.3042110714679857],[0.6602958459953049,0.31304751686010673]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.5187869070159588,-0.9847370484622511,0.71338606911949],"aabb_xy":[[0.42878690333904046,-1.0461694550393554],[0.6087869106928768,-0.9233046418851467]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.32896135404400195,-0.20822393524095428,0.71338606911949],"aabb_xy":[[-0.34406365550501994,-0.22332545687201605],[-0.31385905258298374,-0.1931224136098924]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.3340101061264578,0.18138879942630126,0.71338606911949],"aabb_xy":[[-0.3509208385627995,0.1679165938336867],[-0.3170993736901159,0.19486100501891576]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.6462913142942048,-1.6951076455799465,0.71338606911949],"aabb_xy":[[0.6112913151013865,-1.7060746915776088],[0.681291313487023,-1.6841405995822838]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.029551869289790034,-2.123553711537852,0.71338606911949],"aabb_xy":[[0.02155837949450801,-2.131551843478328],[0.03754535908507207,-2.115555579597377]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.11164769545292719,-1.4967831853559186,0.71338606911949],"aabb_xy":[[0.02196061914481172,-1.586783185610369],[0.20133477176104264,-1.4067831851014678]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.36995062228341263,-2.258450271869605,0.71338606911949],"aabb_xy":[[-0.38051810194151164,-2.2689953019826135],[-0.3593831426253136,-2.2479052417565963]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.5913139262345743,1.257019501679121,0.71338606911949],"aabb_xy":[[-0.655313926612108,1.2072742348283088],[-0.5273139258570407,1.3067647685299333]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.5916476266174314,-0.7651230395582929,0.71338606911949],"aabb_xy":[[-0.6416476260576269,-0.8150909640426091],[-0.5416476271772357,-0.7151551150739764]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.528239271840077,-1.1522605301451025,0.71338606911949],"aabb_xy":[[0.46423926961967,-1.1966336142703908],[0.592239274060484,-1.1078874460198143]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672790422292782,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2173.png","name":"2173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2173.png","name":"2173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2729.png","name":"2729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6728.png","name":"6728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1044.png","name":"1044"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":771.5515217816253,"rotation_z_degrees":148.35096873157613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007442800904441011,-0.004517476452538242,0.011351779484034517]},{"name":"camera_2","offset_m":[-0.01901981863440015,-0.012777292299278549,-0.01206762168952368]},{"name":"camera_3","offset_m":[-0.015412576653086072,-0.0020528157670085187,-0.0169190861533305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007616382052829497,-0.001774089315451029,0.0003641767659372688],"end_effector_yaw_offset_degrees":0.1741556258616035},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016587258882902463,0.0014197250179510588,-0.0005399254727387879],"end_effector_yaw_offset_degrees":0.028374613666209525},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016768694940883719,-0.0008526614633322734,-0.0010532210699831734],"end_effector_yaw_offset_degrees":-0.8961361490739441}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035219106487552653,-0.0013767662309284168],"position_m":[0.18797808935124474,0.023123233769071584,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004173018613267747,-0.004256248572293866],"position_m":[0.3192269813867323,0.3247437514277062,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002530587439150212,-0.0028529108021596527],"position_m":[0.3584305874391502,0.060447089197840344,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004249883343965634,-0.0022153308272891193],"position_m":[0.22244988334396565,-0.37351533082728916,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ef907ad37dd3d56d51791d22a7458ccca194fef2193a3eb5e53ee5b4a27e3c19","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2173/tex_ceiling_textures_1044/tex_floor_textures_6728/tex_table_textures_6025/tex_wall_textures_2729","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7170396469835381401,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7170396469835381401,"visual_seed":7170396469835381401,"scene_id":"lab_003","finished_at":"2026-09-03T00:55:51"} +{"episode_id":"ep_000045","started_at":"2026-09-03T00:55:53","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.555366871929927,-0.3999325437239052,0.71338606911949],"aabb_xy":[[0.5203668727999713,-0.40567776479956924],[0.5903668710598826,-0.394187322648241]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.6402809171772941,-1.4250664328097686,0.71338606911949],"aabb_xy":[[0.633867103534109,-1.4314762530574368],[0.6466947308204789,-1.4186566125621]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.5281673645594863,1.2682901229744576,0.71338606911949],"aabb_xy":[[-0.5781406585627468,1.2182901224199103],[-0.47819407055622587,1.318290123529005]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.37397890931751343,-1.9327373536302317,0.71338606911949],"aabb_xy":[[0.3434946591904833,-1.9827373534117276],[0.4044631594445436,-1.8827373538487358]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.13970405099243088,-0.8519012967152229,0.71338606911949],"aabb_xy":[[-0.14528572262655962,-0.8644012965329984],[-0.1341223793583021,-0.8394012968974474]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.3592321863721901,0.7115758782821602,0.71338606911949],"aabb_xy":[[0.32423218806149473,0.7038608633586145],[0.3942321846828856,0.7192908932057058]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.5829927455515287,0.07219559928163699,0.71338606911949],"aabb_xy":[[-0.590236511597774,-0.007804398921965383],[-0.5757489795052834,0.15219559748523936]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.6239262578294611,1.7700893986493509,0.71338606911949],"aabb_xy":[[-0.6421320814907088,1.7590639980673595],[-0.6057204341682134,1.7811147992313427]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[0.33682710722240006,1.4825913786055973,0.71338606911949],"aabb_xy":[[0.2868271062032648,1.4461251628677694],[0.3868271082415354,1.5190575943434255]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.36637170332985103,0.5016494375682439,0.71338606911949],"aabb_xy":[[0.30237170621774534,0.45261706777383326],[0.4303717004419567,0.5506818073626545]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.31601310836406155,0.416908878125676,0.71338606911949],"aabb_xy":[[-0.3253067266012121,0.379408879637542],[-0.30671949012691097,0.4544088766138098]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.44614795474331226,-0.7562563217169871,0.71338606911949],"aabb_xy":[[-0.4846936475685133,-0.7948020927731757],[-0.4076022619181112,-0.7177105506607985]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.4366786461861586,1.6488638578830739,0.71338606911949],"aabb_xy":[[-0.445392615236093,1.6263638572238852],[-0.42796467713622405,1.6713638585422617]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.12319550238430965,-2.336609047997067,0.71338606911949],"aabb_xy":[[0.09864928676155892,-2.3668579445461035],[0.14774171800706035,-2.3063601514480294]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.5026403840654896,-0.538252184438679,0.71338606911949],"aabb_xy":[[-0.5826403845357055,-0.5465628920530274],[-0.42264038359527367,-0.5299414768243307]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.2991344655142987,-2.2414901803492047,0.71338606911949],"aabb_xy":[[-0.3151963929728163,-2.326490182161796],[-0.28307253805578103,-2.1564901785366124]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.24707024039452852,-1.9300859106997101,0.71338606911949],"aabb_xy":[[0.20957023887889678,-1.9413126837158552],[0.2845702419101602,-1.918859137683565]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.05827231666278754,-0.9834814434629284,0.71338606911949],"aabb_xy":[[-0.02544990883729492,-1.0734814469976244],[0.14199454216287,-0.8934814399282325]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.5924946030648103,-1.0810670553937134,0.71338606911949],"aabb_xy":[[-0.6101274386583377,-1.0986900014093361],[-0.5748617674712826,-1.0634441093780902]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.6770739972572666,-1.5584293648285918,0.71338606911949],"aabb_xy":[[-0.694573997502316,-1.5759291526681585],[-0.6595739970122172,-1.5409295769890248]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.5313983488901534,-1.8616291297904473,0.71338606911949],"aabb_xy":[[-0.5813812990776326,-1.911629129433008],[-0.48141539870267397,-1.811629130147887]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6772579427353019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5568.png","name":"5568"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5568.png","name":"5568"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6193.png","name":"6193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7131.png","name":"7131"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":840.1385877492551,"rotation_z_degrees":56.831275863045214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012702215913934332,-1.171939960455115e-05,0.010986584929111913]},{"name":"camera_2","offset_m":[0.006337944649366559,-0.011765365451864298,-0.010853798251439844]},{"name":"camera_3","offset_m":[-0.0020318546951146425,0.005541514093206874,-0.012642891012523961]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005118829979846424,-0.0006601727722021157,-0.0018614917925217744],"end_effector_yaw_offset_degrees":0.8070669674791484},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000674458868283186,0.0009462632804036167,0.0005845999760240011],"end_effector_yaw_offset_degrees":0.30779284597055034},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000747336832454989,-0.001908863842686401,0.0015672308297676961],"end_effector_yaw_offset_degrees":0.8444622796205212}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011342317083909226,-0.0009425677078385864],"position_m":[0.19263423170839092,0.023557432292161416,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001761334270157221,0.0006088553365583334],"position_m":[0.3216386657298428,0.32960885533655837,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027974693968379864,-0.0038725196702969356],"position_m":[0.358697469396838,0.05942748032970306,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003785634221015596,0.0025242477453265005],"position_m":[0.21857856342210155,-0.3687757522546735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bd9c227a0e97fdf2f989cdaca87e0a416a4a5f436538488ee06daf0e68ca1aaf","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5568/tex_ceiling_textures_7131/tex_floor_textures_9597/tex_table_textures_4837/tex_wall_textures_6193","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2188532252831099070,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2188532252831099070,"visual_seed":2188532252831099070,"scene_id":"lab_003","finished_at":"2026-09-03T00:58:27"} +{"episode_id":"ep_000046","started_at":"2026-09-03T00:58:30","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.19763992000512176,-1.4425977058234944,0.71338606911949],"aabb_xy":[[0.13363991974465092,-1.4876065051764222],[0.2616399202655925,-1.3975889064705662]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.1455969246637372,0.3008996492303866,0.71338606911949],"aabb_xy":[[-0.15437815181097345,0.29211990194185644],[-0.136815697516501,0.30967939651891674]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.09271287753969448,0.7837262630488233,0.71338606911949],"aabb_xy":[[-0.11021287779903112,0.7696347208600509],[-0.07521287728035786,0.7978178052375962]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.48932831515728537,-0.5369988845358762,0.71338606911949],"aabb_xy":[[-0.5068282485912687,-0.5544988844561107],[-0.471828381723302,-0.5194988846156416]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.2570296489973636,-2.122386581362167,0.71338606911949],"aabb_xy":[[-0.29827846002727826,-2.177386580874384],[-0.21578083796744882,-2.067386581849949]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.5101651575606716,0.42009029278421917,0.71338606911949],"aabb_xy":[[0.44616515897409914,0.3730833293847104],[0.5741651561472441,0.4670972561837278]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.2670360591049491,0.5782720256511484,0.71338606911949],"aabb_xy":[[-0.2743183754816127,0.48827202204163916],[-0.2597537427282854,0.6682720292606571]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.6552999387043024,-0.40325003044965246,0.71338606911949],"aabb_xy":[[0.605316988516823,-0.4532500300922129],[0.7052828888917817,-0.35325003080709205]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.6045351970115425,-2.298684531972444,0.71338606911949],"aabb_xy":[[0.5695351971155235,-2.3070587674843837],[0.6395351969075612,-2.2903102964605035]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.40070046988274266,-1.9883102513114181,0.71338606911949],"aabb_xy":[[-0.4198127772407215,-2.00744503018866],[-0.3815881625247638,-1.969175472434176]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.43270296983609646,0.8123141808661023,0.71338606911949],"aabb_xy":[[0.42113398908915994,0.7873141807491707],[0.4442719505830331,0.8373141809830341]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.6418990861350198,-0.08791282523440058,0.71338606911949],"aabb_xy":[[0.5618990847048925,-0.16742998024701006],[0.7218990875651469,-0.008395670221791107]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.49817855122232313,0.5807251323929625,0.71338606911949],"aabb_xy":[[0.46317855295220317,0.5736510046979745],[0.533178549492443,0.5877992600879508]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.6683979805103302,0.10695093932490973,0.71338606911949],"aabb_xy":[[0.6421091561898894,0.08067950567025847],[0.6946868048307707,0.1332223729795609]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.6585058523777462,-2.5435719265065297,0.71338606911949],"aabb_xy":[[-0.6810022738116104,-2.566071926313277],[-0.6360094309438822,-2.5210719266997823]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.03635347402858946,1.4314169300235435,0.71338606911949],"aabb_xy":[[-0.044346963823871495,1.4234187980830681],[-0.02835998423330744,1.4394150619640194]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.4511440448207986,0.1412654488370939,0.71338606911949],"aabb_xy":[[0.4467134154659585,0.1358170771024113],[0.45557467417563885,0.1467138205717765]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.18844802891171897,-0.6981657174780524,0.71338606911949],"aabb_xy":[[-0.25244802530729205,-0.762129005896786],[-0.12444803251614589,-0.6342024290593189]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.25020518436945993,-0.8949740147529412,0.71338606911949],"aabb_xy":[[0.24379137072627496,-0.9013838350006095],[0.2566189980126448,-0.8885641945052728]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.2705860910985578,-1.2811936190004958,0.71338606911949],"aabb_xy":[[-0.2908703938219565,-1.3014762441432042],[-0.250301788375159,-1.2609109938577865]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.49757131354287115,-1.4946201121754348,0.71338606911949],"aabb_xy":[[-0.5525713127194606,-1.5496097869503924],[-0.44257131436628155,-1.4396304374004771]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.44593342252134316,-0.6336696288671704,0.71338606911949],"aabb_xy":[[-0.46784210466069415,-0.655570295687261],[-0.42402474038199206,-0.6117689620470795]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.15172973444006865,1.5053569680702386,0.71338606911949],"aabb_xy":[[-0.20171397014824588,1.4553569692567427],[-0.10174549873189143,1.555356966883734]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.3988638041299475,-1.1359313472841353,0.71338606911949],"aabb_xy":[[0.3488638031794146,-1.1674804942876564],[0.44886380508048024,-1.1043822002806136]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[0.6531648238276861,-1.7501854478744368,0.71338606911949],"aabb_xy":[[0.6031917582951708,-1.8001854476869699],[0.7031378893602017,-1.700185448061904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6801235294041437,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3421.png","name":"3421"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3421.png","name":"3421"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/80.png","name":"80"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4301.png","name":"4301"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":783.0105087669706,"rotation_z_degrees":222.5841743066561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00255079072527762,0.013283752194940105,-0.015236132990438791]},{"name":"camera_2","offset_m":[-0.017204958060396118,-0.013046177278263817,-0.012138681525207544]},{"name":"camera_3","offset_m":[0.001522281085878454,0.004648818150469133,0.0014258500417536901]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001501916853033471,-0.0004950062407532729,0.0019288934277234097],"end_effector_yaw_offset_degrees":-0.6878348025555707},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001161839880144751,-0.00020545475914739066,0.0008758475738599118],"end_effector_yaw_offset_degrees":-0.6187132831601674},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005699819389924144,0.0014987058436643692,0.00025902208990797367],"end_effector_yaw_offset_degrees":-0.9559934439427185}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019244781327449113,-0.002501181993279464],"position_m":[0.1895755218672551,0.021998818006720537,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003687329843750138,-0.003339558777696542],"position_m":[0.32708732984375016,0.3256604412223035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004543283737185469,0.0007206139514448484],"position_m":[0.3513567162628145,0.06402061395144484,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00470505980160405,0.004212097760260928],"position_m":[0.21349494019839596,-0.3670879022397391,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17f57dfec726acaa730e8c77bf09247a12c41647659d02f16c0455490dbe4d0d","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3421/tex_ceiling_textures_4301/tex_floor_textures_8620/tex_table_textures_7004/tex_wall_textures_80","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7161602843508343215,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7161602843508343215,"visual_seed":7161602843508343215,"scene_id":"lab_003","finished_at":"2026-09-03T01:01:19"} +{"episode_id":"ep_000047","started_at":"2026-09-03T01:01:22","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.20154027240217415,-0.4142703289062051,0.71338606911949],"aabb_xy":[[-0.20965392707555128,-0.4223761453602341],[-0.19342661772879707,-0.40616451245217594]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.1717449257091096,-0.2926208380228488,0.71338606911949],"aabb_xy":[[-0.2217397586370512,-0.3426208369180923],[-0.121750092781168,-0.24262083912760524]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.5569551508470127,1.333843975976421,0.71338606911949],"aabb_xy":[[-0.5939892602750724,1.2994667686427113],[-0.5199210414189529,1.36822118331013]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.2668799906601584,1.7260431636080686,0.71338606911949],"aabb_xy":[[-0.2815233962141913,1.7113844439512842],[-0.25223658510612534,1.7407018832648526]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.06735165929738651,-2.092841813616208,0.71338606911949],"aabb_xy":[[-0.10235165927388234,-2.102306429663825],[-0.03235165932089068,-2.0833771975685913]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.6514831258976783,0.5520456656374142,0.71338606911949],"aabb_xy":[[-0.6577952254340167,0.5462787263841954],[-0.6451710263613399,0.557812604890633]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[0.6985133511135813,1.334810224397311,0.71338606911949],"aabb_xy":[[0.6833504781366442,1.3196447671021925],[0.7136762240905183,1.34997568169243]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.4579631176067893,0.8661569432746994,0.71338606911949],"aabb_xy":[[0.4436286924806258,0.8540967277201603],[0.4722975427329527,0.878217158829238]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.6432262253873728,-1.2120512010480664,0.71338606911949],"aabb_xy":[[0.5732262227507864,-1.232156066043932],[0.7132262280239591,-1.191946336052201]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.43325903103530083,1.1834358067457922,0.71338606911949],"aabb_xy":[[0.363259034625339,1.16299787109411],[0.5032590274452625,1.2038737423974735]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.46893887195451045,-2.3071260594713845,0.71338606911949],"aabb_xy":[[0.4522617359614149,-2.3238259834453148],[0.4856160079476059,-2.290426135497454]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.5663382747908767,-1.3493647691032375,0.71338606911949],"aabb_xy":[[0.5592968238401291,-1.356391520841032],[0.5733797257416243,-1.3423380173654431]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.6423151876653604,1.6786034631555,0.71338606911949],"aabb_xy":[[-0.6734621065089436,1.6086034644686928],[-0.6111682688217773,1.7486034618423072]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.10354578116055513,1.5707759232842773,0.71338606911949],"aabb_xy":[[-0.1151147619074917,1.5457759231673458],[-0.09197680041361855,1.5957759234012092]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.5688161710484048,1.5391435420256596,0.71338606911949],"aabb_xy":[[0.5048161724618324,1.492136578626151],[0.6328161696349773,1.5861505054251683]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.041182566417430566,-1.405535575056705,0.71338606911949],"aabb_xy":[[-0.05876086860637742,-1.42311006463081],[-0.023604264228483725,-1.3879610854825999]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.1136518570339855,0.6847546678496181,0.71338606911949],"aabb_xy":[[0.07802270113402576,0.6491220010927652],[0.14928101293394525,0.7203873346064711]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.11210871838167003,-1.9226277137736578,0.71338606911949],"aabb_xy":[[0.09622422511634487,-1.936980654072482],[0.12799321164699518,-1.908274773474834]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.43984031401897816,-1.0037324703120047,0.71338606911949],"aabb_xy":[[0.3598403125888509,-1.0832496253246142],[0.5198403154491054,-0.9242153152993953]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.3683889892097847,-1.5653031848605674,0.71338606911949],"aabb_xy":[[0.36468572788064574,-1.5690052031692847],[0.37209225053892353,-1.5616011665518492]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.15797172112614932,1.1047472393558118,0.71338606911949],"aabb_xy":[[0.06797172140297512,1.0816738868206317],[0.24797172084932348,1.1278205918909914]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.17992858905830544,-2.3771085604718363,0.71338606911949],"aabb_xy":[[-0.21336876425432502,-2.4105521863027652],[-0.1464884138622858,-2.3436649346409055]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.27817951090769144,1.2029922142472964,0.71338606911949],"aabb_xy":[[-0.3581795083112848,1.1229996430491134],[-0.198179513504098,1.282984785445479]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.47377239474128946,-2.5346668298382204,0.71338606911949],"aabb_xy":[[-0.5387723932983624,-2.564419363252103],[-0.40877239618421657,-2.504914296424338]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.19392484801902876,-1.0200929479508838,0.71338606911949],"aabb_xy":[[-0.2035564842394584,-1.0297302607305927],[-0.18429321179859917,-1.0104556351711749]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.23076631082160082,-2.083847832774535,0.71338606911949],"aabb_xy":[[0.16676631353595217,-2.125354551727379],[0.29476630810724946,-2.042341113821691]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.5736478208579886,-1.5341490299920688,0.71338606911949],"aabb_xy":[[-0.6236266293683045,-1.5841490299977876],[-0.5236690123476727,-1.48414902998635]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[0.6171050250404833,-0.11045597969433318,0.71338606911949],"aabb_xy":[[0.5833294658497902,-0.1244944749074982],[0.6508805842311761,-0.09641748448116814]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[-0.5971210439964101,-1.1409674459009131,0.71338606911949],"aabb_xy":[[-0.6072027510749834,-1.2209674437930276],[-0.5870393369178365,-1.0609674480087983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674633254564019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/218.png","name":"218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4864.png","name":"4864"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/991.png","name":"991"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":592.1923620147703,"rotation_z_degrees":199.48269581475967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01624865978729595,-0.0029720918248819957,0.0044009150944935745]},{"name":"camera_2","offset_m":[0.007738755714061338,-0.016436360617490434,0.008381605528360137]},{"name":"camera_3","offset_m":[0.003162059678478525,0.016582864612496844,0.007740717674496217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012316444839667326,-0.00022183147327929425,-0.0006672280265615895],"end_effector_yaw_offset_degrees":0.25570156084458984},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011766553326759389,-0.0019256656389275198,-0.0002816145924786184],"end_effector_yaw_offset_degrees":0.10390404581789414},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001519519623215385,-0.0009141423562995788,-0.0014670310145616589],"end_effector_yaw_offset_degrees":-0.398306716649685}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008772188425014782,-0.0023397283732530492],"position_m":[0.19062278115749853,0.02216027162674695,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00496399258914578,0.0009592106905738059],"position_m":[0.31843600741085426,0.3299592106905738,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031558835830851296,-0.002734974034824835],"position_m":[0.3590558835830851,0.06056502596517516,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033685648477075314,-0.0047364486087579025],"position_m":[0.21483143515229247,-0.3760364486087579,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"561144a920cae4ed5adf5ada26f559b55436bd1bc008e19b18da4c93aa4a9c2c","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1641/tex_ceiling_textures_991/tex_floor_textures_5437/tex_table_textures_218/tex_wall_textures_4864","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1050441288011231015,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1050441288011231015,"visual_seed":1050441288011231015,"scene_id":"lab_003","finished_at":"2026-09-03T01:04:01"} +{"episode_id":"ep_000048","started_at":"2026-09-03T01:04:03","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.6483887757094922,-0.40042855602683725,0.71338606911949],"aabb_xy":[[-0.6658887759688289,-0.41452009821561],[-0.6308887754501556,-0.38633701383806474]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.4480012405146294,0.8062214759734041,0.71338606911949],"aabb_xy":[[0.3980238236493758,0.7562214744841554],[0.49797865737988295,0.8562214774626525]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.582784404550033,0.6021119907488606,0.71338606911949],"aabb_xy":[[0.5027844012921899,0.5221154829568765],[0.6627844078078758,0.6821084985408444]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.417643774935347,-0.8302993859349119,0.71338606911949],"aabb_xy":[[0.3536437727149399,-0.8746724700602002],[0.48164377715575396,-0.7859263018096236]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.6062146007378102,-0.7347941834035951,0.71338606911949],"aabb_xy":[[-0.6561876662703258,-0.7847941832161283],[-0.5562415352052948,-0.6847941835910624]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.0018482865094797685,-0.9155454688283373,0.71338606911949],"aabb_xy":[[-0.06184828815240162,-0.9675456181202815],[0.05815171513344208,-0.8635453195363931]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.6772801482452269,0.9682369491204224,0.71338606911949],"aabb_xy":[[0.6692861596675234,0.9602368690253319],[0.6852741368229301,0.9762370292155126]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.2939947250355084,-2.3781901876040523,0.71338606911949],"aabb_xy":[[0.27620121810059195,-2.39598993319985],[0.3117882319704248,-2.3603904420082547]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.41643650632101675,1.1373439906611433,0.71338606911949],"aabb_xy":[[-0.45393650783664846,1.126117217644998],[-0.37893650480538504,1.1485707636772882]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.5024921234624864,-0.4361827178881472,0.71338606911949],"aabb_xy":[[0.4741624135139463,-0.44064346008186434],[0.5308218334110267,-0.4317219756944302]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[0.3755898806627751,-0.5542144559836113,0.71338606911949],"aabb_xy":[[0.3685484297120275,-0.5612412077214058],[0.3826313316135227,-0.5471877042458168]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.13479671738052368,0.734983315725112,0.71338606911949],"aabb_xy":[[-0.1775634242599439,0.6709833123033095],[-0.09203001050110352,0.7989833191469145]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.1004456327542389,-1.8173913941605058,0.71338606911949],"aabb_xy":[[0.08784293361716244,-1.8299867903853713],[0.11304833189131536,-1.8047959979356403]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.6474866223011733,0.09205052915418843,0.71338606911949],"aabb_xy":[[0.6109908016738945,0.05556658672743085],[0.683982442928452,0.128534471580946]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.47037351926888155,-1.2379951240668836,0.71338606911949],"aabb_xy":[[-0.47763476683928896,-1.2507821343303933],[-0.46311227169847413,-1.2252081138033744]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.19236429059996674,-2.16924654874608,0.71338606911949],"aabb_xy":[[-0.2563642938186046,-2.2159696606450887],[-0.12836428738132888,-2.122523436847072]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.1383333210357156,-1.2070900754261384,0.71338606911949],"aabb_xy":[[-0.18832643314490752,-1.257090076100334],[-0.08834020892652371,-1.1570900747519428]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.5070032813876688,-0.09298203728625332,0.71338606911949],"aabb_xy":[[0.472003280036187,-0.11334177324307415],[0.5420032827391504,-0.07262230132943248]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.2762598814541121,0.7266165589791838,0.71338606911949],"aabb_xy":[[-0.3261425783318083,0.6766165597329089],[-0.22637718457641592,0.7766165582254585]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.5773960514688165,-2.054734937646796,0.71338606911949],"aabb_xy":[[-0.6673960482044266,-2.10791840096409],[-0.48739605473320613,-2.001551474329501]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.24817190788221144,1.7097417343732038,0.71338606911949],"aabb_xy":[[0.24220536894147562,1.7037805897138398],[0.2541384468229472,1.7157028790325681]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.3889859197341605,1.2109565104194648,0.71338606911949],"aabb_xy":[[0.3714392248180416,1.1734565088552136],[0.40653261465027946,1.248456511983716]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[-0.44237785021079606,1.235660963419439,0.71338606911949],"aabb_xy":[[-0.4473338703956774,1.2131609632173175],[-0.43742183002591495,1.2581609636215607]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.2042615706719002,0.9845077135814999,0.71338606911949],"aabb_xy":[[-0.2742615670818619,0.9640697779298181],[-0.13426157426193835,1.0049456492331814]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.5373564595652116,-1.797569012480247,0.71338606911949],"aabb_xy":[[0.5068722094381815,-1.8475690122617432],[0.5678407096922418,-1.7475690126987513]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.5237307820120785,0.33210835734011734,0.71338606911949],"aabb_xy":[[0.5176361541239601,0.3235389627884486],[0.5298254099001968,0.34067775189178606]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.4811937659934721,1.0053865862963027,0.71338606911949],"aabb_xy":[[-0.5111854287273424,0.9753865869595022],[-0.45120210325960175,1.0353865856331033]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.5177294598476144,-2.40443699411741,0.71338606911949],"aabb_xy":[[-0.5817294605510838,-2.4504553765903316],[-0.4537294591441451,-2.3584186116444896]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[0.4487881843635142,-1.0390162863374477,0.71338606911949],"aabb_xy":[[0.3687881869599207,-1.1190088575356303],[0.5287881817671075,-0.9590237151392648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6784203678717765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6078.png","name":"6078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5455.png","name":"5455"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9243.png","name":"9243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.8881915360026,"rotation_z_degrees":104.41499735090314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002385535277684578,-0.013547632060330455,0.015575739448917821]},{"name":"camera_2","offset_m":[-0.007047652115393351,-0.008283741868122507,0.013857480563515694]},{"name":"camera_3","offset_m":[-0.01905761005187648,0.01430539681336471,0.005186693699178992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014284731384105426,0.0003659456179020237,-0.0008919459409768905],"end_effector_yaw_offset_degrees":-0.5458163032338619},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008383398550693179,0.0006321362794147775,0.0015274774038886957],"end_effector_yaw_offset_degrees":0.7708072198274776},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011633505855460713,0.0018360355967802448,0.0007048713904741115],"end_effector_yaw_offset_degrees":-0.2295526146303517}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001679643722550233,-0.0019454208729378754],"position_m":[0.19317964372255023,0.022554579127062126,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013695256027275613,0.002291563769168849],"position_m":[0.32203047439727245,0.33129156376916885,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003644966600474743,0.002025227469882258],"position_m":[0.35954496660047475,0.06532522746988226,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008996251409816112,-0.0004098090890230074],"position_m":[0.2173003748590184,-0.371709809089023,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"395db21d7f4ac11f6204aef5aebc075251f133e0aa8a82dd76bbdb407886fcda","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3395/tex_ceiling_textures_5284/tex_floor_textures_9243/tex_table_textures_6078/tex_wall_textures_5455","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1415924277047034975,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1415924277047034975,"visual_seed":1415924277047034975,"scene_id":"lab_003","finished_at":"2026-09-03T01:06:33"} +{"episode_id":"ep_000049","started_at":"2026-09-03T01:06:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.6750925267803756,0.31196690411883266,0.71338606911949],"aabb_xy":[[0.6624898276432992,0.29937150789396716],[0.6876952259174521,0.32456230034369815]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.5198284091054295,-0.7271976666263364,0.71338606911949],"aabb_xy":[[-0.5251609237600425,-0.732521994871572],[-0.5144958944508164,-0.7218733383811009]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.5287331541524071,0.7003467396144663,0.71338606911949],"aabb_xy":[[-0.5403021348993438,0.6753467394975345],[-0.5171641734054706,0.725346739731398]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.3595368233223002,-2.029864831724024,0.71338606911949],"aabb_xy":[[0.2945368222163569,-2.0548302047921525],[0.4245368244282435,-2.004899458655896]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[0.37663188702454264,-1.578984122525056,0.71338606911949],"aabb_xy":[[0.33386518014512245,-1.6429841259468585],[0.41939859390396284,-1.5149841191032536]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.6363856320732779,-1.382823082434773,0.71338606911949],"aabb_xy":[[0.5864125665407625,-1.432823082247306],[0.6863586976057934,-1.3328230826222403]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.2847215986311106,-0.9990487979433871,0.71338606911949],"aabb_xy":[[-0.2965936816426117,-1.0840487976370374],[-0.27284951561960946,-0.9140487982497366]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.6375249873743731,-1.1206197903024946,0.71338606911949],"aabb_xy":[[-0.643562000375038,-1.126646491371443],[-0.6314879743737085,-1.1145930892335467]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.10668626944215587,0.5975104989993096,0.71338606911949],"aabb_xy":[[-0.1916862678595791,0.5126362035370247],[-0.021686271024732653,0.6823847944615946]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.5666988027172525,-1.7549154941513103,0.71338606911949],"aabb_xy":[[-0.6166980778856888,-1.8049154954272575],[-0.5166995275488164,-1.7049154928753631]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.6010195913457481,0.40647432052369803,0.71338606911949],"aabb_xy":[[0.5785231699118839,0.3839743207169506],[0.6235160127796121,0.42897432033044547]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.03805033481454234,-0.5551539791700839,0.71338606911949],"aabb_xy":[[-0.060550335058057736,-0.5673586138298559],[-0.015550334571026947,-0.542949344510312]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.28961311544424906,0.514382979235017,0.71338606911949],"aabb_xy":[[0.23961311600405338,0.46441505475070055],[0.3396131148844446,0.5643509037193332]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.578735200872099,-1.6150353020945654,0.71338606911949],"aabb_xy":[[0.5683236421916151,-1.6203810354304635],[0.5891467595525826,-1.6096895687586668]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.4162155318929237,0.12257400925543793,0.71338606911949],"aabb_xy":[[-0.44618308880274943,0.09257400895755219],[-0.3862479749830981,0.15257400955332368]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.3806198246238264,1.118059806738013,0.71338606911949],"aabb_xy":[[0.3166198214051885,1.0713366948390048],[0.44461982784246423,1.1647829186370215]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[0.4985846664003357,-0.3995185464609259,0.71338606911949],"aabb_xy":[[0.4635846665043168,-0.4078927819728658],[0.5335846662963545,-0.39114431094898594]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.17588120599352963,-2.0281110168234786,0.71338606911949],"aabb_xy":[[0.13838120588793668,-2.0349331786764595],[0.2133812060991226,-2.021288854970497]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.363493817799677,-2.10647876910641,0.71338606911949],"aabb_xy":[[-0.37865669077661407,-2.121644226401529],[-0.34833094482273985,-2.0913133118112914]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.6672028447271829,-2.1491449781349816,0.71338606911949],"aabb_xy":[[-0.6725404203931875,-2.1741449790641214],[-0.6618652690611784,-2.124144977205842]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.5929795334850296,-2.400151186457388,0.71338606911949],"aabb_xy":[[0.5129857099064715,-2.4801511890502295],[0.672973357063588,-2.3201511838645463]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.3841938776347131,0.6107735537912022,0.71338606911949],"aabb_xy":[[-0.43416717163797347,0.5607735532366549],[-0.3342205836314526,0.6607735543457496]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.5147045497824541,-0.30404171228880106,0.71338606911949],"aabb_xy":[[0.4647045487633188,-0.34050792802662905],[0.5647045508015893,-0.2675754965509732]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.2790388028217753,-1.0828063977197964,0.71338606911949],"aabb_xy":[[0.2565388023097347,-1.1052982560851945],[0.3015388033338159,-1.0603145393543978]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[-0.1570787560299387,-2.387004682228718,0.71338606911949],"aabb_xy":[[-0.16115691393698847,-2.391085662476981],[-0.153000598122889,-2.382923701980455]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.15005992573212823,0.8116373979731191,0.71338606911949],"aabb_xy":[[-0.15656156224013285,0.8018695759468095],[-0.14355828922412361,0.8214052199994291]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.29821604551207104,-0.3999186460634596,0.71338606911949],"aabb_xy":[[-0.34320863223052145,-0.44491864533790837],[-0.2532234587936206,-0.35491864678901086]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[-0.59450834660077,0.2069410613247591,0.71338606911949],"aabb_xy":[[-0.6136206539587488,0.1878062824475171],[-0.575396039242791,0.22607584020200114]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[-0.4467812373813994,-0.9928227898216764,0.71338606911949],"aabb_xy":[[-0.5017812355831442,-1.0333447564481137],[-0.39178123917965463,-0.9523008231952387]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[0.5540285137008645,1.7330495508963542,0.71338606911949],"aabb_xy":[[0.504045563513385,1.6830495512537933],[0.6040114638883437,1.7830495505389141]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.676190747552491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8822.png","name":"8822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":785.4511106189208,"rotation_z_degrees":267.2842647495801,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006230387658314927,0.004161009367814921,0.017777292442488272]},{"name":"camera_2","offset_m":[0.00568451858537173,0.019312598587112217,-0.007000222438254707]},{"name":"camera_3","offset_m":[-0.009456122998061681,-0.009034350584588898,-0.0009271594632227036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004642868614065851,-0.0019954008163519696,0.0004310530454277894],"end_effector_yaw_offset_degrees":0.9154930449171241},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002461557029713158,-0.0015592404312056224,0.0006683505582942388],"end_effector_yaw_offset_degrees":0.8921781273801177},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012987134686620718,0.0007809057714578899,-0.0019067326975028952],"end_effector_yaw_offset_degrees":-0.753105896616941}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00180188740058602,0.0024829930530402044],"position_m":[0.189698112599414,0.026982993053040204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023862088855250343,-0.00046291973916872883],"position_m":[0.321013791114475,0.3285370802608313,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004988234744772447,0.003451066216153392],"position_m":[0.36088823474477244,0.06675106621615338,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001805684014146095,-0.003867748294377169],"position_m":[0.2200056840141461,-0.3751677482943772,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04ac326da06b25341409e868a17cc0f673a089981d105df985d8275d587f103e","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4463/tex_ceiling_textures_1608/tex_floor_textures_5555/tex_table_textures_6322/tex_wall_textures_8822","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3203241329400210978,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3203241329400210978,"visual_seed":3203241329400210978,"scene_id":"lab_003","finished_at":"2026-09-03T01:09:30"} +{"episode_id":"ep_000050","started_at":"2026-09-03T01:09:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.22286225713452623,-0.6760979795113318,0.71338606911949],"aabb_xy":[[-0.2868622594773278,-0.7210388307554642],[-0.15886225479172467,-0.6311571282671992]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.0031847819276431544,-1.7343457809028047,0.71338606911949],"aabb_xy":[[-0.0731847840590727,-1.7571077465285],[0.06681522020378639,-1.7115838152771088]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.09157351125822122,-2.2860118189157594,0.71338606911949],"aabb_xy":[[0.011573510185100902,-2.2957898652531434],[0.17157351233134155,-2.2762337725783746]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.4727379065036664,-1.6905186078118066,0.71338606911949],"aabb_xy":[[-0.5205440741174351,-1.7555186105188652],[-0.42493173888989777,-1.6255186051047472]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.0647474556703731,-0.6692725447132599,0.71338606911949],"aabb_xy":[[-0.09103627999081375,-0.6955439783679112],[-0.03845863134993243,-0.6430011110586087]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.5519252095124811,0.8691148397022177,0.71338606911949],"aabb_xy":[[0.5019252108665598,0.8191952960427552],[0.6019252081584022,0.91903438336168]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.5655902028972778,-1.9799616921447067,0.71338606911949],"aabb_xy":[[-0.6295902001829263,-2.0214684110975507],[-0.501590205611629,-1.9384549731918628]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.314748674943924,-1.6902997651021516,0.71338606911949],"aabb_xy":[[-0.37874867520439476,-1.7353085644550796],[-0.25074867468345313,-1.6452909657492236]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.328524589124523,-1.001384500137021,0.71338606911949],"aabb_xy":[[0.2875066457381521,-1.0513845007679783],[0.36954253251089386,-0.9513844995060636]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.6046081768886546,-0.9973486510568246,0.71338606911949],"aabb_xy":[[-0.6421081754642755,-1.0100849467203825],[-0.5671081783130338,-0.9846123553932666]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.009081832599023731,-1.2291922715189878,0.71338606911949],"aabb_xy":[[-0.01786305974625996,-1.237972018807518],[-0.0003006054517875057,-1.220412524230458]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.2888451209487716,0.2726533072450028,0.71338606911949],"aabb_xy":[[-0.29612743732543517,0.18265330363549373],[-0.28156280457210786,0.3626533108545117]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.4904385451736093,1.6435714275635198,0.71338606911949],"aabb_xy":[[0.4433091661717736,1.5795714265191176],[0.537567924175445,1.7075714286079215]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.16790181694579254,-2.470063146458885,0.71338606911949],"aabb_xy":[[0.16446114070573536,-2.4739245794332496],[0.1713424931858497,-2.4662017134845207]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.3907748237350151,0.5302982166964965,0.71338606911949],"aabb_xy":[[-0.48077482741193317,0.4688658101193919],[-0.30077482005809686,0.5917306232736006]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.19370715480100287,-2.169939572275777,0.71338606911949],"aabb_xy":[[-0.23050178792590914,-2.206845447372359],[-0.1569125216760966,-2.1330336971791946]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.4660859117581726,-2.5144450000832315,0.71338606911949],"aabb_xy":[[0.3860859147439246,-2.534579551756643],[0.5460859087724206,-2.49431044840982]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.31943275772825275,1.3144233119848874,0.71338606911949],"aabb_xy":[[0.25543275745427446,1.2643572117875992],[0.3834327580022309,1.3644894121821751]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.510235942438452,1.0720067938708975,0.71338606911949],"aabb_xy":[[-0.5347821580612028,1.0417578973218604],[-0.4856897268157014,1.1022556904199345]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.1779282992939698,-1.5271594499951273,0.71338606911949],"aabb_xy":[[0.11392830289839673,-1.5911227384138609],[0.24192829568954288,-1.4631961615763938]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.32719115720958264,1.7815517649607817,0.71338606911949],"aabb_xy":[[-0.3621911563395383,1.7758065438851174],[-0.292191158079627,1.7872969860364456]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.04366135246206848,-2.532310605328687,0.71338606911949],"aabb_xy":[[-0.07866135243856431,-2.541775221376303],[-0.008661352485572649,-2.52284598928107]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.4433819621746244,-2.4850125502185274,0.71338606911949],"aabb_xy":[[-0.4507944177160128,-2.4908637606401554],[-0.43596950663323586,-2.4791613397968995]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[0.03746232350542689,-2.145723188249722,0.71338606911949],"aabb_xy":[[0.029334635312113666,-2.154636796660429],[0.04559001169874011,-2.1368095798390137]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.5113315765694876,-2.2317305476688762,0.71338606911949],"aabb_xy":[[-0.5210875660786615,-2.2414930817281102],[-0.5015755870603137,-2.2219680136096414]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[-0.36671949193839204,1.6533776787254584,0.71338606911949],"aabb_xy":[[-0.3971176030375355,1.6229707767237886],[-0.33632138083924834,1.6837845807271277]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[0.17688583066533692,1.105542727406168,0.71338606911949],"aabb_xy":[[0.16495309630350885,1.0931605745983086],[0.188818565027165,1.1179248802140274]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.634824588193478,-0.0033461963962895247,0.71338606911949],"aabb_xy":[[0.5798245885717321,-0.05832988918376225],[0.6898245878152238,0.0516374963911832]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.21621352846871195,1.6043211185447617,0.71338606911949],"aabb_xy":[[-0.2387135282826143,1.599846502174281],[-0.19371352865480954,1.6087957349152424]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[0.6033869252738102,-1.0514984913969252,0.71338606911949],"aabb_xy":[[0.5859562101948035,-1.0687706060607758],[0.6208176403528165,-1.0342263767330742]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[-0.6627199640194614,-2.5698688690285025,0.71338606911949],"aabb_xy":[[-0.6687569770201263,-2.5758955700974506],[-0.6566829510187968,-2.5638421679595544]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_31","position":[0.48560206634387026,-0.7193331833419783,0.71338606911949],"aabb_xy":[[0.4156020645351248,-0.7406869521061656],[0.5556020681526157,-0.6979794145777909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791939163982029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9598.png","name":"9598"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3190.png","name":"3190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3706.png","name":"3706"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.013166894564,"rotation_z_degrees":1.1253458750257161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016601900661276262,-0.0006903986013403994,-0.013978712088102033]},{"name":"camera_2","offset_m":[0.003246702718196968,0.01421812903880797,-0.011948117479538327]},{"name":"camera_3","offset_m":[-0.004005848728245054,-0.007154682583284142,-0.004096286291463063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001376587191176368,0.0014166090979496424,0.001992925887555958],"end_effector_yaw_offset_degrees":0.6213994149197584},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.6338113934808e-05,0.00022404452231446605,0.0010237328139457284],"end_effector_yaw_offset_degrees":-0.11234685663590827},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004143983186082499,0.0018186180358159502,0.0012475348743309534],"end_effector_yaw_offset_degrees":0.09995939486108285}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-1.6501000396157428e-05,0.0014106688110692468],"position_m":[0.19148349899960385,0.025910668811069248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004764256270559505,0.0005681331888068887],"position_m":[0.323876425627056,0.3295681331888069,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00421331133411737,-0.00347163682790568],"position_m":[0.3516866886658826,0.059828363172094313,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011116243699022524,0.0017309610309074195],"position_m":[0.21931162436990226,-0.3695690389690926,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aa7a9c07bf173b0452707c0a6ef46780e0960cfcca3617ace010547c08dc2663","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_674/tex_ceiling_textures_3706/tex_floor_textures_3190/tex_table_textures_4022/tex_wall_textures_9598","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3461948853591097056,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3461948853591097056,"visual_seed":3461948853591097056,"scene_id":"lab_003","finished_at":"2026-09-03T01:12:33"} +{"episode_id":"ep_000051","started_at":"2026-09-03T01:12:36","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[0.628094325793868,-0.015609179309401977,0.71338606911949],"aabb_xy":[[0.6129920243328497,-0.03071070094046379],[0.6431966272548859,-0.0005076576783401529]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.4463028440599093,1.702328780323469,0.71338606911949],"aabb_xy":[[0.38130284310278206,1.6503805683897634],[0.5113028450170365,1.7542769922571746]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.27371923487523825,-1.7915768502478442,0.71338606911949],"aabb_xy":[[-0.2809630009214836,-1.8715768484514466],[-0.2664754688289929,-1.7115768520442418]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.4658152859138235,-0.599434469011201,0.71338606911949],"aabb_xy":[[-0.5158152871976633,-0.649413323401823],[-0.4158152846299834,-0.5494556146205788]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.3242634615373914,-0.7284225776851194,0.71338606911949],"aabb_xy":[[0.28676346074539594,-0.7347904186433095],[0.36176346232938683,-0.7220547367269293]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.2050647623366132,0.9471255744011748,0.71338606911949],"aabb_xy":[[-0.22756476215051558,0.942650958030694],[-0.1825647625227108,0.9516001907716555]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.598451035118203,-0.7921574384278574,0.71338606911949],"aabb_xy":[[-0.631930202379244,-0.8256365517989643],[-0.5649718678571621,-0.7586783250567504]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.3417584000690764,-2.0528821244510573,0.71338606911949],"aabb_xy":[[-0.34879985101982397,-2.0599088761888518],[-0.3347169491183288,-2.045855372713263]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.3696464060329898,-1.6111564713258484,0.71338606911949],"aabb_xy":[[0.35053409867501095,-1.6302912502030904],[0.3887587133909687,-1.5920216924486064]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.6674658387478498,-2.32016956797452,0.71338606911949],"aabb_xy":[[0.6633299824151496,-2.3576695674188772],[0.67160169508055,-2.2826695685301632]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.4050850448516882,-1.125039604060404,0.71338606911949],"aabb_xy":[[-0.41443205243398346,-1.139343226278048],[-0.395738037269393,-1.11073598184276]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.3480768459647873,0.09068962158776239,0.71338606911949],"aabb_xy":[[-0.3647539819578828,0.07398969761383212],[-0.33139970997169177,0.10738954556169267]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.5866596472999395,-0.9144032976407521,0.71338606911949],"aabb_xy":[[0.5735084013286501,-0.9394032973974389],[0.5998108932712288,-0.8894032978840658]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.2812458139464875,-2.5280186245071756,0.71338606911949],"aabb_xy":[[0.24561665804652777,-2.563651291264028],[0.31687496984644725,-2.4923859577503222]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.537498338835837,-1.4137519665466423,0.71338606911949],"aabb_xy":[[0.5007037057109306,-1.4506578416432245],[0.5742929719607431,-1.37684609145006]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.004267061611413103,-1.3051296539430823,0.71338606911949],"aabb_xy":[[-0.012835016346955053,-1.322236459474352],[0.02136913956978126,-1.2880228484118126]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.030563572797794203,1.131628338896899,0.71338606911949],"aabb_xy":[[-0.01943642886370056,1.0816298966411961],[0.08056357445928895,1.1816267811526016]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.19371647106255185,-0.6755270548601422,0.71338606911949],"aabb_xy":[[0.18774993212181607,-0.6814881995195062],[0.19968301000328764,-0.6695659102007782]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.18154499408055447,-1.5128724497036057,0.71338606911949],"aabb_xy":[[0.1590802241091493,-1.535372450582466],[0.20400976405195953,-1.490372448824745]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.5351996564545334,1.0292056981003221,0.71338606911949],"aabb_xy":[[0.4853169595768372,0.9792056988540474],[0.5850823533322296,1.0792056973465969]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.4572970253127844,0.5177924035871846,0.71338606911949],"aabb_xy":[[0.4455288385181269,0.43279240368196303],[0.46906521210744195,0.6027924034924061]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.30643733564250564,-2.1610238296902513,0.71338606911949],"aabb_xy":[[0.22643733705518623,-2.2403394316284118],[0.38643733422982507,-2.08170822775209]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[0.43373628810328424,0.7399269429721427,0.71338606911949],"aabb_xy":[[0.3687362854654908,0.6884473442726957],[0.4987362907410778,0.7914065416715896]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.35924125863222267,-2.3955872816681314,0.71338606911949],"aabb_xy":[[0.3242412572807409,-2.4159470176249522],[0.39424125998370435,-2.3752275457113106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732815052964298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6455.png","name":"6455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6455.png","name":"6455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9554.png","name":"9554"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3309.png","name":"3309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":538.1058781819817,"rotation_z_degrees":285.8279707783641,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01807973150091121,0.012419535635436862,0.013586294669156767]},{"name":"camera_2","offset_m":[-0.011604132539033234,0.003407432289429052,0.018545449425100235]},{"name":"camera_3","offset_m":[0.0035323575113784048,-0.015829997585692195,-0.008202910299484882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003037856568050242,-0.0017935433106934786,0.0009876961250369705],"end_effector_yaw_offset_degrees":0.5176605542383181},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011256215970321787,-0.0004074290533221689,-0.0018928276163137944],"end_effector_yaw_offset_degrees":0.15046412570971457},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004858210605139246,-0.0005913240856414378,-0.0010885468885523165],"end_effector_yaw_offset_degrees":0.8943512983914053}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004849421034570958,0.003467787721505089],"position_m":[0.18665057896542905,0.02796778772150509,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004394659213497941,-0.002839485436205311],"position_m":[0.31900534078650206,0.3261605145637947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023856047076782115,0.0027460273134344],"position_m":[0.35828560470767823,0.0660460273134344,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021750602612986784,-0.0039313523793686475],"position_m":[0.2203750602612987,-0.37523135237936867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b55ecc08d32a83743b401769aee1ad3b68d57ebc36b9b462df5d461dc031d7c7","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6455/tex_ceiling_textures_167/tex_floor_textures_3309/tex_table_textures_2451/tex_wall_textures_9554","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2167985023448861993,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2167985023448861993,"visual_seed":2167985023448861993,"scene_id":"lab_003","finished_at":"2026-09-03T01:15:15"} +{"episode_id":"ep_000052","started_at":"2026-09-03T01:15:18","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.5818648758938127,1.4549019347228467,0.71338606911949],"aabb_xy":[[-0.6518648774960922,1.4414691415211893],[-0.5118648742915333,1.4683347279245045]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.3061693719090331,0.6654567948827919,0.71338606911949],"aabb_xy":[[-0.3561424374415486,0.615456795070259],[-0.2561963063765177,0.7154567946953247]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.15299556372815215,-0.33998807425810496,0.71338606911949],"aabb_xy":[[-0.16855133313841744,-0.3555385075025122],[-0.13743979431788692,-0.3244376410136978]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.49463357035744804,-1.7236942636023467,0.71338606911949],"aabb_xy":[[-0.5033315326481633,-1.7358192379098218],[-0.4859356080667328,-1.7115692892948724]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.6251102352390914,-0.9655113825279611,0.71338606911949],"aabb_xy":[[-0.6383411807737724,-0.9787388015499605],[-0.6118792897044099,-0.9522839635059617]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.025805058007059678,1.44021387181018,0.71338606911949],"aabb_xy":[[-0.11549213431517513,1.3502138715557293],[0.06388201830105578,1.5302138720646303]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.6623039098075258,-1.5975186288136145,0.71338606911949],"aabb_xy":[[0.602303909960959,-1.6543372510066532],[0.7223039096540925,-1.5407000066205758]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.4823466621671739,1.5544911974609774,0.71338606911949],"aabb_xy":[[-0.4993567594572245,1.5383567089627035],[-0.4653365648771232,1.5706256859592513]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.3437853862113047,-0.7600271292451086,0.71338606911949],"aabb_xy":[[0.278785388329657,-0.8111507929516497],[0.4087853840929526,-0.7089034655385679]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.3606335457807928,-0.9477777617546241,0.71338606911949],"aabb_xy":[[-0.3687612339741061,-0.9566913701653319],[-0.35250585758747965,-0.9388641533439166]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.322206514172493,-2.411789167823581,0.71338606911949],"aabb_xy":[[-0.38620651346666124,-2.475775308192435],[-0.2582065148783248,-2.347803027454727]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.3462500409192977,-2.0063616306890295,0.71338606911949],"aabb_xy":[[0.2822500444919758,-2.0535312545111264],[0.41025003734661963,-1.9591920068669335]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.3880765591196844,1.2789467094994325,0.71338606911949],"aabb_xy":[[-0.41054132909108954,1.2564467086205717],[-0.3656117891482793,1.3014467103782927]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.3570338483335788,0.8550257484395698,0.71338606911949],"aabb_xy":[[-0.38031569053171016,0.7700257471423417],[-0.3337520061354475,0.9400257497367979]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.39866216214275507,-0.961313073387372,0.71338606911949],"aabb_xy":[[0.36419968412966724,-0.9679767505702948],[0.4331246401558428,-0.9546493962044491]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.0673203302354175,1.0292800401883238,0.71338606911949],"aabb_xy":[[-0.13232033123591802,0.9784936750336486],[-0.0023203292349169846,1.0800664053429985]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.5964651466505637,1.736872133595862,0.71338606911949],"aabb_xy":[[0.5314651456934364,1.6849239216621563],[0.6614651476076908,1.7888203455295675]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.06697063182984941,-2.52515473061793,0.71338606911949],"aabb_xy":[[-0.07423187940025683,-2.5379417408814393],[-0.059709384259442,-2.5123677203544204]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.22641826919957136,-0.46059731573687746,0.71338606911949],"aabb_xy":[[-0.2904182715423729,-0.50553816698101],[-0.1624182668567698,-0.41565646449274496]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.015473824717765483,-2.3474013379562546,0.71338606911949],"aabb_xy":[[-0.022026175387827474,-2.3542234998092355],[0.05297382482335843,-2.340579176103273]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.010155591665623742,-1.5948705600504192,0.71338606911949],"aabb_xy":[[-0.09015558862866291,-1.6719462016941926],[0.06984440529741542,-1.5177949184066457]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.30273933763819627,1.1030661328104197,0.71338606911949],"aabb_xy":[[-0.3827331612167545,1.023066130217578],[-0.22274551405963805,1.1830661354032612]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.12239989691172648,0.7303873902098057,0.71338606911949],"aabb_xy":[[0.06739989870998163,0.689865423583368],[0.1773998951134713,0.7709093568362432]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.5688098559123422,1.0258301759065986,0.71338606911949],"aabb_xy":[[0.5409648191317351,0.9950456771682872],[0.5966548926929494,1.0566146746449105]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.5123466148588485,-1.6054526349279075,0.71338606911949],"aabb_xy":[[0.4695799079794284,-1.6694526383497101],[0.5551133217382688,-1.5414526315061052]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.5494460189619237,-2.4927065809396707,0.71338606911949],"aabb_xy":[[0.4694460209811387,-2.5003081219015226],[0.6294460169427087,-2.4851050399778187]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[0.5087315227321629,-2.084452244667443,0.71338606911949],"aabb_xy":[[0.47414043987811777,-2.1494522449524736],[0.5433226055862082,-2.0194522443824114]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.47901601378854575,1.265505531790149,0.71338606911949],"aabb_xy":[[0.45651601354503035,1.2533008971303767],[0.5015160140320611,1.2777101664499206]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.40943062105675265,-1.2287971534609166,0.71338606911949],"aabb_xy":[[0.3294306177927396,-1.24235718576983],[0.48943062432076584,-1.2152371211520032]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[0.45421147536749573,0.006349298889303245,0.71338606911949],"aabb_xy":[[0.44174411725776014,-0.006116025744020258],[0.46667883347723144,0.01881462352262675]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.016224015009827064,-0.851577875961143,0.71338606911949],"aabb_xy":[[-0.02894730283834191,-0.9155778731056815],[0.061395332857996046,-0.7875778788166047]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_31","position":[0.6858642796601964,1.2430584106541906,0.71338606911949],"aabb_xy":[[0.6819504064647739,1.2343093952476338],[0.6897781528556188,1.2518074260607475]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_32","position":[0.05257645473908534,1.1299845493626095,0.71338606911949],"aabb_xy":[[0.03942520876779598,1.104984549605923],[0.0657277007103747,1.154984549119296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843250884511718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7755.png","name":"7755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7755.png","name":"7755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8760.png","name":"8760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7474.png","name":"7474"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4107.png","name":"4107"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":846.1959646764626,"rotation_z_degrees":139.86640449374084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008939554089312837,0.009832878501626247,0.003469033233231906]},{"name":"camera_2","offset_m":[0.015192092773707939,0.0004982343081616318,0.002270861241549165]},{"name":"camera_3","offset_m":[-0.013992122095687898,-0.007435567777044008,-0.014643050279412031]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006326769321148764,0.001535670143124493,-0.0013055347765127472],"end_effector_yaw_offset_degrees":0.3687952674085002},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015853216300660482,0.0015393987907796722,0.0015105413516338208],"end_effector_yaw_offset_degrees":0.27542118380589753},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018729504148564608,0.0016208775695250336,-0.0003819383813252685],"end_effector_yaw_offset_degrees":-0.7463895585634115}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010857362628029403,0.0036259996718154023],"position_m":[0.19258573626280295,0.028125999671815404,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004971841988594781,0.0030420945591285815],"position_m":[0.3283718419885948,0.3320420945591286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010814759411584898,0.0028329271254294306],"position_m":[0.3569814759411585,0.06613292712542942,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008737824478671974,0.0039022645241644288],"position_m":[0.2173262175521328,-0.3673977354758356,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6890b529738237482ad92c11d745092e56a1a75eaaf4babca97b75590b5a4ea1","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7755/tex_ceiling_textures_4107/tex_floor_textures_7474/tex_table_textures_8760/tex_wall_textures_631","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5761490021181358745,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5761490021181358745,"visual_seed":5761490021181358745,"scene_id":"lab_003","finished_at":"2026-09-03T01:18:22"} +{"episode_id":"ep_000053","started_at":"2026-09-03T01:18:25","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.38824971123509155,-1.1370641330719726,0.71338606911949],"aabb_xy":[[0.36697170309161925,-1.202064135398046],[0.40952771937856375,-1.0720641307458998]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.4947775375744268,-0.6160572768213295,0.71338606911949],"aabb_xy":[[0.44764815857259105,-0.6800572778657313],[0.5419069165762624,-0.5520572757769274]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.5925544750716563,-0.5754235765913851,0.71338606911949],"aabb_xy":[[-0.6060010017056996,-0.5888934282444763],[-0.5791079484376129,-0.5619537249382939]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[0.476517944030058,-2.4643351343399753,0.71338606911949],"aabb_xy":[[0.41251794365252437,-2.5140804011907876],[0.5405179444075916,-2.414589867489163]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.5570901225499314,-2.3235659939311333,0.71338606911949],"aabb_xy":[[0.5349175955732806,-2.3457416610872563],[0.5792626495265822,-2.30139032677501]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.3134994587152059,-1.390763593812142,0.71338606911949],"aabb_xy":[[-0.3774994610580074,-1.4357044450562744],[-0.2494994563724043,-1.3458227425680094]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.65299650969625,-1.6795385593521819,0.71338606911949],"aabb_xy":[[0.5979965100745042,-1.7345222521396546],[0.7079965093179958,-1.6245548665647092]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.05849440942130946,-2.4903670127761326,0.71338606911949],"aabb_xy":[[-0.02150559200881775,-2.5698841677887416],[0.13849441085143666,-2.4108498577635227]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.06357649118365138,0.52319841638033,0.71338606911949],"aabb_xy":[[-0.08107649046173825,0.5058603163139841],[-0.046076491905564496,0.540536516446676]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.5741701902309782,1.7527110137088333,0.71338606911949],"aabb_xy":[[0.549170191065345,1.7457587680034767],[0.5991701893966113,1.7596632594141899]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.18760377606216083,-0.7684022448210919,0.71338606911949],"aabb_xy":[[0.17752206898358736,-0.8484022427132064],[0.1976854831407343,-0.6884022469289771]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.5017821017724403,-1.4695609390913733,0.71338606911949],"aabb_xy":[[-0.5517821021330063,-1.519540926300976],[-0.4517821014118742,-1.4195809518817701]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.6238885990730992,-1.6009664323722022,0.71338606911949],"aabb_xy":[[-0.6888885976301721,-1.6307189657860848],[-0.5588886005160264,-1.5712138989583195]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.6716661827677894,1.3848995060908695,0.71338606911949],"aabb_xy":[[0.649166182524274,1.3726948714310978],[0.6941661830113048,1.3971041407506417]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.23792292366306778,-0.6215871159692516,0.71338606911949],"aabb_xy":[[0.1679229220607883,-0.6350199091709093],[0.30792292526534726,-0.6081543227675942]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.6138530705922791,-0.9118541677293619,0.71338606911949],"aabb_xy":[[0.5638530710159445,-0.9618347466814681],[0.663853070168614,-0.8618735887772562]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.26812598095591156,-0.559708210735395,0.71338606911949],"aabb_xy":[[-0.3231214587765709,-0.6147082121693018],[-0.21313050313525211,-0.504708209301488]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.4546620580988787,1.381922915495705,0.71338606911949],"aabb_xy":[[0.4268170213182716,1.3511384167573932],[0.48250709487948584,1.4127074142340166]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.27771629849485,0.7294081777536023,0.71338606911949],"aabb_xy":[[-0.3417162987553207,0.6843993784006742],[-0.21371629823437913,0.7744169771065302]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.04234909097547013,-0.9633858313386845,0.71338606911949],"aabb_xy":[[-0.13234908771108034,-1.016569294655979],[0.04765090576014009,-0.91020236802139]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.25358357206158455,-1.857051728348371,0.71338606911949],"aabb_xy":[[-0.3235835684715463,-1.877489664000052],[-0.18358357565162273,-1.8366137926966886]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.30800989377495736,-2.393713987301101,0.71338606911949],"aabb_xy":[[0.27456971857893764,-2.42715761313203],[0.34145006897097685,-2.36027036147017]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.1758997334010275,-2.1423172076342936,0.71338606911949],"aabb_xy":[[0.17100044109446397,-2.1699941269368623],[0.18079902570759096,-2.114640288331725]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.32923485797098206,-0.4810632713523906,0.71338606911949],"aabb_xy":[[0.2692348581244152,-0.5378818935454293],[0.3892348578175488,-0.4242446491593519]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[-0.3340390757254831,-1.5994366638394828,0.71338606911949],"aabb_xy":[[-0.40403907911704506,-1.6347524375429134],[-0.2640390723339211,-1.5641208901360517]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.235329260186526,-2.1514961003392408,0.71338606911949],"aabb_xy":[[-0.24337262011248115,-2.2364961014346068],[-0.2272859002605708,-2.066496099243874]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[-0.23576512174685332,-1.2033168620856745,0.71338606911949],"aabb_xy":[[-0.26205394606729393,-1.2295882957403255],[-0.2094762974264126,-1.177045428431023]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[-0.1067553606823698,-2.242165009258824,0.71338606911949],"aabb_xy":[[-0.11325699719037441,-2.2519328312851337],[-0.10025372417436518,-2.232397187232514]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[-0.050755844711266374,-0.7558050141810901,0.71338606911949],"aabb_xy":[[-0.08575584460728525,-0.7641792496930301],[-0.015755844815247503,-0.7474307786691502]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[0.04164598392374075,-1.1833932692992943,0.71338606911949],"aabb_xy":[[0.032298976341445525,-1.1976968915169381],[0.050992991506035985,-1.16908964708165]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[-0.30981299429452924,-0.8418828126049629,0.71338606911949],"aabb_xy":[[-0.3648052449300402,-0.8968828143482759],[-0.2548207436590183,-0.7868828108616504]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_31","position":[0.5006134769971087,-0.3284805626104803,0.71338606911949],"aabb_xy":[[0.4206134798375333,-0.3400281635682974],[0.5806134741566839,-0.3169329616526633]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_32","position":[-0.39079077854883965,1.2090801829967064,0.71338606911949],"aabb_xy":[[-0.44078389065803164,1.1590801823225108],[-0.3407976664396478,1.259080183670902]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_33","position":[-0.06729303292519484,-0.5304608457317035,0.71338606911949],"aabb_xy":[[-0.0824652022068282,-0.545629702659907],[-0.05212086364356151,-0.5152919888035002]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_34","position":[0.6043818565277257,-0.4070285711421602,0.71338606911949],"aabb_xy":[[0.6004213727579913,-0.41469643572768083],[0.60834234029746,-0.39936070655663963]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6752934083936306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/45.png","name":"45"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2762.png","name":"2762"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5291.png","name":"5291"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":709.5362990688525,"rotation_z_degrees":283.28973475760534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018300800380876326,0.00892346060295205,-0.012377781947262712]},{"name":"camera_2","offset_m":[-0.01887892291094888,-0.016247238393738716,-0.0018710118842620825]},{"name":"camera_3","offset_m":[0.002516609794239299,-0.013961214981664832,0.011000073167101762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001679725388595713,-0.0011789293072987804,0.00045527078600385903],"end_effector_yaw_offset_degrees":-0.27057348696421846},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007340287243301029,-0.0013288355425799129,-0.001174044501627436],"end_effector_yaw_offset_degrees":0.2476611961722286},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016137580937545647,-0.00032482182284443396,0.0008074504899584986],"end_effector_yaw_offset_degrees":-0.400720869254372}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004400342778678345,-0.0015574215785239378],"position_m":[0.18709965722132166,0.022942578421476064,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026123435052840017,-0.0019050295763627157],"position_m":[0.320787656494716,0.3270949704236373,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001272061044222731,0.0005161909629074349],"position_m":[0.3571720610442227,0.06381619096290743,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037806000507503747,0.002039114199333926],"position_m":[0.21441939994924963,-0.36926088580066607,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"094548aeecb5ac1971df412d30a3d2c8e67155d2fdb368dc0f8e85451c6bad18","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5223/tex_ceiling_textures_5291/tex_floor_textures_2762/tex_table_textures_45/tex_wall_textures_6179","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2481190747362496803,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2481190747362496803,"visual_seed":2481190747362496803,"scene_id":"lab_003","finished_at":"2026-09-03T01:21:13"} +{"episode_id":"ep_000054","started_at":"2026-09-03T01:21:17","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.41389689810986385,-1.9509164838412416,0.71338606911949],"aabb_xy":[[0.3638968977492977,-2.000896471050844],[0.4638968984704298,-1.9009364966316384]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.5631880567296215,0.12401882068757075,0.71338606911949],"aabb_xy":[[0.5455552211360938,0.10639587467194778],[0.5808208923231489,0.14164176670319373]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.496673965972672,-1.7287377935668693,0.71338606911949],"aabb_xy":[[-0.51177626743369,-1.743839315197931],[-0.48157166451165384,-1.7136362719358071]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.02393081457238011,-0.9993496381350229,0.71338606911949],"aabb_xy":[[-0.0330906935162567,-1.00588085617856],[-0.014770935628503505,-0.9928184200914858]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.1972991480474201,-1.5945880355056352,0.71338606911949],"aabb_xy":[[0.17540940045847928,-1.6845880327948841],[0.21918889563636088,-1.5045880382163859]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.33732173665361354,0.6016131232049227,0.71338606911949],"aabb_xy":[[-0.3923217348553583,0.561091156578485],[-0.28232173845186864,0.6421350898313601]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.13873241740847464,0.7127758715562407,0.71338606911949],"aabb_xy":[[0.08471682112657461,0.6487758686639834],[0.19274801369037461,0.7767758744484977]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.288498974440901,0.37460290531124363,0.71338606911949],"aabb_xy":[[-0.29891053312138466,0.3692571719753451],[-0.27808741576041723,0.37994863864714207]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.1519062121698106,0.8104419265082337,0.71338606911949],"aabb_xy":[[-0.18870084529471687,0.7735360514116514],[-0.11511157904490432,0.8473478016048159]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.26837138597401583,-1.8406879771547278,0.71338606911949],"aabb_xy":[[-0.3183713872578558,-1.8906668315453499],[-0.2183713846901759,-1.7907091227641057]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.29941470358870814,1.1955382975502618,0.71338606911949],"aabb_xy":[[0.2444147039669623,1.140554604762789],[0.354414703210454,1.2505219903377345]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.22742316324868683,1.7532753469895614,0.71338606911949],"aabb_xy":[[0.16242316061089337,1.7017957482901145],[0.2924231658864803,1.8047549456890084]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[-0.22089631984086416,1.1290477154533347,0.71338606911949],"aabb_xy":[[-0.25739214046814285,1.0925637730265774],[-0.1844004992135854,1.1655316578800925]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.014059725481440855,1.3707921108097687,0.71338606911949],"aabb_xy":[[-0.03185323241635729,1.352992365213971],[0.0037337814534755803,1.3885918564055664]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.11250292344259272,-1.631250554970598,0.71338606911949],"aabb_xy":[[-0.1725029240386089,-1.6860630275158215],[-0.05250292284657654,-1.5764380824253745]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.5269950559490264,1.4275184238274208,0.71338606911949],"aabb_xy":[[0.5176480483667312,1.4132148016097767],[0.5363420635313216,1.4418220460450648]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.3212353751920008,-1.6210905105787417,0.71338606911949],"aabb_xy":[[-0.33383807432907725,-1.6336859068036074],[-0.30863267605492434,-1.6084951143538764]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.18525852927035746,0.363886780420565,0.71338606911949],"aabb_xy":[[-0.20226862656040812,0.34775229192229107],[-0.1682484319803068,0.3800212689188389]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.10701609616001595,-2.2665096736998516,0.71338606911949],"aabb_xy":[[0.03701609276845399,-2.301825447403282],[0.17701609955157793,-2.2311938999964203]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.13217137675525303,-2.3189360017960903,0.71338606911949],"aabb_xy":[[-0.15245567947865177,-2.339218626938799],[-0.11188707403185426,-2.2986533766533808]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.3916572092378541,1.4172980686870367,0.71338606911949],"aabb_xy":[[-0.426657207507974,1.4102239409920483],[-0.3566572109677342,1.4243721963820246]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.1999462701094491,-1.0579071412697625,0.71338606911949],"aabb_xy":[[0.1359462728071027,-1.1022735682376192],[0.2639462674117955,-1.0135407143019057]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.21082742781321395,-2.075181839724034,0.71338606911949],"aabb_xy":[[-0.25359413469263414,-2.1391818431458365],[-0.16806072093379376,-2.0111818363022316]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[-0.5519146308743329,1.7118293239006737,0.71338606911949],"aabb_xy":[[-0.5606285999242673,1.689329323241485],[-0.5432006618243983,1.7343293245598614]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[-0.06000189123261335,-0.806661832926918,0.71338606911949],"aabb_xy":[[-0.14000188921339837,-0.8142633738887699],[0.019998106748171696,-0.799060291965066]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[0.6538788051825908,1.381006192578142,0.71338606911949],"aabb_xy":[[0.598885593845454,1.3260061922393482],[0.7088720165197275,1.4360061929169354]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.5573137941277679,1.2714540711026259,0.71338606911949],"aabb_xy":[[-0.5761981778962783,1.252568146322273],[-0.5384294103592578,1.2903399958829787]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.4459995069886412,-2.0236678725005888,0.71338606911949],"aabb_xy":[[-0.4834995085042729,-2.034894645516734],[-0.4084995054730095,-2.0124410994844437]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745301554664495,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9817.png","name":"9817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9817.png","name":"9817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1333.png","name":"1333"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8975.png","name":"8975"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":783.1086292151494,"rotation_z_degrees":274.93923390818014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004429020449693755,0.016263778145018764,-0.011611603218961571]},{"name":"camera_2","offset_m":[-0.0028145682856491085,-0.01792881637955252,-0.016264538754296447]},{"name":"camera_3","offset_m":[-0.004067712962501545,0.0065440959601448905,-0.015390207538785571]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009590133012841381,-0.0018961210182525598,-0.0010810098829625843],"end_effector_yaw_offset_degrees":-0.03630992970457281},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00035673672519667124,0.000493641072576388,0.00046447968067040487],"end_effector_yaw_offset_degrees":-0.6768756170646191},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009478215462769514,-1.11483787230051e-05,0.0015131605987396927],"end_effector_yaw_offset_degrees":-0.3998082261794291}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011271642798240849,-0.0045757612425408375],"position_m":[0.1926271642798241,0.01992423875745916,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033890112095107216,-0.002078065771354084],"position_m":[0.3200109887904893,0.3269219342286459,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038802020464717467,0.00035433042376885934],"position_m":[0.3520197979535282,0.06365433042376885,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005638445812690494,-0.004672647921371667],"position_m":[0.21763615541873096,-0.3759726479213717,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d55effc8f7376459c0ce3fefff140f61ecf39c482b47b22a678e4a541c94aa03","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9817/tex_ceiling_textures_8975/tex_floor_textures_3739/tex_table_textures_1726/tex_wall_textures_1333","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2720602541404124922,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2720602541404124922,"visual_seed":2720602541404124922,"scene_id":"lab_003","finished_at":"2026-09-03T01:24:20"} +{"episode_id":"ep_000055","started_at":"2026-09-03T01:24:23","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.3365854661587411,1.778122359450483,0.71338606911949],"aabb_xy":[[0.31441293918209023,1.7559466922943596],[0.3587579931353919,1.8002980266066058]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.21899232065584973,0.8169667823080791,0.71338606911949],"aabb_xy":[[-0.22603263058938675,0.7369667829084078],[-0.21195201072231276,0.8969667817077507]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.44692444701569944,-1.7084230586791402,0.71338606911949],"aabb_xy":[[-0.49692444566162064,-1.7583426023386026],[-0.39692444836977825,-1.6585035150196779]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.6980261656506406,-1.5852156802439925,0.71338606911949],"aabb_xy":[[0.6904018975604623,-1.5928489037805367],[0.7056504337408188,-1.5775824567074492]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.29266234662045476,-1.4145624199321531,0.71338606911949],"aabb_xy":[[-0.300790034813768,-1.423476028342861],[-0.28453465842714154,-1.4056488115214454]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.44702867834929566,-2.4589057532641156,0.71338606911949],"aabb_xy":[[-0.4970060952145492,-2.5089057547533637],[-0.397051261484042,-2.4089057517748667]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.14243789644135574,1.1593578677060727,0.71338606911949],"aabb_xy":[[0.09243789608078966,1.1093778804964696],[0.19243789680192178,1.2093378549156755]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.4729459385645207,-1.6853412817565059,0.71338606911949],"aabb_xy":[[0.4379459372130389,-1.7057010177133265],[0.5079459399160023,-1.6649815457996848]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.46127919219559466,0.9871169423252635,0.71338606911949],"aabb_xy":[[-0.4706261997778899,0.9728133201076195],[-0.4519321846132994,1.0014205645429075]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.5240106702279186,0.5148705219623708,0.71338606911949],"aabb_xy":[[0.4340106665510002,0.45343811538526635],[0.6140106739048365,0.5763029285394751]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[-0.2801702268340541,-2.086013783257657,0.71338606911949],"aabb_xy":[[-0.30645905115449473,-2.1122852169123076],[-0.2538814025136134,-2.059742349603005]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.15320388009380503,-2.011182256681343,0.71338606911949],"aabb_xy":[[0.11972471283276409,-2.04466137005245],[0.18668304735484598,-1.9777031433102361]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.5435561591221352,-1.3528315466128482,0.71338606911949],"aabb_xy":[[-0.581056159294007,-1.385532281995755],[-0.5060561589502631,-1.3201308112299406]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.11410720900265381,0.5555496523238492,0.71338606911949],"aabb_xy":[[-0.13660634472888078,0.5330496515455863],[-0.09160807327642682,0.5780496531021122]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[-0.3433822152966279,-1.2303933966424236,0.71338606911949],"aabb_xy":[[-0.3636665180200266,-1.2506760217851323],[-0.32309791257322906,-1.2101107714997146]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.04737256148384994,-0.715470320254531,0.71338606911949],"aabb_xy":[[-0.12737256291397714,-0.7949874752671403],[0.03262743994627726,-0.6359531652419214]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.30123892207753566,1.058721231186737,0.71338606911949],"aabb_xy":[[0.23723892477518926,1.0143548042188804],[0.36523891937988207,1.1030876581545939]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.4776171482923284,-1.373539990368447,0.71338606911949],"aabb_xy":[[0.42764385428906787,-1.4235399909229942],[0.5275904422955888,-1.3235399898138995]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.25253135479424405,-1.5039142691350924,0.71338606911949],"aabb_xy":[[-0.25649183856397845,-1.511582133720613],[-0.24857087102450973,-1.4962464045495718]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.01801981970442279,-1.762672993294323,0.71338606911949],"aabb_xy":[[-0.09801982017463876,-1.7709837009086715],[0.06198018076579316,-1.754362285679975]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.40007246653355316,-0.5996286199588658,0.71338606911949],"aabb_xy":[[-0.40733371410396063,-0.6124156302223753],[-0.3928112189631458,-0.5868416096953564]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.4589247022278542,1.6112599080139351,0.71338606911949],"aabb_xy":[[-0.5229247036358448,1.5594709564900104],[-0.3949247008198635,1.6630488595378599]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.03683567135758081,1.22517507522248,0.71338606911949],"aabb_xy":[[-0.04808072692819865,1.2139332774983844],[-0.025590615786962978,1.236416872946575]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.5894619056301494,-1.1015414902043505,0.71338606911949],"aabb_xy":[[-0.6694619042870356,-1.1160463491286137],[-0.5094619069732635,-1.0870366312800879]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.6529772075683189,1.394435778677794,0.71338606911949],"aabb_xy":[[-0.675441977539724,1.3719357777989332],[-0.6305124375969138,1.4169357795566542]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.5867361828808508,-2.203563219972305,0.71338606911949],"aabb_xy":[[0.5067361858666029,-2.2236977716457167],[0.6667361798950988,-2.1834286682988937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842395841721259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6959.png","name":"6959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6959.png","name":"6959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6188.png","name":"6188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/780.png","name":"780"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":585.582794201863,"rotation_z_degrees":159.69421646800672,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015606339740663566,-0.01267787662890906,0.008991010634919888]},{"name":"camera_2","offset_m":[0.00738678249137641,-0.01855365542488579,0.013591215632673358]},{"name":"camera_3","offset_m":[0.003849564817760217,-0.012852710080686051,0.0011223629000615895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008505696141680513,1.007931172944225e-05,0.0014734376541318296],"end_effector_yaw_offset_degrees":0.7465683803660024},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010400116517600227,-0.0009789706614253255,0.00017439756700226954],"end_effector_yaw_offset_degrees":0.2510737360947599},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00041412704865939837,0.0013420892082646138,-0.0005533811975429463],"end_effector_yaw_offset_degrees":-0.9087090560099251}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003000677075888231,0.004133634768718457],"position_m":[0.18849932292411178,0.02863363476871846,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004082857017968371,0.004463688123757275],"position_m":[0.32748285701796837,0.33346368812375726,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007171354812110934,0.0017925902117002287],"position_m":[0.3566171354812111,0.06509259021170022,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007524172567389929,-0.0011891921620496002],"position_m":[0.218952417256739,-0.3724891921620496,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13a342493e6fb2432267a8d55bd1d5c2c706ed778be11fb82b26977edaa8b755","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6959/tex_ceiling_textures_780/tex_floor_textures_1360/tex_table_textures_1375/tex_wall_textures_6188","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3231805593425842698,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3231805593425842698,"visual_seed":3231805593425842698,"scene_id":"lab_003","finished_at":"2026-09-03T01:26:57"} +{"episode_id":"ep_000056","started_at":"2026-09-03T01:26:59","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[-0.5898848148906893,-0.08978365885004713,0.71338606911949],"aabb_xy":[[-0.5943154442455296,-0.09523203058472975],[-0.5854541855358493,-0.08433528711536455]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.6394756521328276,-1.6567753596954153,0.71338606911949],"aabb_xy":[[-0.6751048080327874,-1.692408026452268],[-0.6038464962328679,-1.6211426929385622]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.0816843797135991,1.092837312846286,0.71338606911949],"aabb_xy":[[-0.1456843817633311,1.052742829756978],[-0.0176843776638671,1.132931795935594]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.6240130575928005,0.3268336747030265,0.71338606911949],"aabb_xy":[[-0.6312743051632079,0.314046664439517],[-0.616751810022393,0.33962068496653597]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.6150870118084566,-2.2179676806633144,0.71338606911949],"aabb_xy":[[-0.61998630411502,-2.2456445999658827],[-0.610187719501893,-2.190290761360745]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.5257206013443194,-0.4972726914093113,0.71338606911949],"aabb_xy":[[-0.5757206017048854,-0.5472526786189141],[-0.4757206009837533,-0.4472927041997083]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.0034094039902817785,1.4990242367821982,0.71338606911949],"aabb_xy":[[-0.025581930966932613,1.4768485696260751],[0.01876312298636906,1.521199903938321]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.5667854951463026,0.686120930476513,0.71338606911949],"aabb_xy":[[-0.584654602900758,0.6722880224993021],[-0.548916387391847,0.6999538384537239]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.47928005901735715,0.9236907421817846,0.71338606911949],"aabb_xy":[[0.4641171860404202,0.9085252848866658],[0.49444293199429434,0.9388561994769034]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.10648977216657762,-1.062900280479987,0.71338606911949],"aabb_xy":[[-0.14298559279385636,-1.0993842229067445],[-0.06999395153929888,-1.0264163380532294]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.511405028954157,-2.1925320222587343,0.71338606911949],"aabb_xy":[[0.4889050291402546,-2.197006638629215],[0.5339050287680593,-2.188057405888254]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.39250079115435565,1.3430823135266508,0.71338606911949],"aabb_xy":[[0.38765719639312574,1.3382306610476666],[0.3973443859155857,1.3479339660056349]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.16504898556973002,-1.2351583999190758,0.71338606911949],"aabb_xy":[[-0.22904898196530307,-1.2991216883378094],[-0.10104898917415692,-1.1711951115003423]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.609937191127736,-2.083217205227701,0.71338606911949],"aabb_xy":[[-0.6599371924886233,-2.1331951098031166],[-0.5599371897668488,-2.0332393006522853]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.007174672788660463,1.3793194969875682,0.71338606911949],"aabb_xy":[[-0.05217467425488932,1.3343196401260875],[0.03782532867756839,1.4243193538490488]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.6641836191165247,1.059166305816436,0.71338606911949],"aabb_xy":[[0.6256379262913235,1.0206205347602475],[0.7027293119417256,1.097712076872625]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.6648443112127616,-1.8871645743963814,0.71338606911949],"aabb_xy":[[0.6585322116764232,-1.8929315136496003],[0.6711564107490999,-1.8813976351431625]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.4493866745011479,-2.029853179311217,0.71338606911949],"aabb_xy":[[0.3853866728231505,-2.0783705707905313],[0.5133866761791452,-1.981335787831903]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.11314300662513777,-0.8519972167532872,0.71338606911949],"aabb_xy":[[-0.13560777659654288,-0.8744972176321477],[-0.09067823665373263,-0.8294972158744267]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.31490119390550786,-2.081488806520434,0.71338606911949],"aabb_xy":[[-0.3999011925975825,-2.113474669915313],[-0.22990119521343322,-2.0495029431255554]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.34477064417537007,-1.2679346457366099,0.71338606911949],"aabb_xy":[[-0.39477064545921,-1.3179135001272317],[-0.29477064289153004,-1.2179557913459875]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.34204721217653433,-2.2897423568336146,0.71338606911949],"aabb_xy":[[0.29207414664401893,-2.339742356646148],[0.3920202777090499,-2.239742357021082]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.19105985880682497,-1.54625418790839,0.71338606911949],"aabb_xy":[[-0.212968540946176,-1.5681548547284807],[-0.16915117666747392,-1.5243535210882992]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.06332861935315792,0.7008945833154878,0.71338606911949],"aabb_xy":[[-0.14332861675675132,0.6209020121173049],[0.0166713780504355,0.7808871545136705]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.5896877648010563,-0.20876513135065888,0.71338606911949],"aabb_xy":[[0.5768158613001161,-0.28876513176449503],[0.6025596683019964,-0.12876513093682274]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.20636722638290195,-1.5332422048164758,0.71338606911949],"aabb_xy":[[0.151374975747391,-1.5882422065597888],[0.2613594770184129,-1.478242203073163]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.35462247394749746,0.1677267997683134,0.71338606911949],"aabb_xy":[[-0.3670898320572331,0.15526147513498992],[-0.3421551158377618,0.18019212440163693]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[0.4695860681159434,-0.7936301492216808,0.71338606911949],"aabb_xy":[[0.4055860710038377,-0.8426625190160915],[0.5335860652280491,-0.7445977794272702]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_28","position":[-0.6292182084310973,1.0932507075015363,0.71338606911949],"aabb_xy":[[-0.6667182092230928,1.086882866543346],[-0.5917182076391019,1.0996185484597265]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[0.27003115516517207,-0.578015684285059,0.71338606911949],"aabb_xy":[[0.2060311578628256,-0.6223821112529156],[0.3340311524675184,-0.5336492573172021]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_30","position":[0.6104196167208964,0.5726764353523897,0.71338606911949],"aabb_xy":[[0.5464196181343238,0.525669471952881],[0.6744196153074687,0.6196833987518985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765232329669633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/748.png","name":"748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8001.png","name":"8001"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.8111088953572,"rotation_z_degrees":92.78626762792716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012556415826649781,0.015491776483004028,0.012439041441588753]},{"name":"camera_2","offset_m":[0.018566189203803905,0.006018054662992687,-0.017924135605611145]},{"name":"camera_3","offset_m":[0.004587415747275957,0.018368074662837738,-0.004011544214035333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001449974548238142,0.0015330480726513203,-0.0013581475410689736],"end_effector_yaw_offset_degrees":0.4674599284727359},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018142610267062524,-0.0013873954253066651,-0.0016689319673758773],"end_effector_yaw_offset_degrees":0.7979732344518824},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011345745148539101,-0.0006539613882362381,0.0016464026431586235],"end_effector_yaw_offset_degrees":-0.3641057063018036}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029430146052300656,0.002855133514863527],"position_m":[0.18855698539476995,0.027355133514863527,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003147004203915266,0.0015829291302925028],"position_m":[0.32025299579608474,0.3305829291302925,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041822104423291,-0.004830267004674364],"position_m":[0.3517177895576709,0.05846973299532563,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003751974743866993,0.00245618167684281],"position_m":[0.221951974743867,-0.3688438183231572,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1fc7f327db2e05c21f4b841cc2aa6eaa90d947742e46b35d72b8c23ca4c1bf03","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1268/tex_ceiling_textures_8001/tex_floor_textures_9492/tex_table_textures_8529/tex_wall_textures_748","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1182863906654466443,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1182863906654466443,"visual_seed":1182863906654466443,"scene_id":"lab_003","finished_at":"2026-09-03T01:29:42"} +{"episode_id":"ep_000057","started_at":"2026-09-03T01:29:44","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.3162520306212315,-1.4496003439825182,0.71338606911949],"aabb_xy":[[-0.38025203229922877,-1.4981177354618322],[-0.25225202894323406,-1.4010829525032038]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.4180920919657961,0.7759267737936244,0.71338606911949],"aabb_xy":[[-0.48309208984744395,0.7248031100870835],[-0.3530920940841483,0.8270504375001654]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.5590907110507847,-1.5099314196696414,0.71338606911949],"aabb_xy":[[-0.5761008083408352,-1.526065908167915],[-0.5420806137607339,-1.4937969311713672]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.34706882648706533,-2.459886084459219,0.71338606911949],"aabb_xy":[[-0.40204254852339816,-2.5148860840234524],[-0.2920951044507324,-2.404886084894986]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.49732928987634006,-0.12717186964726013,0.71338606911949],"aabb_xy":[[-0.5400959967557604,-0.19117187306906258],[-0.45456258299691993,-0.06317186622545767]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.09451794987355577,-1.3919126082146935,0.71338606911949],"aabb_xy":[[0.08581998758284048,-1.404037582522168],[0.10321591216427108,-1.3797876339072186]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.5934309487149145,1.5948893331820488,0.71338606911949],"aabb_xy":[[0.5854046780842886,1.5861378382046962],[0.6014572193455406,1.6036408281594015]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.6762719014253418,1.338981687489822,0.71338606911949],"aabb_xy":[[0.6682355667240568,1.330943568185405],[0.6843082361266265,1.3470198067942385]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.16771687610150632,-1.7982014123188366,0.71338606911949],"aabb_xy":[[0.16358101976880615,-1.8357014117631938],[0.17185273243420654,-1.7607014128744798]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.3811197195599536,0.6330592896532488,0.71338606911949],"aabb_xy":[[0.35861971904791295,0.6105674312878504],[0.40361972007199415,0.6555511480186471]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.14382372540391775,1.2312582765830578,0.71338606911949],"aabb_xy":[[0.1322547446569812,1.206258276466126],[0.15539270615085435,1.2562582766999895]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.07773228980673008,0.23431253670908836,0.71338606911949],"aabb_xy":[[-0.13174788608863008,0.17031253381683115],[-0.02371669352483008,0.29831253960134546]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.4012729209729513,-2.3218593892188677,0.71338606911949],"aabb_xy":[[0.31127292155458036,-2.355234886063057],[0.49127292039132214,-2.2884838923746775]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.5725124732518931,0.6847989702641133,0.71338606911949],"aabb_xy":[[0.564469113325938,0.5997989691687469],[0.5805558331778483,0.7697989713594797]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.03895730814629306,-1.405799674200254,0.71338606911949],"aabb_xy":[[-0.07997525153266394,-1.4557996748312114],[0.002060635240077824,-1.3557996735692968]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.5135082190417088,1.6390600627509628,0.71338606911949],"aabb_xy":[[0.4823613001981256,1.5690600640641557],[0.5446551378852919,1.70906006143777]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.46610841964711747,1.1731307773112047,0.71338606911949],"aabb_xy":[[-0.47787660644177504,1.0881307774059832],[-0.45434023285246,1.2581307772164263]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.2500248984316456,-0.4181134541733904,0.71338606911949],"aabb_xy":[[-0.28448724582978735,-0.45260733657121305],[-0.21556255103350377,-0.38361957177556766]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.6478490285441094,0.7261599666431913,0.71338606911949],"aabb_xy":[[0.6259592809551686,0.6361599693539421],[0.6697387761330502,0.8161599639324404]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.6350802245316594,-1.038123897039342,0.71338606911949],"aabb_xy":[[0.5550802212738164,-1.118120404831326],[0.7150802277895023,-0.9581273892473581]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.19350920799170224,-2.1562998206142114,0.71338606911949],"aabb_xy":[[-0.21873004485154185,-2.1815235714670975],[-0.1682883711318625,-2.1310760697613245]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.39804791509251025,0.14753872909739085,0.71338606911949],"aabb_xy":[[-0.40991999810401136,0.0625387294037405],[-0.38617583208100914,0.2325387287910412]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.65349120093127,1.6021362517265092,0.71338606911949],"aabb_xy":[[-0.6631228371516996,1.5924989389468],[-0.6438595647108404,1.611773564506218]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.47370228406141135,1.2650412568182268,0.71338606911949],"aabb_xy":[[0.4560694484678838,1.2474183108026036],[0.4913351196549389,1.2826642028338495]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.31758816307613325,0.4656684108245428,0.71338606911949],"aabb_xy":[[0.2810923424488545,0.42918446839778523],[0.354083983703412,0.5021523532513004]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.07505357742576846,-1.6908838875178005,0.71338606911949],"aabb_xy":[[-0.08385563273474116,-1.6986952136727296],[-0.06625152211679573,-1.6830725613628714]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.5045692564923496,1.811388614720626,0.71338606911949],"aabb_xy":[[-0.513350483639586,1.802608867432096],[-0.4957880293451135,1.8201683620091564]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[-0.36554161477169095,-0.12311412590416904,0.71338606911949],"aabb_xy":[[-0.3880416145855933,-0.12758874227464972],[-0.3430416149577885,-0.11863950953368836]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[-0.5290350262827008,-1.410093549000513,0.71338606911949],"aabb_xy":[[-0.5367382169567777,-1.417802919699251],[-0.5213318356086237,-1.4023841783017752]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.5602972712138748,-0.6117921269411646,0.71338606911949],"aabb_xy":[[-0.6202972728567968,-0.6637922762331089],[-0.5002972695709531,-0.5597919776492205]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[-0.3055366095101946,0.5577078871106611,0.71338606911949],"aabb_xy":[[-0.31637708773670953,0.5405216058200123],[-0.2946961312836797,0.5748941684013099]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_31","position":[0.25027117582915415,-0.7957571231907086,0.71338606911949],"aabb_xy":[[0.24085370125929134,-0.8051733003284276],[0.25968865039901684,-0.7863409460529895]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[-0.16676251524542451,0.5280885016092083,0.71338606911949],"aabb_xy":[[-0.17087846535749715,0.5239729465763626],[-0.16264656513335182,0.5322040566420537]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_33","position":[-0.14822753730900773,-1.0438280367245742,0.71338606911949],"aabb_xy":[[-0.20822753715557452,-1.100646658917613],[-0.08822753746244094,-0.9870094145315356]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826594705894387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/384.png","name":"384"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/384.png","name":"384"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6980.png","name":"6980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8425.png","name":"8425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4651.png","name":"4651"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":801.2888344246197,"rotation_z_degrees":319.1765020930848,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015266408149211062,0.003291299427046427,-0.015745744174067308]},{"name":"camera_2","offset_m":[0.011493383181229219,-0.01844827346391172,-0.004787499548018661]},{"name":"camera_3","offset_m":[-0.0009962686800285454,0.013324242951369334,0.0027679732761245364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011070837486829542,-0.001151892574939434,0.001198411229397367],"end_effector_yaw_offset_degrees":-0.6840829871241658},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005294346510101196,0.001963545100409093,0.0006780965001094296],"end_effector_yaw_offset_degrees":0.3711770449268559},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013849732906070452,0.0006059486666133386,0.0018495500889209567],"end_effector_yaw_offset_degrees":0.6225623303263867}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003959962246359151,-0.003266390504450576],"position_m":[0.18754003775364086,0.021233609495549425,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004445434056881455,0.000552388755445503],"position_m":[0.3278454340568815,0.3295523887554455,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004141557801978308,0.00042563449338665644],"position_m":[0.35175844219802166,0.06372563449338665,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004668370442014892,-0.0036967528345430113],"position_m":[0.2228683704420149,-0.37499675283454303,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"721834651301a256ff68bf6bc459163a238d685a5b46166911bbab9027828ba6","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_384/tex_ceiling_textures_4651/tex_floor_textures_8425/tex_table_textures_4817/tex_wall_textures_6980","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4333045760660607941,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4333045760660607941,"visual_seed":4333045760660607941,"scene_id":"lab_003","finished_at":"2026-09-03T01:32:29"} +{"episode_id":"ep_000058","started_at":"2026-09-03T01:32:32","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.17731720841379195,-1.961941420094627,0.71338606911949],"aabb_xy":[[0.15231720914182967,-1.9782867836907894],[0.20231720768575423,-1.9455960564984647]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.3708365719258033,1.5308920508153832,0.71338606911949],"aabb_xy":[[-0.4348365736038006,1.4823746593360687],[-0.3068365702478059,1.5794094422946972]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.18117499339052712,-0.3676713990376599,0.71338606911949],"aabb_xy":[[-0.18821644434127474,-0.37469815077545443],[-0.17413354243977955,-0.36064464729986534]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.5564766653949176,0.5474795625240922,0.71338606911949],"aabb_xy":[[0.46647666680044764,0.5312289762106713],[0.6464766639893875,0.5637301488375134]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.336497074199728,0.2797482070509587,0.71338606911949],"aabb_xy":[[-0.3825821654544595,0.21574820979840362],[-0.29041198294499654,0.3437482043035138]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.5585626835511426,1.2545417348929249,0.71338606911949],"aabb_xy":[[-0.6013293904305628,1.1905417314711224],[-0.5157959766717224,1.3185417383147273]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.46461352386763044,-1.8175570784176034,0.71338606911949],"aabb_xy":[[-0.5296135248247575,-1.869505290351309],[-0.39961352291050317,-1.7656088664838978]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.3632501660961103,-1.0736991909590679,0.71338606911949],"aabb_xy":[[-0.4432501693601234,-1.0872592232679812],[-0.28325016283209714,-1.0601391586501545]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.6175755188164194,-2.1706127891562237,0.71338606911949],"aabb_xy":[[-0.6224191135776493,-2.175464441635208],[-0.6127319240551894,-2.1657611366772396]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.5559601249612469,0.36544066692830857,0.71338606911949],"aabb_xy":[[0.5234984240793192,0.3353078348134058],[0.5884218258431742,0.3955734990432111]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.001968708476193237,-2.2858689664454346,0.71338606911949],"aabb_xy":[[-0.005313607900470418,-2.375868970054943],[0.009251024852856891,-2.195868962835925]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.6451181765646588,-0.35323304238548703,0.71338606911949],"aabb_xy":[[0.6248338738412599,-0.3735156675281958],[0.6654024792880574,-0.33295041724277813]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.14019666424107924,-1.4673466713603616,0.71338606911949],"aabb_xy":[[-0.1489778913883155,-1.476126418648892],[-0.13141543709384304,-1.4585669240718315]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.6834690071874236,1.1829859227510724,0.71338606911949],"aabb_xy":[[0.6535014502775979,1.1529859224531867],[0.7134365640972492,1.2129859230489581]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.5131054240246187,-0.11361856749324684,0.71338606911949],"aabb_xy":[[0.4756054228398258,-0.11803679018930736],[0.5506054252094114,-0.10920034479718628]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.4192502444647836,-1.5898088468463731,0.71338606911949],"aabb_xy":[[-0.4417502444749319,-1.6039050664859764],[-0.3967502444546353,-1.5757126272067699]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.48835925521294077,1.0044909855932005,0.71338606911949],"aabb_xy":[[0.4233592541069975,0.9795256125250722],[0.553359256318884,1.0294563586613288]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.3764453471832697,-2.0450183576202177,0.71338606911949],"aabb_xy":[[-0.4214453486494987,-2.0900182144816983],[-0.33144534571704093,-2.000018500758737]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.4537661497197534,-0.6319239231306615,0.71338606911949],"aabb_xy":[[-0.4756558973086942,-0.7219239204199106],[-0.4318764021308126,-0.5419239258414124]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.1643970517850143,-1.5894668008642112,0.71338606911949],"aabb_xy":[[-0.200892872412293,-1.6259507432909688],[-0.12790123115773552,-1.5529828584374537]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.16649144866211996,-0.8824600968198242,0.71338606911949],"aabb_xy":[[0.12945733923406025,-0.9168373041535334],[0.20352555809017966,-0.8480828894861145]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.6090898894426504,0.018610102520495886,0.71338606911949],"aabb_xy":[[0.5540966781055137,-0.036389897818297726],[0.6640831007797872,0.0736101028592895]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.3362621006051042,-0.945686183938554,0.71338606911949],"aabb_xy":[[-0.3537620340390875,-0.9631861838587886],[-0.31876216717112077,-0.9281861840183195]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.2814825746610167,0.9703720200481398,0.71338606911949],"aabb_xy":[[-0.3039825741847241,0.947876072597519],[-0.25898257513730927,0.9928679674987606]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[0.5621652725200015,-0.7837125549542898,0.71338606911949],"aabb_xy":[[0.5246652727029679,-0.7883507662654315],[0.599665272337035,-0.7790743436431479]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.2989775420012487,-1.7648960974946752,0.71338606911949],"aabb_xy":[[0.26849329187421855,-1.8148960972761712],[0.32946179212827886,-1.7148960977131793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815399454051985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2465.png","name":"2465"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2465.png","name":"2465"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1245.png","name":"1245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2040.png","name":"2040"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":830.0466915748324,"rotation_z_degrees":144.66574387111928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010674072940964688,-0.0040289499087291306,0.011267932077184847]},{"name":"camera_2","offset_m":[0.0024466882781341674,-0.009250588464461052,0.01868317300519334]},{"name":"camera_3","offset_m":[0.009317255602036157,-0.006207573210228121,0.00476834201705937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027724985167640304,-0.00028170558964364504,-0.000325769537633417],"end_effector_yaw_offset_degrees":0.7892462748993103},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008503277641181079,-0.0008686353354871099,-0.0005206241244253395],"end_effector_yaw_offset_degrees":0.9145299049185631},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001523597032031007,0.0009048176772613816,-0.0013726583738321039],"end_effector_yaw_offset_degrees":-0.12837036976473826}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004546590507918965,-0.002062406329630755],"position_m":[0.18695340949208103,0.022437593670369245,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009654094795875237,0.0045062884615294846],"position_m":[0.32436540947958753,0.3335062884615295,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004641326007365319,-0.00027219717175331996],"position_m":[0.35125867399263466,0.06302780282824667,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019865420837540853,0.003430820453096453],"position_m":[0.2201865420837541,-0.36786917954690357,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b8e47109bc2eeece32858d372d89aea683fcc2609ac043ecb6167b6af99584cf","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2465/tex_ceiling_textures_2040/tex_floor_textures_1245/tex_table_textures_6344/tex_wall_textures_2073","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7286557995728370096,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7286557995728370096,"visual_seed":7286557995728370096,"scene_id":"lab_003","finished_at":"2026-09-03T01:35:16"} +{"episode_id":"ep_000059","started_at":"2026-09-03T01:35:19","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.41195042569169693,-0.4893773277530804,0.71338606911949],"aabb_xy":[[-0.4344504259352123,-0.5015819624128524],[-0.38945042544818154,-0.47717269309330845]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.07580555311638515,1.5165030284964431,0.71338606911949],"aabb_xy":[[-0.08757373991104268,1.4315030285912214],[-0.06403736632172764,1.6015030284016647]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.024853437482566076,-1.5823402111157785,0.71338606911949],"aabb_xy":[[0.007177806893967741,-1.6000204273951808],[0.042529068071164404,-1.5646599948363753]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.5088655344749502,1.0321270635119908,0.71338606911949],"aabb_xy":[[0.49107202754003376,1.0143273179161933],[0.5266590414098666,1.0499268091077887]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.21892575474720904,-2.1496412632297046,0.71338606911949],"aabb_xy":[[-0.2829257533337815,-2.1966482266292138],[-0.15492575616063659,-2.1026342998301963]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.581190466233473,-1.098753680114052,0.71338606911949],"aabb_xy":[[0.5461904663374542,-1.1071279156259919],[0.6161904661294919,-1.0903794446021118]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.43772349461737403,1.3947188950233067,0.71338606911949],"aabb_xy":[[0.4245722486460848,1.3697188952666202],[0.4508747405886635,1.4197188947799932]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.579655350747198,0.9220841042903296,0.71338606911949],"aabb_xy":[[0.5423240742219554,0.8874310494954775],[0.6169866272724406,0.956737159085182]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[-0.43877830533403334,-0.8091861735228127,0.71338606911949],"aabb_xy":[[-0.4481957799038961,-0.8186023506605317],[-0.4293608307641706,-0.7997699963850936]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.5239210010353554,-2.0703394213803623,0.71338606911949],"aabb_xy":[[0.5083652316250903,-2.08588985462477],[0.5394767704456208,-2.0547889881359556]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.4037285209630346,1.53863682901618,0.71338606911949],"aabb_xy":[[0.36154410680220384,1.474636828738969],[0.4459129351238653,1.6026368292933915]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.5229295272587724,1.5352141175243053,0.71338606911949],"aabb_xy":[[-0.5448192748477132,1.445214120235056],[-0.5010397796698316,1.6252141148135542]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.1551949317414787,-0.8110069253368009,0.71338606911949],"aabb_xy":[[-0.18567918186850882,-0.8610069251182968],[-0.12471068161444851,-0.7610069255553049]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.013459118556520377,-1.0234965756541006,0.71338606911949],"aabb_xy":[[-0.024040880019100427,-1.0362328713176583],[0.05095911713214118,-1.0107602799905424]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.2809906239148233,-2.494372584790981,0.71338606911949],"aabb_xy":[[0.2309906228956881,-2.5308388005288087],[0.33099062493395864,-2.457906369053153]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.3626506089403443,0.6727633643197364,0.71338606911949],"aabb_xy":[[0.29865060753235356,0.6209744127958117],[0.4266506103483349,0.7245523158436611]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.09224846077822701,1.2435924789179493,0.71338606911949],"aabb_xy":[[-0.1572484634160205,1.1921128802185024],[-0.02724845814043353,1.2950720776173963]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.11857526893157144,-1.5896978377224453,0.71338606911949],"aabb_xy":[[0.10849356185299795,-1.6696978356145602],[0.12865697601014492,-1.509697839830331]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.4484743143840957,-0.037403399415136374,0.71338606911949],"aabb_xy":[[-0.5124743107796688,-0.10136668783386993],[-0.3844743179885226,0.026559889003597174]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.1136608175742908,0.17354525067098336,0.71338606911949],"aabb_xy":[[-0.18366082096585276,0.1382294769675525],[-0.04366081418272882,0.20886102437441423]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.5699272971913963,-0.844050164816317,0.71338606911949],"aabb_xy":[[-0.5738411703868189,-0.8527991802228737],[-0.5660134239959738,-0.8353011494097601]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.5409870942061967,-2.384878664583705,0.71338606911949],"aabb_xy":[[0.45726486870611427,-2.4748786681184005],[0.6247093197062792,-2.2948786610490086]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[-0.184006492847836,0.5876108671577027,0.71338606911949],"aabb_xy":[[-0.19917866212946933,0.5724420102294994],[-0.16883432356620265,0.6027797240859061]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.2362754804614538,-0.9784675702742343,0.71338606911949],"aabb_xy":[[-0.2587746161876808,-1.000967571052497],[-0.21377634473522683,-0.9559675694959712]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.3589822758800467,0.8373185399082597,0.71338606911949],"aabb_xy":[[0.3481306696311711,0.8264592491806088],[0.3698338821289223,0.8481778306359108]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845076712366466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8296.png","name":"8296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9904.png","name":"9904"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6993.png","name":"6993"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":654.1717637231087,"rotation_z_degrees":171.18221080062298,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018049527459174392,0.0040948972984267765,-0.01349370784339114]},{"name":"camera_2","offset_m":[0.013823436165349177,-0.015464940205544987,-0.004400288139775822]},{"name":"camera_3","offset_m":[-0.012620599849160176,0.0029214495191037353,-0.014013115831425168]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001210269307452977,-0.00028950391655111493,-5.1157298814728846e-05],"end_effector_yaw_offset_degrees":0.8427321688358078},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015703012555641984,0.0017019740987277033,-0.001995403807779641],"end_effector_yaw_offset_degrees":-0.1094303776104959},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010820036299962021,-0.0010822500984927217,0.0013555319192183539],"end_effector_yaw_offset_degrees":-0.7112341432178846}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-3.605934352036381e-05,0.002874016378701179],"position_m":[0.19146394065647965,0.02737401637870118,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0049683594264602155,0.003424496058144588],"position_m":[0.32836835942646025,0.3324244960581446,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015783005093082483,0.0024661126114721866],"position_m":[0.35432169949069175,0.06576611261147218,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003454629236673612,0.003559367534051487],"position_m":[0.2147453707633264,-0.3677406324659485,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a2da6ca27b6182450ab673ac8661f6a16d72c542ec2ede06e83070999b89bf3a","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9189/tex_ceiling_textures_6993/tex_floor_textures_9904/tex_table_textures_8296/tex_wall_textures_9454","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8127696155313717738,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8127696155313717738,"visual_seed":8127696155313717738,"scene_id":"lab_003","finished_at":"2026-09-03T01:38:00"} +{"episode_id":"ep_000060","started_at":"2026-09-03T01:38:03","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.45342030468632966,1.2113738466749404,0.71338606911949],"aabb_xy":[[-0.47052238264469787,1.1942670411436707],[-0.43631822672796156,1.2284806522062102]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.35123854539991767,-0.7739503519620696,0.71338606911949],"aabb_xy":[[-0.4312385475626801,-0.8539055355882131],[-0.2712385432371551,-0.6939951683359259]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.5515339268384727,1.7023824632405344,0.71338606911949],"aabb_xy":[[0.5015389158790208,1.652382464204943],[0.6015289377979248,1.7523824622761264]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.5090013024399898,-1.7049881917915866,0.71338606911949],"aabb_xy":[[0.44500130314582154,-1.7689743321604408],[0.573001301734158,-1.6410020514227324]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.24442663546902577,-2.403404184697943,0.71338606911949],"aabb_xy":[[-0.2570293346061022,-2.4159995809228088],[-0.23182393633194928,-2.3908087884730778]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.33414433209008115,-1.5968599816344748,0.71338606911949],"aabb_xy":[[-0.3716443305134815,-1.6100241956023056],[-0.2966443336666808,-1.583695767666644]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.5072569110343386,1.4905341449231488,0.71338606911949],"aabb_xy":[[0.4573742141566425,1.440534145676874],[0.5571396079120349,1.5405341441694238]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.2335426788203842,-1.8578861396011817,0.71338606911949],"aabb_xy":[[-0.29754267610603286,-1.8993928585540256],[-0.16954268153473556,-1.8163794206483377]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.2804765486526305,1.6104185644968356,0.71338606911949],"aabb_xy":[[0.19547655023520727,1.5255442690345504],[0.3654765470700537,1.6952928599591204]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.6873956586818226,-0.22173844668458909,0.71338606911949],"aabb_xy":[[0.6818139870476938,-0.23423844650236458],[0.6929773303159514,-0.2092384468668136]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.17674514706738798,-0.383895209388712,0.71338606911949],"aabb_xy":[[-0.2005813647079931,-0.47389521019719855],[-0.15290892942678294,-0.29389520858022555]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.5376634690572748,-0.5953243449697694,0.71338606911949],"aabb_xy":[[0.47366346737927734,-0.6438417364490836],[0.601663470735272,-0.5468069534904552]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.443256202749597,-2.518966466271916,0.71338606911949],"aabb_xy":[[0.3932829087463364,-2.568966466826463],[0.4932294967528573,-2.468966465717368]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.3813286920751837,-0.5307229871261909,0.71338606911949],"aabb_xy":[[-0.4038286923186991,-0.5429276217859629],[-0.3588286918316683,-0.518518352466419]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.2004385875747582,1.3869557299750679,0.71338606911949],"aabb_xy":[[0.1779738176033531,1.3644557290962074],[0.22290335754616333,1.4094557308539284]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.6173672351994297,-0.7243116150435205,0.71338606911949],"aabb_xy":[[-0.631701660325593,-0.7363718305980593],[-0.6030328100732661,-0.7122513994889816]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.3854999491278974,-0.8228249644650607,0.71338606911949],"aabb_xy":[[0.35553239221807176,-0.8528249647629464],[0.4154675060377231,-0.792824964167175]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.013221543295618976,1.0577538661477837,0.71338606911949],"aabb_xy":[[0.0059602957252115635,1.0449668558842742],[0.02048279086602639,1.0705408764112931]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.11792541778301369,-1.0870207497667972,0.71338606911949],"aabb_xy":[[-0.128078433337163,-1.123090291339537],[-0.10777240222886426,-1.0509512081940564]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.25357544715709546,-1.6775010996822735,0.71338606911949],"aabb_xy":[[0.24726334762075702,-1.6832680389354924],[0.2598875466934339,-1.6717341604290545]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.19529361879605345,0.6653520111250826,0.71338606911949],"aabb_xy":[[0.11529362081526838,0.6577504701632306],[0.27529361677683845,0.6729535520869345]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.4081084933743042,-0.35906109936550923,0.71338606911949],"aabb_xy":[[-0.4456084931913377,-0.3636993106766511],[-0.3706084935572706,-0.35442288805436745]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.36120678317717214,1.7175585439396728,0.71338606911949],"aabb_xy":[[-0.3794126068384198,1.7065331433576814],[-0.34300095951592446,1.7285839445216646]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[0.6183992112656052,-0.9493079720804642,0.71338606911949],"aabb_xy":[[0.6119853976224201,-0.9557177923281325],[0.62481302490879,-0.9428981518327958]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.326210701756499,1.756217329700394,0.71338606911949],"aabb_xy":[[0.3174086464475263,1.7484060035454647],[0.33501275706547173,1.7640286558553229]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.3159944264175741,-1.2683216705913234,0.71338606911949],"aabb_xy":[[-0.34976998560826705,-1.2823601658044883],[-0.2822188672268811,-1.254283175378158]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[0.1259672111647352,-2.28155124456868,0.71338606911949],"aabb_xy":[[0.06196721089075696,-2.331617344765968],[0.18996721143871342,-2.231485144371392]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[-0.31390986706166557,0.3646054887401715,0.71338606911949],"aabb_xy":[[-0.31936781269868564,0.28460548543251235],[-0.3084519214246455,0.44460549204783056]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[-0.3183942556615792,1.4653576844795233,0.71338606911949],"aabb_xy":[[-0.40839425799559825,1.3878753298944109],[-0.22839425332756014,1.5428400390646362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6788285198477193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1940.png","name":"1940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/977.png","name":"977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":736.6905760845649,"rotation_z_degrees":310.13463511364336,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012927082046568564,0.0027690746367763884,0.019012938892933175]},{"name":"camera_2","offset_m":[-0.016808709953896224,-0.0034714607379565353,0.007038799223206858]},{"name":"camera_3","offset_m":[0.008048350981712683,-0.01111620015640622,-0.014274571781448323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015296098243056766,-0.0006164083077951855,-0.00170334255423657],"end_effector_yaw_offset_degrees":-0.8547058261527118},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00047360527056910335,-0.000686863139394224,-0.0008316207333065276],"end_effector_yaw_offset_degrees":0.9176473609784175},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012331453545290716,0.0010703564766095597,0.00048370968975895495],"end_effector_yaw_offset_degrees":-0.9529746070406035}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0039665454445751746,-0.00040347090619138187],"position_m":[0.19546654544457517,0.02409652909380862,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020226017951881126,0.004288042932191475],"position_m":[0.3213773982048119,0.3332880429321915,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048979804948766385,-0.0023300055871644386],"position_m":[0.35100201950512333,0.06096999441283556,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008617004481523945,-0.0022391575210621074],"position_m":[0.2173382995518476,-0.37353915752106215,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4b838091b86a5a76bc18ced980230f94d39f65f5299cadc74003e81c67be49f2","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3000/tex_ceiling_textures_4612/tex_floor_textures_977/tex_table_textures_1940/tex_wall_textures_2817","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6751799433527279242,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6751799433527279242,"visual_seed":6751799433527279242,"scene_id":"lab_003","finished_at":"2026-09-03T01:40:42"} +{"episode_id":"ep_000061","started_at":"2026-09-03T01:40:46","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.26971812884683255,1.2121673877143708,0.71338606911949],"aabb_xy":[[0.23975057193700688,1.1821673874164853],[0.2996856857566582,1.2421673880122568]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.45279197378459723,0.9790722830550975,0.71338606911949],"aabb_xy":[[-0.502786806712539,0.929072284159854],[-0.40279714085665574,1.029072281950341]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.19016281362076082,-0.8217623179725362,0.71338606911949],"aabb_xy":[[0.14016281225987356,-0.8717402225479518],[0.24016281498164802,-0.7717844133971206]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[0.26607251990002523,-2.356621713239157,0.71338606911949],"aabb_xy":[[0.2160725203236905,-2.4066022921912635],[0.31607251947635995,-2.3066411342870516]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.04596675744583334,1.1722727827244253,0.71338606911949],"aabb_xy":[[-0.015624001778159473,1.1082727846153786],[0.10755751666982616,1.2362727808334724]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.5834378449571853,0.4546141790895173,0.71338606911949],"aabb_xy":[[0.5675533516918603,0.44026123879069323],[0.5993223382225106,0.46896711938834135]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.2160093984444621,-1.5529084121099288,0.71338606911949],"aabb_xy":[[0.19850939931009493,-1.5627880391475164],[0.23350939757882927,-1.5430287850723408]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.27060895567152954,-1.3069594677024148,0.71338606911949],"aabb_xy":[[0.2066089554110587,-1.3519682670553426],[0.3346089559320003,-1.2619506683494865]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.28566961232022653,-1.01881084032199,0.71338606911949],"aabb_xy":[[-0.2929519286968901,-1.1088108439314988],[-0.27838729594356276,-0.9288108367124809]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.44029139295951414,0.15058422038512154,0.71338606911949],"aabb_xy":[[-0.4577913932188509,0.13649267819634894],[-0.4227913927001776,0.16467576257389419]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.4979395655176708,1.2218088843500916,0.71338606911949],"aabb_xy":[[-0.5154862604337898,1.1843088827858406],[-0.4803928706015519,1.259308885914343]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.32033970909678233,-2.0138932051975984,0.71338606911949],"aabb_xy":[[-0.3311913153456579,-2.0247524959252496],[-0.3094881028479067,-2.003033914469947]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.3150186784978466,1.6187714461308258,0.71338606911949],"aabb_xy":[[0.30037527294381355,1.6041127264740414],[0.3296620840518795,1.6334301657876098]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.1150194264946306,-1.5030770741964952,0.71338606911949],"aabb_xy":[[0.10621737118565787,-1.5108884003514238],[0.12382148180360329,-1.4952657480415656]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.5446114362994283,0.8036431108393116,0.71338606911949],"aabb_xy":[[-0.5537713152433049,0.7971118927957744],[-0.5354515573555517,0.8101743288828486]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.6515159437632414,0.8381548523922202,0.71338606911949],"aabb_xy":[[-0.6602139060539566,0.8260298780847456],[-0.642817981472526,0.850279826699695]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.36709840410059474,-2.4323025389162605,0.71338606911949],"aabb_xy":[[-0.389612095924052,-2.5023025395172684],[-0.3445847122771376,-2.3623025383152534]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.27355850887898947,1.0814358265019224,0.71338606911949],"aabb_xy":[[-0.3375585081731577,1.0174496861330682],[-0.20955850958482125,1.1454219668707766]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.5420784562781622,-1.1317474909857004,0.71338606911949],"aabb_xy":[[0.47807845899251356,-1.1732542099385446],[0.6060784535638108,-1.0902407720328566]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.6377841459483561,-1.102178331469752,0.71338606911949],"aabb_xy":[[-0.6483516256064552,-1.1127233615827605],[-0.6272166662902572,-1.0916333013567434]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.626744390800018,-1.3422622221102203,0.71338606911949],"aabb_xy":[[-0.6632402114272967,-1.3787461645369778],[-0.5902485701727392,-1.3057782796834627]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.5263181464744973,-0.7315206090382531,0.71338606911949],"aabb_xy":[[-0.5333584564080344,-0.8115206084379248],[-0.5192778365409604,-0.6515206096385819]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[0.3394677625433129,-0.8576444207325999,0.71338606911949],"aabb_xy":[[0.3298361263228833,-0.8672817335123088],[0.3490993987637425,-0.8480071079528909]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.34941653419538826,-0.25201784449817266,0.71338606911949],"aabb_xy":[[-0.4134165374140261,-0.298740956397181],[-0.2854165309767504,-0.2052947325991643]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777599513021756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7063.png","name":"7063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7063.png","name":"7063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7016.png","name":"7016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2290.png","name":"2290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/358.png","name":"358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4548.png","name":"4548"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":738.5801288574247,"rotation_z_degrees":225.5961947265658,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017680641073259517,-0.005314351603339049,-0.005725660862759328]},{"name":"camera_2","offset_m":[0.009809042695832701,-0.0014630079656841703,0.019248521778282294]},{"name":"camera_3","offset_m":[-0.003701909522061623,-0.009205495898596157,-0.004593877519162005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006755301504023157,-0.00042248022975935524,-0.0018728902101451182],"end_effector_yaw_offset_degrees":0.9851933272113234},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019407476944843238,0.0005575261099125838,-0.00115242059065298],"end_effector_yaw_offset_degrees":0.1872068315357167},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005003569135662899,0.0010794564125499828,0.0008568329734014528],"end_effector_yaw_offset_degrees":0.05209967808877147}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00493450757612354,0.0010095558219182553],"position_m":[0.19643450757612355,0.025509555821918255,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008469902268546355,-2.3260217396660343e-06],"position_m":[0.3225530097731454,0.32899767397826035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034275811384897647,0.0033820745570717478],"position_m":[0.3593275811384898,0.06668207455707174,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002569176765793677,0.004363603295335133],"position_m":[0.2207691767657937,-0.3669363967046649,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3bbfc5bbdb48fbfb9cc1f23f8df401d7d99a19bbcf7ee2734b3efd6ae13c8e6b","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7063/tex_ceiling_textures_4548/tex_floor_textures_358/tex_table_textures_7016/tex_wall_textures_2290","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":596527869886655344,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":596527869886655344,"visual_seed":596527869886655344,"scene_id":"lab_003","finished_at":"2026-09-03T01:43:22"} +{"episode_id":"ep_000062","started_at":"2026-09-03T01:43:24","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.485330680419256,0.81260534169903,0.71338606911949],"aabb_xy":[[-0.535330680779822,0.7626253544894269],[-0.43533068005868997,0.8625853289086328]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.33388260115181423,0.7843724352845536,0.71338606911949],"aabb_xy":[[-0.35888260031744734,0.777420189579197],[-0.3088826019861811,0.7913246809899102]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.09992194067665716,-2.2326307480325673,0.71338606911949],"aabb_xy":[[-0.11069491459802493,-2.2676307462516063],[-0.08914896675528937,-2.1976307498135284]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.5829287897450725,-1.6493195558764395,0.71338606911949],"aabb_xy":[[-0.6051013167217233,-1.6714952230325624],[-0.5607562627684216,-1.6271438887203158]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.36589743165277544,-0.7628119858534399,0.71338606911949],"aabb_xy":[[0.36176157532007525,-0.8003119852977969],[0.37003328798547563,-0.7253119864090829]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.5238010495403154,-2.304955745085943,0.71338606911949],"aabb_xy":[[0.4598053521452188,-2.368955743386652],[0.587796746935412,-2.2409557467852346]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.001964513868874751,-2.320041700823961,0.71338606911949],"aabb_xy":[[-0.02696451314083703,-2.336387064420123],[0.023035485403087527,-2.303696337227798]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.42261403804665476,-1.7542763325460529,0.71338606911949],"aabb_xy":[[0.377614036580426,-1.7992761894075338],[0.4676140395128837,-1.7092764756845724]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.5275956506761795,-2.104884264045545,0.71338606911949],"aabb_xy":[[-0.5621867335302246,-2.169884264330576],[-0.49300456782213425,-2.0398842637605137]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.4969567032091047,1.7361302552684088,0.71338606911949],"aabb_xy":[[0.4810722099437795,1.721777314969585],[0.5128411964744298,1.750483195567233]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[-0.12716414813364896,-1.534534704134355,0.71338606911949],"aabb_xy":[[-0.16307765255863862,-1.5704482123511094],[-0.09125064370865925,-1.4986211959176003]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[-0.596454122852511,0.3278248869330129,0.71338606911949],"aabb_xy":[[-0.6314541211632064,0.3201098720094673],[-0.5614541245418155,0.3355399018565586]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.4155715958228501,0.8335041767626392,0.71338606911949],"aabb_xy":[[0.35557159531499716,0.7766574430767178],[0.475571596330703,0.8903509104485604]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.23621807588843635,-0.912619581138967,0.71338606911949],"aabb_xy":[[0.14621807938756456,-0.958531223557425],[0.32621807238930806,-0.8667079387205086]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.620048027528251,-1.3193930567989096,0.71338606911949],"aabb_xy":[[-0.6840480289362415,-1.371182008322834],[-0.5560480261202602,-1.2676041052749847]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.6503418773687557,-0.5922673774524512,0.71338606911949],"aabb_xy":[[-0.669226261137266,-0.611153302232804],[-0.6314574936002456,-0.5733814526720984]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.038364861547065754,-2.1594537976779953,0.71338606911949],"aabb_xy":[[0.029204982603189156,-2.165985015721532],[0.04752474049094235,-2.1529225796344584]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.07647919264771208,1.1049623573094398,0.71338606911949],"aabb_xy":[[-0.15647919292131904,1.0320128094837229],[0.0035208076258949057,1.1779119051351563]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[0.6624483915151269,0.09443138710004195,0.71338606911949],"aabb_xy":[[0.6552046254688816,0.014431388896439565],[0.6696921575613722,0.17443138530364433]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.14383414658846028,-1.254208526623221,0.71338606911949],"aabb_xy":[[-0.15024796023164516,-1.2606183468708891],[-0.13742033294527528,-1.2477987063755525]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.445786887711896,0.6106866195943716,0.71338606911949],"aabb_xy":[[0.41230772045085506,0.5772075062232648],[0.47926605497293695,0.6441657329654787]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.44243830153015573,-2.0285313355946792,0.71338606911949],"aabb_xy":[[-0.4501414922042327,-2.0362407062934174],[-0.43473511085607863,-2.020821964895941]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.40851922927630835,-0.2226629298727758,0.71338606911949],"aabb_xy":[[-0.44098093015823575,-0.2527957619876784],[-0.37605752839438084,-0.19253009775787316]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.4519471034543815,-1.9465138327519296,0.71338606911949],"aabb_xy":[[-0.4627875816808964,-1.963700114042578],[-0.4411066252278666,-1.9293275514612807]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[0.6266563711748405,-2.0842366132360888,0.71338606911949],"aabb_xy":[[0.6028201535342355,-2.1742366140445752],[0.6504925888154456,-1.9942366124276023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761603552358089,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8291.png","name":"8291"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8291.png","name":"8291"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6977.png","name":"6977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/51.png","name":"51"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7148.png","name":"7148"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4333.png","name":"4333"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":613.8043639218254,"rotation_z_degrees":11.402983668015958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014521791853485792,-0.016564656451635643,-0.004262586744071501]},{"name":"camera_2","offset_m":[-0.018872011606131483,-0.005490950000529109,-0.002263396241912588]},{"name":"camera_3","offset_m":[-0.004597702882656152,-0.005523637064107155,0.01897257057750781]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015103624002281955,-0.001375651125840093,-0.0013910688593734791],"end_effector_yaw_offset_degrees":0.9742344152379114},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00013876305415515722,-0.0012652962690093395,-0.0018862529519481992],"end_effector_yaw_offset_degrees":0.6561947907243189},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006323259659253323,0.0010647318482834124,0.0007031270543067245],"end_effector_yaw_offset_degrees":0.3236013266645097}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033615873208988124,-0.0007256752298960313],"position_m":[0.1881384126791012,0.02377432477010397,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010045444087942177,-0.0030238697755994083],"position_m":[0.3223954555912058,0.3259761302244006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021070123246925898,-0.0026200344562678467],"position_m":[0.3537929876753074,0.060679965543732145,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019809287119277475,0.003637651127445465],"position_m":[0.22018092871192776,-0.36766234887255456,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f343c4577abd072f071cc6ef64d9068790eaf4fac912396244bef37775e2ee63","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8291/tex_ceiling_textures_4333/tex_floor_textures_7148/tex_table_textures_6977/tex_wall_textures_51","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1070805505810825133,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1070805505810825133,"visual_seed":1070805505810825133,"scene_id":"lab_003","finished_at":"2026-09-03T01:46:08"} +{"episode_id":"ep_000063","started_at":"2026-09-03T01:46:11","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.23584966407371943,1.3569301246657277,0.71338606911949],"aabb_xy":[[0.18585483114577786,1.3069301257704844],[0.28584449700166104,1.4069301235609715]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.39720863168851206,-2.027839955040697,0.71338606911949],"aabb_xy":[[-0.4471819256917725,-2.0778399555952443],[-0.3472353376852516,-1.9778399544861496]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.30485221489061276,-2.460587611196148,0.71338606911949],"aabb_xy":[[-0.3688522134771852,-2.5075945745956565],[-0.2408522163040403,-2.413580647796639]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.4532304912427296,-0.7380296426436479,0.71338606911949],"aabb_xy":[[0.4455273005686525,-0.7457390133423859],[0.46093368191680656,-0.7303202719449099]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.3358149722058146,-2.2194838144462414,0.71338606911949],"aabb_xy":[[-0.42550204851393003,-2.3094838147006924],[-0.24612789589769912,-2.1294838141917913]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.31958848641400683,-1.1163035845306775,0.71338606911949],"aabb_xy":[[-0.39958848748712716,-1.1260816308680621],[-0.2395884853408865,-1.1065255381932932]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.06428663724244277,-1.7670133829906174,0.71338606911949],"aabb_xy":[[0.057025389672035354,-1.7798003932541266],[0.07154788481285018,-1.7542263727271077]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.15883914427972123,0.8255140867315869,0.71338606911949],"aabb_xy":[[0.1276922254361381,0.7555140880447797],[0.18998606312330432,0.8955140854183941]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.6708163121864503,0.2222883983470294,0.71338606911949],"aabb_xy":[[0.6627799774851655,0.21425027904261262],[0.6788526468877352,0.23032651765144618]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.5571099885983316,1.3716079346224195,0.71338606911949],"aabb_xy":[[-0.6111255848802316,1.307607931730162],[-0.5030943923164316,1.4356079375146764]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.47446862705917264,0.34356216912994997,0.71338606911949],"aabb_xy":[[-0.497750469257304,0.25856216783272185],[-0.4511867848610413,0.428562170427178]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.16150320487908942,0.5939944875021075,0.71338606911949],"aabb_xy":[[-0.22550320513956024,0.5489856881491794],[-0.09750320461861862,0.6390032868550354]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.1384713037438604,1.526754121560408,0.71338606911949],"aabb_xy":[[-0.14392924938088045,1.4467541182527488],[-0.1330133581068403,1.606754124868067]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.08727555210245186,1.2425524189541344,0.71338606911949],"aabb_xy":[[0.06343933446184681,1.152552418145648],[0.11111176974305695,1.3325524197626208]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.5445471769359438,-2.5263233250853947,0.71338606911949],"aabb_xy":[[0.4805471745931423,-2.571264176329527],[0.6085471792787454,-2.481382473841262]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.08001572614905439,1.5113591596960059,0.71338606911949],"aabb_xy":[[0.0200157258976532,1.457077834659541],[0.14001572640045556,1.5656404847324703]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.6565548469617299,-1.3686330834383804,0.71338606911949],"aabb_xy":[[0.6419114414076968,-1.3832918030951646],[0.6711982525157628,-1.3539743637815962]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.4855320377129999,-1.6051707237131558,0.71338606911949],"aabb_xy":[[0.4664197303550211,-1.6243055025903976],[0.5046443450709788,-1.5860359448359136]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.11024581170682513,-0.9219140666616561,0.71338606911949],"aabb_xy":[[0.10320436075607754,-0.9289408183994505],[0.11728726265757274,-0.9148873149238614]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.019189954996075675,-0.8235515529351805,0.71338606911949],"aabb_xy":[[0.011907638619412015,-0.9135515565446892],[0.026472271372739324,-0.7335515493256712]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.3488503251948189,1.1232661606692447,0.71338606911949],"aabb_xy":[[-0.36705614885606663,1.1122407600872533],[-0.3306445015335713,1.1342915612512365]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.22929584378704065,-0.9704548347378177,0.71338606911949],"aabb_xy":[[-0.2542958433387792,-0.9805973186029523],[-0.2042958442353022,-0.9603123508726829]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.3792575243536074,1.5921836185163376,0.71338606911949],"aabb_xy":[[0.37581684811355026,1.5883221855419736],[0.3826982005936646,1.5960450514907025]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[-0.3139883325371965,-0.27526934543215154,0.71338606911949],"aabb_xy":[[-0.40398833621411456,-0.33670175200925584],[-0.22398832886027825,-0.21383693885504712]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.6669426378189063,-2.268915292811258,0.71338606911949],"aabb_xy":[[0.6616050621529017,-2.2939152937403984],[0.6722802134849108,-2.243915291882119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780402456045196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9646.png","name":"9646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9646.png","name":"9646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9253.png","name":"9253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7797.png","name":"7797"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":539.6293544768996,"rotation_z_degrees":163.15729372634425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00393486823797622,0.010364510393157795,-0.017743131601410802]},{"name":"camera_2","offset_m":[0.016179555276458545,0.013490636047030071,-0.006600430940382415]},{"name":"camera_3","offset_m":[-0.008381593206862404,-0.00033192064623219913,0.01865110320229187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009218145321204202,0.0010406550166208294,-0.0009789138361271852],"end_effector_yaw_offset_degrees":0.5168731542826623},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001534966225917761,-0.00010861002388809775,0.0012419016151149135],"end_effector_yaw_offset_degrees":-0.5197512183241952},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010185123551047703,-0.0009842090176488938,0.0018639041535793953],"end_effector_yaw_offset_degrees":0.649853085299485}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014764170735141226,0.004983246651754415],"position_m":[0.19002358292648588,0.029483246651754415,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003611070105527291,-0.00030039042302777014],"position_m":[0.32303889298944727,0.32869960957697225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018997730107277976,7.975376974395966e-05],"position_m":[0.3577997730107278,0.06337975376974396,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003494655943231343,0.000817213230556486],"position_m":[0.21785053440567687,-0.3704827867694435,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"47a3d7d24755f6403bcdbed595fbb63abe2ab7982c3e3fd54a8577292bedcc6b","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9646/tex_ceiling_textures_7797/tex_floor_textures_943/tex_table_textures_7135/tex_wall_textures_9253","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1208786457555928590,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1208786457555928590,"visual_seed":1208786457555928590,"scene_id":"lab_003","finished_at":"2026-09-03T01:48:51"} +{"episode_id":"ep_000064","started_at":"2026-09-03T01:48:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.6146481467738154,0.33774458284015507,0.71338606911949],"aabb_xy":[[0.5733436037100794,0.273744583272038],[0.6559526898375514,0.40174458240827216]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.5486823837736847,-1.2836495870914986,0.71338606911949],"aabb_xy":[[-0.6286823817544698,-1.2912511280533507],[-0.4686823857928997,-1.2760480461296468]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.28251549684355415,-2.4454510025466214,0.71338606911949],"aabb_xy":[[0.23251549589302134,-2.477000149550143],[0.33251549779408696,-2.4139018555431]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.5101959536807146,-0.6532626241158497,0.71338606911949],"aabb_xy":[[-0.5741959507928203,-0.7022949939102603],[-0.4461959565686089,-0.6042302543214391]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.5303465280531316,-1.4644293374168178,0.71338606911949],"aabb_xy":[[-0.5395064069970081,-1.4709605554603549],[-0.5211866491092549,-1.4578981193732807]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.32362249605079724,-1.0767874849068606,0.71338606911949],"aabb_xy":[[-0.4036224965210133,-1.085098192521209],[-0.24362249558058136,-1.0684767772925121]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.2420908008890696,-2.2035485093638383,0.71338606911949],"aabb_xy":[[-0.331777877197185,-2.293548509618289],[-0.1524037245809541,-2.1135485091093877]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.6018135677454062,-1.016037113795268,0.71338606911949],"aabb_xy":[[0.564313567573534,-1.048737849178175],[0.6393135679172779,-0.9833363784123605]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.013021512567296,1.2940729929379082,0.71338606911949],"aabb_xy":[[-0.024309763957946623,1.259419938143056],[0.050352789092538625,1.3287260477327605]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.06920443511219287,-1.4778982632503976,0.71338606911949],"aabb_xy":[[0.005204432769391309,-1.5228391144945301],[0.1332044374549944,-1.4329574120062651]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.6646908123510552,-0.6387963173383668,0.71338606911949],"aabb_xy":[[-0.6739844305882057,-0.6762963158265007],[-0.6553971941139045,-0.6012963188502329]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.6029504420709246,-0.42738402615030013,0.71338606911949],"aabb_xy":[[-0.632942104804795,-0.45738402548710066],[-0.5729587793370543,-0.3973840268134996]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.036249051901781626,-2.031110678180619,0.71338606911949],"aabb_xy":[[0.025681572243682615,-2.0416557082936277],[0.046816531559880636,-2.0205656480676106]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[0.6733923663428825,0.8149423564063789,0.71338606911949],"aabb_xy":[[0.6234135578325665,0.7649423564006601],[0.7233711748531982,0.8649423564120977]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.48324869230585366,-1.4040192661424213,0.71338606911949],"aabb_xy":[[0.41824869130535314,-1.4548056312970963],[0.5482486933063542,-1.3532329009877464]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.6135056809515644,-2.4511939356581274,0.71338606911949],"aabb_xy":[[-0.6216193356249415,-2.4592997521121562],[-0.6053920262781873,-2.4430881192040985]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[0.060936185597695425,0.9015663852670497,0.71338606911949],"aabb_xy":[[0.057232924268556556,0.8978643669583318],[0.06463944692683429,0.9052684035757675]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.10066617568127323,-1.629671170129091,0.71338606911949],"aabb_xy":[[-0.16066617618912615,-1.686517903815012],[-0.04066617517342031,-1.5728244364431694]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.33911660976618857,1.0202472392049242,0.71338606911949],"aabb_xy":[[-0.3766166098717815,1.0134250773519429],[-0.3016166096605956,1.0270694010579051]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.42121358689730837,-1.684539108349245,0.71338606911949],"aabb_xy":[[0.3572135895949619,-1.7289055353171017],[0.4852135841996547,-1.6401726813813882]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.3885018758787544,-0.8529229134776017,0.71338606911949],"aabb_xy":[[0.30350187746133117,-0.9377972089398867],[0.4735018742961776,-0.7680486180153168]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.5418225077621563,0.17667523464456902,0.71338606911949],"aabb_xy":[[0.4818225061192346,0.12467508535262484],[0.6018225094050783,0.2286753839365132]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.22703880264113585,-1.2132852424955591,0.71338606911949],"aabb_xy":[[0.19870909269259565,-1.2177459846892762],[0.2553685125896761,-1.208824500301842]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.11313454274273338,-0.6360452265319121,0.71338606911949],"aabb_xy":[[-0.16813454094447822,-0.6765671931583497],[-0.05813454454098855,-0.5955232599054745]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.07684282764309103,1.0293195525266956,0.71338606911949],"aabb_xy":[[-0.1268428293045858,0.9793211102709928],[-0.026842825981596274,1.079317994782398]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[-0.3596477121523382,-0.06870543891170788,0.71338606911949],"aabb_xy":[[-0.38749274893294533,-0.09948993765001958],[-0.3318026753717311,-0.037920940173396214]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.4010737430058531,-1.233497845142781,0.71338606911949],"aabb_xy":[[0.37607374345411465,-1.2436403290079157],[0.4260737425575916,-1.2233553612776462]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.2540257750275837,-1.764120113242316,0.71338606911949],"aabb_xy":[[0.23044065156368881,-1.8291201154877479],[0.2776108984914785,-1.6991201109968843]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[-0.6130424118787778,-0.18002011303081966,0.71338606911949],"aabb_xy":[[-0.658321026759927,-0.24402011237900334],[-0.5677637969976285,-0.11602011368263598]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[-0.5197175823049787,-1.8766827389748544,0.71338606911949],"aabb_xy":[[-0.5447175822374967,-1.883565407195778],[-0.4947175823724609,-1.8698000707539313]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[-0.29721474774176865,0.8862323295779966,0.71338606911949],"aabb_xy":[[-0.3036285613849535,0.8798225093303282],[-0.2908009340985836,0.8926421498256649]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_31","position":[0.02520271138829633,1.6999057004899538,0.71338606911949],"aabb_xy":[[-0.03242775749897452,1.6399057015632428],[0.08283318027556717,1.759905699416664]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_32","position":[-0.6077410801839588,-2.024384646955255,0.71338606911949],"aabb_xy":[[-0.620367867471155,-2.0339307206568282],[-0.5951142928967623,-2.014838573253682]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6793616820431452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7397.png","name":"7397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7397.png","name":"7397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1598.png","name":"1598"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":809.8637165057573,"rotation_z_degrees":248.10621511638308,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038892287829290183,0.018949040224499895,-0.015958129667668963]},{"name":"camera_2","offset_m":[-0.007785063071807112,0.005999086509234107,0.006621804190524303]},{"name":"camera_3","offset_m":[0.002122145322139349,0.004925967753800074,0.009221118243087138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00114493133586052,0.0004717072844530527,0.0004556841886262852],"end_effector_yaw_offset_degrees":-0.652804781600185},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008931149201109809,-0.0008547698558539105,-0.001914326469645268],"end_effector_yaw_offset_degrees":-0.3160817102961122},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00027084109527276165,-0.00011308411437304191,-0.0014763969552116728],"end_effector_yaw_offset_degrees":0.4057950917051978}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004004230061713439,-0.0036842199679346975],"position_m":[0.18749576993828657,0.020815780032065304,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010912541259680986,0.003720050312655516],"position_m":[0.3223087458740319,0.33272005031265556,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004699862104265175,0.003871450180704494],"position_m":[0.35120013789573484,0.06717145018070449,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007514416022631597,0.004679238354399652],"position_m":[0.21744855839773686,-0.36662076164560037,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"54bcc5c92f7dbd026d545b2a5c0dd0cf6e0407badb54bf781d1a96531d32ee93","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7397/tex_ceiling_textures_1598/tex_floor_textures_9465/tex_table_textures_4136/tex_wall_textures_949","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3251784636252461470,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3251784636252461470,"visual_seed":3251784636252461470,"scene_id":"lab_003","finished_at":"2026-09-03T01:51:36"} +{"episode_id":"ep_000065","started_at":"2026-09-03T01:53:03","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.5122031440138242,-2.180019001106449,0.71338606911949],"aabb_xy":[[0.5084998826846852,-2.1837210194151666],[0.515906405342963,-2.176316982797731]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.5884488946140889,0.1738584637470808,0.71338606911949],"aabb_xy":[[-0.6016798401487701,0.16063104472508138],[-0.5752179490794075,0.18708588276908023]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.40120709666731447,-2.0207677540570863,0.71338606911949],"aabb_xy":[[0.32120709450455204,-2.10072293768323],[0.481207098830077,-1.9408125704309427]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.38775862698157665,-2.268951523938963,0.71338606911949],"aabb_xy":[[-0.4677586239958246,-2.289086075612374],[-0.3077586299673286,-2.248816972265551]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.5772649009791173,-1.3692565212977459,0.71338606911949],"aabb_xy":[[-0.5827228466161373,-1.4492565246054048],[-0.5718069553420971,-1.2892565179900866]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.046109118245407865,0.24564472609226318,0.71338606911949],"aabb_xy":[[-0.060443543371571325,0.23358451053772433],[-0.03177469311924442,0.257704941646802]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.6488597914765528,0.5538199432679765,0.71338606911949],"aabb_xy":[[0.615419616280533,0.5203763174370463],[0.6822999666725722,0.5872635690989064]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.29758881379370294,0.583993498704138,0.71338606911949],"aabb_xy":[[0.2800888803597195,0.5664934987839033],[0.31508874722768626,0.6014934986243724]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.5652145155237664,1.3824945952164676,0.71338606911949],"aabb_xy":[[-0.5732508502250513,1.3744564759120508],[-0.5571781808224816,1.3905327145208843]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[-0.33288344698353073,0.917959878774508,0.71338606911949],"aabb_xy":[[-0.33897807487164905,0.9093904842228394],[-0.3267888190954124,0.9265292733261768]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.2719345902744016,-2.5162777367793767,0.71338606911949],"aabb_xy":[[0.23693459200428163,-2.523351864474365],[0.30693458854452144,-2.5092036090843886]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.051572485786431255,0.7885668447048633,0.71338606911949],"aabb_xy":[[0.010554542400060367,0.7385668440739058],[0.09259042917280214,0.8385668453358205]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.1444841317264235,-1.2036046546950703,0.71338606911949],"aabb_xy":[[-0.22948413014384672,-1.2884789501573555],[-0.059484133309000264,-1.1187303592327855]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.1831255907390188,0.16916013240673733,0.71338606911949],"aabb_xy":[[-0.22062558916241912,0.1559959184389067],[-0.14562559231561842,0.18232434637456796]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.1779325907517958,-0.9808771638623641,0.71338606911949],"aabb_xy":[[0.12793331558335966,-1.0308771651383113],[0.22793186592023199,-0.9308771625864168]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[0.24316397100039566,1.5561124118419438,0.71338606911949],"aabb_xy":[[0.22553113540686806,1.5384894658263206],[0.2607968065939232,1.5737353578575666]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.2574723952327841,-1.4248991253448058,0.71338606911949],"aabb_xy":[[-0.2799723954762995,-1.4371037600045777],[-0.2349723949892687,-1.4126944906850338]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.29672775228227666,-1.5950164299370786,0.71338606911949],"aabb_xy":[[0.27218153665952594,-1.6252653264861157],[0.3212739679050274,-1.5647675333880415]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.026565749214101486,-1.784481482906563,0.71338606911949],"aabb_xy":[[-0.09156574709574929,-1.835605146613104],[0.03843424866754631,-1.7333578192000223]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.38362783087770747,-2.491436958322253,0.71338606911949],"aabb_xy":[[0.3667170984413656,-2.5049091639148675],[0.40053856331404913,-2.4779647527296382]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.5470804771151777,-2.4819923181240835,0.71338606911949],"aabb_xy":[[-0.5550739669104597,-2.489990450064559],[-0.5390869873198957,-2.473994186183608]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.4787891435584668,1.3726809778057607,0.71338606911949],"aabb_xy":[[0.46870743647989327,1.2926809799136458],[0.4888708506370402,1.4526809756978751]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.09753598870187219,-1.4761743558135192,0.71338606911949],"aabb_xy":[[-0.11742702858221245,-1.4888301670982163],[-0.07764494882153194,-1.4635185445288226]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.6204013073842105,-0.9964395475485042,0.71338606911949],"aabb_xy":[[0.6127770392940323,-1.004072771085048],[0.6280255754743888,-0.9888063240119606]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_24","position":[-0.28051402796104197,0.3625716086757045,0.71338606911949],"aabb_xy":[[-0.2870156644690466,0.35280378664939466],[-0.27401239145303735,0.3723394307020142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769534716656307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9355.png","name":"9355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9355.png","name":"9355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8454.png","name":"8454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2419.png","name":"2419"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5415.png","name":"5415"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.5926347896515,"rotation_z_degrees":307.8368923738362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072690463688429435,-0.011734134014375477,-0.018201291728173096]},{"name":"camera_2","offset_m":[0.01010658488783268,-0.0006134538403844807,0.004562173110583146]},{"name":"camera_3","offset_m":[0.006981433928179598,-0.00471741998432015,-0.002678883462302127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012332908483831395,-0.00012153838986466423,9.249924730486388e-05],"end_effector_yaw_offset_degrees":-0.3305013773490786},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010602478834907986,-0.001039740289743598,-0.00014952843590456994],"end_effector_yaw_offset_degrees":-0.3686566233069404},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010489730440013854,0.00039143975031368265,-0.0012010946545545653],"end_effector_yaw_offset_degrees":-0.16657841854800481}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003466806893333632,-0.00383068120957786],"position_m":[0.19184668068933336,0.02066931879042214,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00021430869294187214,-0.0035955707468486656],"position_m":[0.3236143086929419,0.32540442925315133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025879322764560376,0.0028128816696540845],"position_m":[0.35331206772354395,0.06611288166965408,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013885564861663147,0.0006494955122691723],"position_m":[0.2168114435138337,-0.37065050448773085,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"87ef2cf97f4e485db180aa742c92d1096263e59a1022a00e3be0977dfa70d93f","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9355/tex_ceiling_textures_5415/tex_floor_textures_2419/tex_table_textures_8454/tex_wall_textures_2615","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5911190384694936898,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5911190384694936898,"visual_seed":5911190384694936898,"scene_id":"lab_003","finished_at":"2026-09-03T01:55:44"} +{"episode_id":"ep_000066","started_at":"2026-09-03T01:55:49","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.23948178028371564,-0.9932231947176431,0.71338606911949],"aabb_xy":[[-0.319481777687309,-1.0732157659158257],[-0.15948178288012219,-0.9132306235194603]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.46076031496892944,-0.1332981099573476,0.71338606911949],"aabb_xy":[[0.4194557719051935,-0.19729810952546467],[0.5020648580326654,-0.0692981103892305]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.6475023052506892,1.6642210143056952,0.71338606911949],"aabb_xy":[[-0.6528398809166936,1.639221013376556],[-0.6421647295846845,1.6892210152348355]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.06325227558325497,0.177756461564603,0.71338606911949],"aabb_xy":[[-0.10179796840845602,0.13921069050841434],[-0.02470658275805395,0.21630223262079168]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.6191700781360565,-1.0866562252297627,0.71338606911949],"aabb_xy":[[-0.6841700792419999,-1.111621598297891],[-0.5541700770301133,-1.0616908521616344]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.400042379194091,-2.1842521031196203,0.71338606911949],"aabb_xy":[[0.3666022039980714,-2.2176957289505497],[0.43348255439011063,-2.150808477288689]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.4249459629735357,-0.38058183999409323,0.71338606911949],"aabb_xy":[[-0.4424458964075191,-0.3980818399143278],[-0.40744602953955233,-0.3630818400738587]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.43842711006489776,-1.7259822482697615,0.71338606911949],"aabb_xy":[[0.4302125649492137,-1.7346588385674027],[0.4466416551805817,-1.71730565797212]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.06434891321470404,1.6560615793501996,0.71338606911949],"aabb_xy":[[0.014364677506526799,1.606061580536704],[0.11433314892288125,1.7060615781636952]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.5790096091327441,-1.1725100829329973,0.71338606911949],"aabb_xy":[[0.570983338502118,-1.18126157791035],[0.58703587976337,-1.1637585879556447]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.23990454491359758,-1.8049535741484086,0.71338606911949],"aabb_xy":[[-0.2703026560127411,-1.8353604761500781],[-0.20950643381445397,-1.7745466721467391]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.11632667217544324,0.3417375476762867,0.71338606911949],"aabb_xy":[[-0.1501022313661362,0.3276990524631217],[-0.08255111298475025,0.35577604288945175]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.5595393423320421,0.33853557761636166,0.71338606911949],"aabb_xy":[[0.52203934216017,0.3058348422334544],[0.5970393425039139,0.3712363129992688]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[0.30550518940924487,0.8758885109769872,0.71338606911949],"aabb_xy":[[0.2805051901372826,0.8595431473808247],[0.33050518868120715,0.8922338745731494]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.30028865935072946,-1.2736926159332995,0.71338606911949],"aabb_xy":[[0.23628865909025867,-1.3187014152862273],[0.36428865961120027,-1.2286838165803713]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[0.14002606573366871,1.0914778954884432,0.71338606911949],"aabb_xy":[[0.08239559684639784,1.0314778965617324],[0.19765653462093952,1.1514778944151536]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.5816926692211843,-0.6134392824584487,0.71338606911949],"aabb_xy":[[0.5762347235841643,-0.6934392857661078],[0.5871506148582044,-0.5334392791507896]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.465400463853477,-1.6055548968097968,0.71338606911949],"aabb_xy":[[0.4154004621919822,-1.6555533390654993],[0.5154004655149717,-1.5555564545540939]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.3006552923893846,-2.2047217939052897,0.71338606911949],"aabb_xy":[[-0.3381552924949775,-2.2115439557582706],[-0.2631552922837916,-2.1978996320523088]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.021591393812607662,-1.7263853217195688,0.71338606911949],"aabb_xy":[[-0.08559139603301469,-1.770758405844857],[0.042408608407799364,-1.6820122375942805]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.4586825396725803,-2.290355031134937,0.71338606911949],"aabb_xy":[[-0.49547717279748665,-2.3272609062315195],[-0.4218879065476741,-2.253449156038355]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[0.631992079442933,1.4749095684150864,0.71338606911949],"aabb_xy":[[0.621424599784834,1.4643645383020778],[0.642559559101032,1.485454598528095]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.029697272753279935,1.1539128877540583,0.71338606911949],"aabb_xy":[[-0.09369727466562228,1.0980017384960479],[0.034302729159062406,1.2098240370120688]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.20476218697769277,-1.8474621217397744,0.71338606911949],"aabb_xy":[[0.1994296723230798,-1.8527864499850102],[0.21009470163230576,-1.842137793494539]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.3952707417586425,1.2255466473898906,0.71338606911949],"aabb_xy":[[0.3782606444685918,1.2094121588916167],[0.4122808390486931,1.2416811358881645]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.6680215051815077,0.7670463774995095,0.71338606911949],"aabb_xy":[[0.6635908758266676,0.7615980057648271],[0.672452134536348,0.7724947492341923]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.11600583362011352,-2.3365045207265354,0.71338606911949],"aabb_xy":[[-0.12399932341539556,-2.344502652667011],[-0.1080123438248315,-2.3285063887860598]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[-0.5829168978079032,1.3454622392279134,0.71338606911949],"aabb_xy":[[-0.647916897842206,1.2987615625475863],[-0.5179168977736005,1.392162915908241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6744785549630844,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4970.png","name":"4970"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4970.png","name":"4970"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1222.png","name":"1222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1971.png","name":"1971"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9470.png","name":"9470"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":762.0105959440997,"rotation_z_degrees":148.97249751086468,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01462790301877238,-0.019661863108401047,-0.005915866164832218]},{"name":"camera_2","offset_m":[-0.002723440123829503,0.01605489082895332,-0.0159605241447467]},{"name":"camera_3","offset_m":[-0.001019383337859319,0.014281622339835823,-0.002578673567207243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017592159547954152,0.0007928676909840417,0.0009063657408677731],"end_effector_yaw_offset_degrees":0.4698640564339649},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00017177592397082941,0.0007202707683932352,0.0011479593743417699],"end_effector_yaw_offset_degrees":-0.36020768184062923},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0001643971269157372,-0.0016354593742689745,0.000814347881575386],"end_effector_yaw_offset_degrees":-0.3206844350588878}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023455337504709583,-0.0030136683660396016],"position_m":[0.18915446624952906,0.0214863316339604,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003386576397679174,-0.002188940802420204],"position_m":[0.3200134236023208,0.3268110591975798,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003287877662870629,0.0036477784693520034],"position_m":[0.35261212233712935,0.066947778469352,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004095017160321234,0.0036339930720258864],"position_m":[0.21410498283967877,-0.36766600692797413,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a14833fd6e5be7a91c1ca296e95894bb6b49ffc385c2ae923b89a57c32fe23f3","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4970/tex_ceiling_textures_9470/tex_floor_textures_1971/tex_table_textures_8390/tex_wall_textures_1222","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7437459381441295591,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7437459381441295591,"visual_seed":7437459381441295591,"scene_id":"lab_003","finished_at":"2026-09-03T01:58:29"} +{"episode_id":"ep_000067","started_at":"2026-09-03T01:58:32","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.6896237799366542,0.9366838303648595,0.71338606911949],"aabb_xy":[[-0.6949562945912673,0.931359502119624],[-0.6842912652820412,0.9420081586100951]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.23002885063420264,-2.252329413179529,0.71338606911949],"aabb_xy":[[0.21538544508016963,-2.2669881328363126],[0.2446722561882356,-2.237670693522744]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.6959628684790711,-0.9501127757896002,0.71338606911949],"aabb_xy":[[0.6792857324859755,-0.9668126997635303],[0.7126400044721665,-0.9334128518156698]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.4727124873987987,-0.740089724291662,0.71338606911949],"aabb_xy":[[0.46180671131123596,-0.8200897206904911],[0.4836182634863614,-0.6600897278928328]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.5066730615410044,0.9471902252378901,0.71338606911949],"aabb_xy":[[-0.5154542886882408,0.9384104779493602],[-0.49789183439376833,0.9559699725264205]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.2385285377694652,-0.7890189759666693,0.71338606911949],"aabb_xy":[[-0.2760285375864987,-0.7936571872778111],[-0.2010285379524316,-0.7843807646555274]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.431650278371279,0.093728313919478,0.71338606911949],"aabb_xy":[[0.4184990323999898,0.06872831416279147],[0.44480152434256853,0.11872831367616457]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.38989478483008266,-0.1738689413988408,0.71338606911949],"aabb_xy":[[-0.43489478629631156,-0.2188687982603215],[-0.3448947833638538,-0.12886908453736012]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.4898079089946994,-0.35452097333054944,0.71338606911949],"aabb_xy":[[0.44481532227624887,-0.39952097260499814],[0.5348004957131497,-0.30952097405610063]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.3270300836300699,-2.1153907170533173,0.71338606911949],"aabb_xy":[[-0.3385990643770065,-2.140390717170249],[-0.31546110288313334,-2.0903907169363856]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.13454001632998047,-2.051116256431538,0.71338606911949],"aabb_xy":[[0.11704001607064385,-2.0652077986203112],[0.1520400165893171,-2.037024714242766]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.6302910729725406,-2.5265214108297434,0.71338606911949],"aabb_xy":[[-0.6397085475424034,-2.535937587967462],[-0.6208735984026779,-2.517105233692024]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.19984226681977313,1.42847063182893,0.71338606911949],"aabb_xy":[[0.10984226314285489,1.3670382252518254],[0.2898422704966912,1.489903038406034]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.05954229892065943,1.2417436969188276,0.71338606911949],"aabb_xy":[[-0.1235422996241288,1.1957253144459066],[0.004457701782809916,1.2877620793917486]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.5272716902421734,0.30395679756577154,0.71338606911949],"aabb_xy":[[-0.564122238179161,0.26645679674273787],[-0.49042114230518574,0.3414567983888053]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.5040873941178305,-2.206715762981187,0.71338606911949],"aabb_xy":[[0.4916200360080949,-2.219181087614511],[0.5165547522275662,-2.194250438347864]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.47885504553701985,-2.082230846292143,0.71338606911949],"aabb_xy":[[-0.4849496734251381,-2.090800240843812],[-0.4727604176489015,-2.073661451740475]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.011586514918937696,-2.4577919462108007,0.71338606911949],"aabb_xy":[[-0.04658651404889336,-2.4635371672864648],[0.023413484211017965,-2.4520467251351366]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.3785779152021778,-0.8113558305199224,0.71338606911949],"aabb_xy":[[-0.4018597574003092,-0.8963558318171504],[-0.35529607300404653,-0.7263558292226943]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.5991097629541771,0.29917918606941285,0.71338606911949],"aabb_xy":[[0.5351097607337699,0.25480610194412456],[0.663109765174584,0.34355227019470114]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.02820449839220307,-0.6168018708277723,0.71338606911949],"aabb_xy":[[-0.03956623304548923,-0.6281703372340602],[-0.016842763738916907,-0.6054334044214841]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.46901208972177133,1.566525643145264,0.71338606911949],"aabb_xy":[[0.4515120905874041,1.556646016107676],[0.48651208885613845,1.5764052701828517]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.5046625163031184,-0.6054766299876362,0.71338606911949],"aabb_xy":[[-0.5686625134152241,-0.6545089997820468],[-0.44066251919101274,-0.5564442601932256]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[-0.5846321922784061,-1.3186200843703022,0.71338606911949],"aabb_xy":[[-0.6221321908540269,-1.3313563800338601],[-0.5471321937027853,-1.3058837887067443]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.5108892844520734,-0.953759783315205,0.71338606911949],"aabb_xy":[[0.49334258953595445,-0.9912597848794563],[0.5284359793681923,-0.9162597817509538]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_25","position":[0.6418447238004727,-1.4029287256626843,0.71338606911949],"aabb_xy":[[0.6355326242641344,-1.4086956649159035],[0.6481568233368111,-1.3971617864094656]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.20375574443294808,1.7427545274121647,0.71338606911949],"aabb_xy":[[0.16812658853298834,1.7071218606553118],[0.23938490033290782,1.7783871941690177]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.28734256755460386,1.0889827640535406,0.71338606911949],"aabb_xy":[[0.20734256896728445,1.0096671621153794],[0.3673425661419233,1.1682983659917012]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.11442127067385244,-1.0529484512999292,0.71338606911949],"aabb_xy":[[-0.2041083469819679,-1.1429484515543797],[-0.024734194365736997,-0.9629484510454787]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.3016371015594903,-0.7304582403745448,0.71338606911949],"aabb_xy":[[0.2316370989229039,-0.7505631053704103],[0.3716371041960766,-0.7103533753786793]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[0.5623466052180739,0.6108391911026976,0.71338606911949],"aabb_xy":[[0.5280303280434558,0.5608391911295199],[0.5966628823926917,0.6608391910758753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6809570378901197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4682.png","name":"4682"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4682.png","name":"4682"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4064.png","name":"4064"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2020.png","name":"2020"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/904.png","name":"904"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.5256859628228,"rotation_z_degrees":146.12923651955686,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015172243071471515,-0.004351667011221694,0.0015947419629761435]},{"name":"camera_2","offset_m":[-0.019227554160591555,-0.012418441189341291,0.007233531868282871]},{"name":"camera_3","offset_m":[0.013901530831657186,0.018564363494636856,-0.005169351015148104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008753980679312937,-0.001376324154366826,0.0015973649960328274],"end_effector_yaw_offset_degrees":-0.6571596037383907},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009715273345030165,0.001956989698122859,0.000863473776139686],"end_effector_yaw_offset_degrees":0.2573196181953281},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00031639040350300764,-0.0007240369110223055,0.0014312813659924277],"end_effector_yaw_offset_degrees":0.5155563173027291}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004524218930877463,0.0036013111303283786],"position_m":[0.19602421893087746,0.02810131113032838,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004058939278213494,-0.0022810221175390945],"position_m":[0.3274589392782135,0.3267189778824609,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004622602378741804,0.004557595775674606],"position_m":[0.3605226023787418,0.0678575957756746,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00403704519560846,0.0013270125144696195],"position_m":[0.22223704519560847,-0.3699729874855304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c8eac57b9838a04abedceaf1858fa3c00db0ec6b94f91efdf0a535fd08d56eb9","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0078.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4682/tex_ceiling_textures_904/tex_floor_textures_1093/tex_table_textures_4064/tex_wall_textures_2020","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5049114883908253301,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5049114883908253301,"visual_seed":5049114883908253301,"scene_id":"lab_003","finished_at":"2026-09-03T02:01:23"} +{"episode_id":"ep_000068","started_at":"2026-09-03T02:01:26","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.2285639275505122,1.7911827635984099,0.71338606911949],"aabb_xy":[[-0.23785754578766272,1.7536827651102758],[-0.21927030931336156,1.8286827620865436]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.4407267519994141,1.6816907497028741,0.71338606911949],"aabb_xy":[[-0.4775772999364017,1.6441907488798406],[-0.40387620406242647,1.719190750525908]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.614630552369722,0.1393721590444077,0.71338606911949],"aabb_xy":[[0.6073867863234766,0.059372160840805294],[0.6218743184159673,0.21937215724801004]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.5335167808496175,0.8930293123348609,0.71338606911949],"aabb_xy":[[-0.5395537938502822,0.887002611265913],[-0.5274797678489528,0.8990560134038094]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.08058677945417159,1.202802117506108,0.71338606911949],"aabb_xy":[[0.015586780897098751,1.1730495840922255],[0.14558677801124442,1.2325546509199907]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[0.6149835820434899,-0.5356726965980676,0.71338606911949],"aabb_xy":[[0.5649835806826027,-0.5856506011734831],[0.6649835834043771,-0.4856947920226519]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.3633269112911024,-1.4737102473871688,0.71338606911949],"aabb_xy":[[0.2993269109135688,-1.5234555142379809],[0.427326911668636,-1.4239649805363563]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.1739746868549943,1.6252501883812314,0.71338606911949],"aabb_xy":[[0.12397468590446148,1.5937010413777097],[0.2239746878055271,1.6567993353847525]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.14916647910672598,-0.6721480469964747,0.71338606911949],"aabb_xy":[[-0.17166561483295295,-0.6946480477747377],[-0.126667343380499,-0.6496480462182117]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.5901807941828969,-0.6009965737905199,0.71338606911949],"aabb_xy":[[-0.6002625012614703,-0.6809965716826344],[-0.5800990871043233,-0.5209965758984051]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.09584423967380984,-1.1148616216364284,0.71338606911949],"aabb_xy":[[-0.15984423678591553,-1.163893991430839],[-0.03184424256170415,-1.0658292518420178]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.2711739059881796,-2.359198532673719,0.71338606911949],"aabb_xy":[[0.25354107039465196,-2.3768214786893416],[0.2888067415817071,-2.3415755866580956]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.03188930057596884,0.7531124954233248,0.71338606911949],"aabb_xy":[[-0.010295113584861897,0.6891124951461136],[0.07407371473679958,0.817112495700536]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.29250288982578715,-0.09918843495498919,0.71338606911949],"aabb_xy":[[-0.300539224527072,-0.10722655425940596],[-0.2844665551245023,-0.0911503156505724]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.47164977047429457,-2.0930865505001073,0.71338606911949],"aabb_xy":[[0.4541498370403111,-2.1105865504203414],[0.48914970390827783,-2.0755865505798723]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.5229799767126908,0.3409435103332119,0.71338606911949],"aabb_xy":[[-0.592979979349277,0.3208386453373463],[-0.45297997407610435,0.3610483753290773]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.6016557521544272,-0.29498080134800153,0.71338606911949],"aabb_xy":[[0.5603512090906912,-0.35898080091611856],[0.6429602952181632,-0.2309808017798844]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.42446616287808026,-0.6118186552129439,0.71338606911949],"aabb_xy":[[-0.4603796673030699,-0.6477321634296985],[-0.3885526584530905,-0.5759051469961892]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.5660361743035778,-2.4109085465335407,0.71338606911949],"aabb_xy":[[0.5509338728425596,-2.4260100681646017],[0.5811384757645958,-2.395807024902478]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.23085499421864586,0.8343702140348537,0.71338606911949],"aabb_xy":[[-0.29485499064596776,0.7872005902127573],[-0.16685499779132398,0.8815398378569502]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.6274946875634275,1.7285986332072807,0.71338606911949],"aabb_xy":[[-0.6586416064070105,1.6585986345204733],[-0.5963477687198443,1.7985986318940876]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.3945162083039664,1.461840488302022,0.71338606911949],"aabb_xy":[[-0.441645587305802,1.3978404872576198],[-0.34738682930213066,1.5258404893464237]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.22620486290271924,-1.08064053920687,0.71338606911949],"aabb_xy":[[0.18121227618426886,-1.1256405384813188],[0.27119744962116965,-1.0356405399324213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6806569851150392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9055.png","name":"9055"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9055.png","name":"9055"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3909.png","name":"3909"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9512.png","name":"9512"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7411.png","name":"7411"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/495.png","name":"495"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.2916595687168,"rotation_z_degrees":318.6783221960334,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01501054891805725,-0.01941330980301706,0.0006110224983293666]},{"name":"camera_2","offset_m":[-0.009749105779742107,0.014709355756589448,-0.007417040891341941]},{"name":"camera_3","offset_m":[0.016207930179799494,-0.019838129614096763,-0.010694002591596386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000428983003286261,-0.00011176426519199627,-0.00048788262304203206],"end_effector_yaw_offset_degrees":-0.12822569782094995},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014283013950946507,0.001299459306036805,0.0018021894500850938],"end_effector_yaw_offset_degrees":0.29198247759178586},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00018590920667168795,0.0014872395725712452,0.000350903777084452],"end_effector_yaw_offset_degrees":0.40579607687936514}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031740530482286195,0.0012047703471514725],"position_m":[0.19467405304822863,0.025704770347151473,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011510025178384673,0.0023653935359688417],"position_m":[0.32455100251783847,0.33136539353596883,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004107710371150946,-0.00021357954707119323],"position_m":[0.35179228962884906,0.0630864204529288,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00029577552025946384,0.0007109533074176307],"position_m":[0.21849577552025948,-0.3705890466925824,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7a6968ea4dfc9726c9c4bc9586ab0ffc048b3af482fa524b6b2eee5cb434c4a","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9055/tex_ceiling_textures_495/tex_floor_textures_7411/tex_table_textures_3909/tex_wall_textures_9512","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7014398836865171187,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7014398836865171187,"visual_seed":7014398836865171187,"scene_id":"lab_003","finished_at":"2026-09-03T02:04:00"} +{"episode_id":"ep_000069","started_at":"2026-09-03T02:04:03","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.13840441351335364,0.39578489760941116,0.71338606911949],"aabb_xy":[[-0.15608004410195192,0.37810468133000835],[-0.12072878292475527,0.41346511388881385]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.5794300752488906,1.6239362167074796,0.71338606911949],"aabb_xy":[[-0.6169300736722909,1.6107720027396488],[-0.5419300768254902,1.6371004306753103]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.6580055408655345,-0.1419690046786104,0.71338606911949],"aabb_xy":[[0.6379471292522942,-0.16203409158776794],[0.6780639524787748,-0.12190391776945286]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.0036089441267429523,1.0203146938811578,0.71338606911949],"aabb_xy":[[-0.030707333047874985,0.9703146939079801],[0.03792522130136089,1.0703146938543355]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.067518190442734,-2.214502026742223,0.71338606911949],"aabb_xy":[[-0.0783586686692489,-2.2316883080328718],[-0.05667771221621909,-2.1973157454515744]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.543053156220181,1.103400137391537,0.71338606911949],"aabb_xy":[[-0.5840710996065519,1.0534001367605796],[-0.5020352128338101,1.1534001380224943]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.2540270567014963,-2.110146346640757,0.71338606911949],"aabb_xy":[[0.24989120036879614,-2.147646346085114],[0.25816291303419653,-2.0726463471964]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.4195661378494901,-1.9726425157755916,0.71338606911949],"aabb_xy":[[-0.4268273854198975,-1.9854295260391013],[-0.4123048902790827,-1.9598555055120823]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.17945491894261112,-0.449739432954011,0.71338606911949],"aabb_xy":[[-0.2594549175994971,-0.46424429187827376],[-0.09945492028572511,-0.4352345740297482]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.5886598199009763,-2.1797921345739013,0.71338606911949],"aabb_xy":[[0.5541974725028342,-2.2142860169717236],[0.6231221672991178,-2.145298252176078]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.186844414773902,0.5254915011789887,0.71338606911949],"aabb_xy":[[-0.19483840335160535,0.5174914210838983],[-0.17885042619619856,0.533491581274079]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.511546102032129,0.49377376121190064,0.71338606911949],"aabb_xy":[[0.4615686851668754,0.44377375972265204],[0.5615235188973825,0.5437737627011491]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.6006322059188305,0.6086231590962141,0.71338606911949],"aabb_xy":[[-0.6506322075803251,0.5586247168405114],[-0.5506322042573356,0.6586216013519168]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.4288712058493589,-1.1032543266783035,0.71338606911949],"aabb_xy":[[0.3788981403168435,-1.1532543264908366],[0.4788442713818744,-1.0532543268657708]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.0858428160976692,-1.4369775391882582,0.71338606911949],"aabb_xy":[[0.00584281502454885,-1.4467555855256427],[0.16584281717078952,-1.4271994928508738]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.09433475302569316,-0.9565246119418833,0.71338606911949],"aabb_xy":[[-0.129334753002189,-0.9659892279894999],[-0.05933475304919733,-0.9470599958942667]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.42737787316359044,-0.462992595718692,0.71338606911949],"aabb_xy":[[0.4035416555229855,-0.5529925965271785],[0.4512140908041956,-0.37299259491020553]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.07835563329710715,0.7116258056611131,0.71338606911949],"aabb_xy":[[-0.14235563534683915,0.6715313225718053],[-0.014355631247375156,0.7517202887504212]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.3243961955937771,1.1709208148400032,0.71338606911949],"aabb_xy":[[0.2868961944089842,1.1665025921439423],[0.36189619677856977,1.1753390375360633]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.029512194289115667,-1.900735581441994,0.71338606911949],"aabb_xy":[[0.02341756640099735,-1.9093049759936624],[0.03560682217723399,-1.892166186890325]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.4213276728295676,1.745458794324859,0.71338606911949],"aabb_xy":[[-0.428951940919746,1.7378255707883155],[-0.4137034047393895,1.753092017861403]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.24998092422495832,1.6602806182270924,0.71338606911949],"aabb_xy":[[0.1859809249307901,1.5962944778582382],[0.31398092351912654,1.7242667585959466]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.4475917138957852,-1.5740602057902444,0.71338606911949],"aabb_xy":[[0.43571963088428406,-1.6590602054838948],[0.4594637969072863,-1.489060206096594]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.2156680195685607,-2.547235217682422,0.71338606911949],"aabb_xy":[[-0.28566802169999017,-2.5699971833081174],[-0.1456680174371311,-2.5244732520567257]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.09221642821713072,-0.9487224425335146,0.71338606911949],"aabb_xy":[[0.0849726621708854,-1.028722440737117],[0.09946019426337604,-0.8687224443299122]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[-0.05519596243516767,-1.169175049664117,0.71338606911949],"aabb_xy":[[-0.06390993148510213,-1.1916750503233047],[-0.046481993385233164,-1.1466750490049282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6770339028885823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1482.png","name":"1482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1482.png","name":"1482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9684.png","name":"9684"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1632.png","name":"1632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8840.png","name":"8840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8880.png","name":"8880"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":718.7676358164784,"rotation_z_degrees":245.29326967199023,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018892122526213227,0.006135258781315822,-0.0013146135904653217]},{"name":"camera_2","offset_m":[-0.010064129337426508,-0.01017146913298614,-0.008423955062577853]},{"name":"camera_3","offset_m":[-0.01201081970352055,0.0018920279973179029,0.010086988863927036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023951919084988288,-0.0001662951709228487,0.0011170321777174653],"end_effector_yaw_offset_degrees":0.5959130251132605},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007524779152565265,-0.0011703789069172185,-0.00027064608029622413],"end_effector_yaw_offset_degrees":0.6059769492483789},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[4.854846354148063e-05,-0.0011766946585580569,0.00020879024168291276],"end_effector_yaw_offset_degrees":0.6172961782430291}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001996833835716821,-0.0008023555610340519],"position_m":[0.18950316616428317,0.02369764443896595,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002353431440244631,0.001210306883054537],"position_m":[0.3210465685597554,0.3302103068830545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033293780341150164,0.003608077395417921],"position_m":[0.35922937803411503,0.06690807739541792,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025372607545801444,0.004883478971252819],"position_m":[0.22073726075458014,-0.3664165210287472,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1226329e78645edb22f67b190ee0593477d8412c02242a34ea81aad335019b18","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1482/tex_ceiling_textures_8880/tex_floor_textures_8840/tex_table_textures_9684/tex_wall_textures_1632","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5653490719596458186,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5653490719596458186,"visual_seed":5653490719596458186,"scene_id":"lab_003","finished_at":"2026-09-03T02:06:41"} +{"episode_id":"ep_000070","started_at":"2026-09-03T02:06:45","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.5707278151757165,-1.4426657382837726,0.71338606911949],"aabb_xy":[[-0.5812952948338155,-1.453210768396781],[-0.5601603355176175,-1.4321207081707639]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.4246949888106146,-2.256701013411292,0.71338606911949],"aabb_xy":[[-0.5046949858248626,-2.2768355650847036],[-0.34469499179636665,-2.2365664617378807]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.387928509699774,-1.08518109832724,0.71338606911949],"aabb_xy":[[-0.4329210964182243,-1.1301810976016888],[-0.34293592298132347,-1.0401810990527913]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.2451326953067935,-1.569100744979951,0.71338606911949],"aabb_xy":[[0.23788892926054817,-1.6491007431835534],[0.2523764613530388,-1.4891007467763486]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.6821976094809212,0.48441192212987527,0.71338606911949],"aabb_xy":[[0.6773540147196913,0.47956026965089116],[0.6870412042421512,0.4892635746088594]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.504180638509795,0.48186884245616124,0.71338606911949],"aabb_xy":[[-0.5353275573533781,0.411868843769354],[-0.4730337196662119,0.5518688411429684]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.2272015294312013,-2.5554335317738928,0.71338606911949],"aabb_xy":[[0.20265531380845062,-2.58568242832293],[0.25174774505395203,-2.5251846352248557]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.013064573697836979,-2.5306174304928017,0.71338606911949],"aabb_xy":[[-0.030564573942886364,-2.5481172183323686],[0.004435426547212404,-2.513117642653235]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.38296146743833126,1.106585958149517,0.71338606911949],"aabb_xy":[[-0.40546146744847955,1.0924897385099135],[-0.36046146742818297,1.12068217778912]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.0377042421134538,-0.9448566796808266,0.71338606911949],"aabb_xy":[[-0.12739131842156926,-1.0348566799352772],[0.05198283419466165,-0.8548566794263761]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.10661674063885229,-1.6876928752188105,0.71338606911949],"aabb_xy":[[0.041616738001058806,-1.7391724739182575],[0.17161674327664578,-1.6362132765193635]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.2855623881190035,-0.874845385921549,0.71338606911949],"aabb_xy":[[0.24871184018201586,-0.9123453867445829],[0.3224129360559911,-0.8373453850985154]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.05519063978100669,-0.7645880907937759,0.71338606911949],"aabb_xy":[[-0.13519063776179172,-0.7721896317556278],[0.02480935819977836,-0.7569865498319239]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.0008534728671545366,-2.282771129701726,0.71338606911949],"aabb_xy":[[-0.03764810599206081,-2.3196770047983084],[0.035941160257751736,-2.245865254605144]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.494996183212824,1.3565875437607553,0.71338606911949],"aabb_xy":[[-0.5174961827365313,1.334091596310134],[-0.47249618368911656,1.3790834912113756]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.31138747068079553,0.696671655741445,0.71338606911949],"aabb_xy":[[0.2738874703886207,0.6926301803408413],[0.34888747097297035,0.7007131311420486]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.04314426786891068,1.7905370429023173,0.71338606911949],"aabb_xy":[[-0.05507700223073875,1.778154890094458],[-0.03121153350708261,1.8029191957101767]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.24044290545143387,-2.38859141933948,0.71338606911949],"aabb_xy":[[-0.25331480895237396,-2.4685914197533156],[-0.2275710019504937,-2.3085914189256433]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.01607801387332597,-1.9066433620845404,0.71338606911949],"aabb_xy":[[-0.022491827516510906,-1.9130531823322081],[-0.009664200230141027,-1.9002335418368714]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.11134282360643288,-1.2815990791314977,0.71338606911949],"aabb_xy":[[-0.13462466580456423,-1.3665990804287256],[-0.08806098140830156,-1.1965990778342694]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.25617251426287047,-1.1304305717062981,0.71338606911949],"aabb_xy":[[0.22117251428637463,-1.1398951877539145],[0.2911725142393663,-1.1209659556586813]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.5170355076144377,0.8769474659623469,0.71338606911949],"aabb_xy":[[-0.597029331192996,0.7969474633695053],[-0.4370416840358795,0.9569474685551884]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[0.4783524552667209,-1.916112633155295,0.71338606911949],"aabb_xy":[[0.41435245385873026,-1.9679015846792196],[0.5423524566747115,-1.8643236816313702]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.28533879707058574,-1.3305224817885255,0.71338606911949],"aabb_xy":[[-0.31582304719761584,-1.3805224815700214],[-0.2548545469435555,-1.2805224820070296]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.5560498154451392,-0.9553595067518872,0.71338606911949],"aabb_xy":[[0.5089204364433034,-1.0193595077962891],[0.6031791944469748,-0.8913595057074851]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.372839885004357,-1.7371933498322165,0.71338606911949],"aabb_xy":[[-0.380866155634983,-1.7459448448095696],[-0.364813614373731,-1.7284418548548643]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.4462550865561086,-1.631510136460505,0.71338606911949],"aabb_xy":[[-0.5012482978932453,-1.6865101367992987],[-0.3912618752189719,-1.5765101361217115]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.17053369533120033,-1.6348776763167225,0.71338606911949],"aabb_xy":[[-0.18570586461283364,-1.6500465332449257],[-0.15536152604956696,-1.619708819388519]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[0.6214241056128313,-0.6888580817463492,0.71338606911949],"aabb_xy":[[0.5989249698866044,-0.7113580825246122],[0.6439232413390583,-0.6663580809680862]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[0.5706499476620523,0.36783343074762254,0.71338606911949],"aabb_xy":[[0.5056499476277496,0.32113275406729525],[0.6356499476963551,0.4145341074279498]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[0.31712280971691764,-2.454828290990153,0.71338606911949],"aabb_xy":[[0.2952141275775666,-2.476728957810243],[0.3390314918562687,-2.4329276241700617]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[-0.23241998743893255,-0.7100039072631139,0.71338606911949],"aabb_xy":[[-0.2628180985380761,-0.7404108092647833],[-0.20202187633978894,-0.6795970052614443]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[-0.5017843584728645,0.031041675106088906,0.71338606911949],"aabb_xy":[[-0.5445510653522847,-0.03295832831571355],[-0.4590176515934443,0.09504167852789136]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[0.5516233171141582,-0.3628566109229374,0.71338606911949],"aabb_xy":[[0.48762331781999,-0.42684275129179156],[0.6156233164083265,-0.29887047055408317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825775555402669,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6540.png","name":"6540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6540.png","name":"6540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2918.png","name":"2918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6483.png","name":"6483"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5927.png","name":"5927"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.8215463245592,"rotation_z_degrees":340.708131597501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000957056664888687,-0.015131165119791182,-0.009832169460754004]},{"name":"camera_2","offset_m":[0.013144813223448012,0.007965112188478635,0.017876470932899163]},{"name":"camera_3","offset_m":[0.004554558524665464,0.01644401296912335,-0.006248839188917299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001860289670880401,0.00036560937980315575,-0.0005752101174851623],"end_effector_yaw_offset_degrees":0.6146382336026437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001852458939400084,-0.001201896924426518,-0.0019540113262694345],"end_effector_yaw_offset_degrees":-0.9940043362172655},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001469429103003514,-0.001875818966618231,-0.0002386817956205882],"end_effector_yaw_offset_degrees":-0.8672389022899343}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004461061403855426,0.0014626685423366039],"position_m":[0.19596106140385544,0.025962668542336604,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004458293130379521,0.00035932935611224497],"position_m":[0.32785829313037956,0.3293593293561123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004164769663995067,-0.0019733085414197927],"position_m":[0.3600647696639951,0.061326691458580204,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033264428971931416,0.00019230514416209918],"position_m":[0.21487355710280687,-0.37110769485583794,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f04a9c384fdb24d8b71c2dd9dcbdfb668617eb049b22d29b5ce891b35ff15207","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6540/tex_ceiling_textures_5927/tex_floor_textures_6483/tex_table_textures_2918/tex_wall_textures_4901","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1537032217144977255,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1537032217144977255,"visual_seed":1537032217144977255,"scene_id":"lab_003","finished_at":"2026-09-03T02:09:22"} +{"episode_id":"ep_000071","started_at":"2026-09-03T02:09:25","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.31227714861989275,-0.7954195919934528,0.71338606911949],"aabb_xy":[[0.2844321118392857,-0.8262040907317645],[0.34012218540049993,-0.7646350932551411]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.14773291596756188,-1.0528207200013422,0.71338606911949],"aabb_xy":[[-0.15966565032938992,-1.0652028728092016],[-0.1358001816057338,-1.0404385671934828]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.6202057404553616,-1.5697206107140533,0.71338606911949],"aabb_xy":[[0.6160897903432888,-1.5738361657468989],[0.6243216905674341,-1.5656050556812078]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.5923630741886592,-0.31518647832564817,0.71338606911949],"aabb_xy":[[0.5423680632292073,-0.3651864773612399],[0.6423580851481113,-0.26518647929005645]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.5916871425287022,-1.4406464450366827,0.71338606911949],"aabb_xy":[[-0.6241488434106295,-1.470779277151585],[-0.5592254416467746,-1.41051361292178]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.6118567527856935,1.7273390280551255,0.71338606911949],"aabb_xy":[[0.5478567507359614,1.6872445449658178],[0.6758567548354254,1.7674335111444337]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.40425521293068967,-1.3696684632078313,0.71338606911949],"aabb_xy":[[-0.4377343801917306,-1.4031475765789383],[-0.3707760456696487,-1.3361893498367243]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.07532350152314549,-1.8783565018156827,0.71338606911949],"aabb_xy":[[-0.0857350602036292,-1.8837022351515809],[-0.06491194284266177,-1.873010768479784]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.42718686687708174,-1.1283158920348937,0.71338606911949],"aabb_xy":[[0.3771868655161945,-1.178293796610309],[0.47718686823796896,-1.0783379874594778]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.14894911034522984,1.482567150675227,0.71338606911949],"aabb_xy":[[-0.1708388579341706,1.3925671533859776],[-0.127059362756289,1.5725671479644758]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.13845400441588274,-2.496003439437689,0.71338606911949],"aabb_xy":[[-0.1553647368522245,-2.509475645030303],[-0.12154327197954094,-2.482531233845074]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.07643559588039561,0.847492589501996,0.71338606911949],"aabb_xy":[[0.012435597293823139,0.8004856261024872],[0.14043559446696807,0.8944995529015046]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.5365310084442225,1.3005149473885838,0.71338606911949],"aabb_xy":[[-0.5594467213292725,1.27761065025216],[-0.5136152955591727,1.323419244525007]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.5049261384729488,0.12412402101463194,0.71338606911949],"aabb_xy":[[-0.5689261357585973,0.08261730206178797],[-0.4409261411873,0.1656307399674759]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.5263375816771865,1.5575105896473445,0.71338606911949],"aabb_xy":[[0.46233757976484413,1.5015994403893342],[0.5903375835895288,1.6134217389053551]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.4437686342155256,-1.3524276995614997,0.71338606911949],"aabb_xy":[[0.37876863418122286,-1.399128376241827],[0.5087686342498283,-1.3057270228811724]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[-0.5451941224716241,-1.847209302658014,0.71338606911949],"aabb_xy":[[-0.5526065780130125,-1.853060513079642],[-0.5377816669302355,-1.8413580922363861]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.3490602737930639,-2.513804082179921,0.71338606911949],"aabb_xy":[[0.34347860215893516,-2.5263040819976967],[0.3546419454271927,-2.501304082362146]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.3664965810940686,1.695818902412761,0.71338606911949],"aabb_xy":[[0.31651234538589135,1.6458189035992652],[0.4164808168022458,1.7458189012262564]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.014763025365564286,1.6479401705077819,0.71338606911949],"aabb_xy":[[-0.06988823099515505,1.5879401690664947],[0.040362180264026486,1.707940171949069]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.3624403904534933,-0.4353957961238035,0.71338606911949],"aabb_xy":[[-0.4224403910495095,-0.49020826866902695],[-0.3024403898574771,-0.38058332357858]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.6765381287918926,-0.9076431862558727,0.71338606911949],"aabb_xy":[[0.664969148044956,-0.9326431863728046],[0.6881071095388291,-0.8826431861389412]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.39984872783798364,0.7414891479568291,0.71338606911949],"aabb_xy":[[0.31984872985719853,0.7338876069949771],[0.47984872581876864,0.749090688918681]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.5575767362941764,-1.5827289861435647,0.71338606911949],"aabb_xy":[[0.5400300413780574,-1.620228987707816],[0.5751234312102953,-1.5452289845793135]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.05778001268514399,-0.7814883658933522,0.71338606911949],"aabb_xy":[[-0.07527994611912736,-0.7989883658135867],[-0.04028007925116062,-0.7639883659731176]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.02441236014124759,-1.2611227113174257,0.71338606911949],"aabb_xy":[[-0.03321810874602326,-1.321122710244136],[0.08204282902851844,-1.2011227123907149]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_26","position":[0.6616662035715322,-2.3298478123118205,0.71338606911949],"aabb_xy":[[0.656208257934512,-2.4098478156194796],[0.6671241492085521,-2.2498478090041614]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_27","position":[-0.364196347221752,-0.16091988130701163,0.71338606911949],"aabb_xy":[[-0.4094749621029013,-0.2249198806551953],[-0.3189177323406028,-0.09691988195882795]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.6018862646857202,-2.2732158756556826,0.71338606911949],"aabb_xy":[[-0.656886264307466,-2.328199568443156],[-0.5468862650639743,-2.2182321828682103]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_29","position":[0.42686398803695336,-2.4197373860232587,0.71338606911949],"aabb_xy":[[0.401863988764991,-2.4360827496194206],[0.4518639873089156,-2.403392022427096]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[0.7087631994755546,1.290691431529809,0.71338606911949],"aabb_xy":[[0.7024510999392162,1.28492449227659],[0.7150752990118929,1.2964583707830277]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_31","position":[0.55938901912797,-0.15637838526229952,0.71338606911949],"aabb_xy":[[0.5095722396631353,-0.2063783837466029],[0.6092057985928048,-0.10637838677799616]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_32","position":[0.6001651700872335,-1.0518391345945222,0.71338606911949],"aabb_xy":[[0.5908715518500828,-1.0893391330826558],[0.6094587883243839,-1.014339136106388]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_33","position":[-0.34183948169933887,-0.8984602759696074,0.71338606911949],"aabb_xy":[[-0.3768394808921571,-0.9094273219672699],[-0.30683948250652054,-0.8874932299719447]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6757851901451281,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/603.png","name":"603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/603.png","name":"603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7454.png","name":"7454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2018.png","name":"2018"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5672.png","name":"5672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9342.png","name":"9342"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.1352783464628,"rotation_z_degrees":251.39944484879032,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011273979705953285,-0.010994541364496398,-0.01665275827595755]},{"name":"camera_2","offset_m":[0.011776647733202032,-0.0035728337167638645,-0.01797053567936253]},{"name":"camera_3","offset_m":[0.009640421564326433,0.009244482136100709,-0.01796024308250307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006985514923423151,0.001825387457583582,0.0013827476264184854],"end_effector_yaw_offset_degrees":-0.4769270685315192},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014475974123365236,0.00041014400885702696,-0.0008837261853909518],"end_effector_yaw_offset_degrees":-0.3460676376546239},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.02496757542118e-05,0.001932159234304065,-0.0006800549611513729],"end_effector_yaw_offset_degrees":-0.7523290025871476}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000307786593354337,-0.004703520825515878],"position_m":[0.19119221340664566,0.019796479174484124,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024607266467180154,-0.001164087159443855],"position_m":[0.320939273353282,0.32783591284055613,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004503356468355582,-0.0023683687312931866],"position_m":[0.3513966435316444,0.06093163126870681,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025350396259169483,-0.004284395927817376],"position_m":[0.21566496037408306,-0.3755843959278174,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f523fda11644e9be419611ec8ac50fb11392e3e0d5475788a55f18005393c5b","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_603/tex_ceiling_textures_9342/tex_floor_textures_5672/tex_table_textures_7454/tex_wall_textures_2018","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":4760767972225085630,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":4760767972225085630,"visual_seed":4760767972225085630,"scene_id":"lab_003","finished_at":"2026-09-03T02:12:05"} +{"episode_id":"ep_000072","started_at":"2026-09-03T02:12:09","dimensions":{"distractor":{"count":23,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.15792297373386355,-1.2646219991771515,0.71338606911949],"aabb_xy":[[-0.23792297239074955,-1.2791268581014141],[-0.07792297507697754,-1.2501171402528888]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.0650283273229153,-0.7872716556639581,0.71338606911949],"aabb_xy":[[-0.06898881109264968,-0.7949395202494787],[-0.06106784355318093,-0.7796037910784375]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.534687055555584,-0.9082776676743431,0.71338606911949],"aabb_xy":[[0.49968705728546403,-0.9153517953693312],[0.5696870538257038,-0.9012035399793549]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.3966066130135728,1.2789303057052313,0.71338606911949],"aabb_xy":[[0.3623097019958321,1.24463341949529],[0.4309035240313134,1.3132271919151726]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.5051191297537495,-0.45679922571698883,0.71338606911949],"aabb_xy":[[-0.5651191306145622,-0.5082256557234752],[-0.44511912889293664,-0.40537279571050244]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.5411152060064274,0.3591478655739273,0.71338606911949],"aabb_xy":[[-0.6211152081691899,0.27919268194778374],[-0.4611152038436649,0.439103049200071]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.0205356757063887,0.6454317775015648,0.71338606911949],"aabb_xy":[[-0.031103155364487708,0.6348867473885561],[-0.009968196048289687,0.6559768076145732]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.24708903067381494,-2.4303072144938773,0.71338606911949],"aabb_xy":[[0.1930734343919149,-2.494307217386134],[0.30110462695571494,-2.3663072116016197]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.5811518520255172,0.9770779066435287,0.71338606911949],"aabb_xy":[[0.531269155147821,0.9270779073972539],[0.6310345489032134,1.0270779058898034]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.6432152989305734,-2.4285242721351246,0.71338606911949],"aabb_xy":[[-0.6476459282854136,-2.433972643869807],[-0.6387846695757332,-2.423075900400442]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.04125179848098659,-1.8588074737057902,0.71338606911949],"aabb_xy":[[-0.008747476687449574,-1.9088074749817376],[0.09125107364942275,-1.8088074724298433]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.4637960403401752,0.08746716233669583,0.71338606911949],"aabb_xy":[[-0.5487960390322498,0.055481298941816956],[-0.37879604164810055,0.11945302573157467]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.41284054035789985,-2.4030169651057123,0.71338606911949],"aabb_xy":[[0.3953405400985633,-2.417108507294485],[0.43034054061723653,-2.3889254229169397]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.5507808184978983,-1.696135315544773,0.71338606911949],"aabb_xy":[[-0.6007808194484311,-1.7276844625482939],[-0.5007808175473655,-1.664586168541251]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.6001869171709973,-0.42985238951512317,0.71338606911949],"aabb_xy":[[0.5910270382271207,-0.43638360755866007],[0.6093467961148739,-0.42332117147158604]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.41241487102885616,-0.9460232201072036,0.71338606911949],"aabb_xy":[[-0.4300905016174545,-0.9637034363866063],[-0.3947392404402578,-0.9283430038278008]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.04478311493376563,1.1649150312474683,0.71338606911949],"aabb_xy":[[-0.13478311143463736,1.1190033888290098],[0.04521688156710612,1.2108266736659263]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.09392109993299713,1.6779527092128315,0.71338606911949],"aabb_xy":[[0.08621790925892009,1.6702433385140931],[0.10162429060707417,1.6856620799115694]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.4826527585963196,-2.4557814923077688,0.71338606911949],"aabb_xy":[[-0.5626527555593588,-2.532857133951542],[-0.40265276163328045,-2.3787058506639953]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.2777829663092578,1.5849267552343034,0.71338606911949],"aabb_xy":[[0.21778296466633595,1.5329266059423592],[0.33778296795217966,1.6369269045262476]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.6345218793062413,-2.4102848345487455,0.71338606911949],"aabb_xy":[[0.5705218807196688,-2.4572917979482543],[0.6985218778928137,-2.363277871149237]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.03227209370457862,-0.917832099884925,0.71338606911949],"aabb_xy":[[-0.06977209352161218,-0.9224703111960667],[0.005227906112454946,-0.913193888573783]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.2951150406540609,-0.6282795991563104,0.71338606911949],"aabb_xy":[[-0.32957738805220266,-0.662773481554133],[-0.26065269325591905,-0.5937857167584876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789721753265698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7171.png","name":"7171"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7171.png","name":"7171"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4009.png","name":"4009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4571.png","name":"4571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4784.png","name":"4784"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":509.2767631484383,"rotation_z_degrees":315.40051478886505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018375600170679896,-0.013455249058157474,-0.0043261489061379825]},{"name":"camera_2","offset_m":[0.01781273908326955,0.012204783533402857,0.01576503047230261]},{"name":"camera_3","offset_m":[0.013575170124809553,0.018934496727913305,-0.010636724028283574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003461475843771788,-0.0016929672642737904,0.0010917902897016364],"end_effector_yaw_offset_degrees":-0.1833006202845775},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008102914641979924,-0.0013323163202366016,0.0017108375397115686],"end_effector_yaw_offset_degrees":0.3602756550021635},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019777613949459377,0.001926045247236977,5.5817486657154785e-05],"end_effector_yaw_offset_degrees":0.6764981142095396}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009254445838160694,0.0030756340618153773],"position_m":[0.19057455541618393,0.027575634061815377,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023707664393250805,-0.0033308489584261006],"position_m":[0.3257707664393251,0.3256691510415739,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019375478557961423,-0.00109129559230028],"position_m":[0.35396245214420385,0.06220870440769972,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004679872830398534,-0.0038159104821829317],"position_m":[0.21352012716960148,-0.37511591048218296,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e37657e50d65711abb6783b873c34922e0a981ac8843b43c6d84f6cf0b67950","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7171/tex_ceiling_textures_4784/tex_floor_textures_4571/tex_table_textures_4009/tex_wall_textures_3475","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6291008261740921386,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6291008261740921386,"visual_seed":6291008261740921386,"scene_id":"lab_003","finished_at":"2026-09-03T02:14:51"} +{"episode_id":"ep_000073","started_at":"2026-09-03T02:14:55","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.4105213176747664,-0.34886096482416606,0.71338606911949],"aabb_xy":[[-0.4745213190827571,-0.4006499163480908],[-0.34652131626677574,-0.29707201330024136]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[0.23873570513049513,0.9867090074782108,0.71338606911949],"aabb_xy":[[0.22123570585240826,0.9693709074118647],[0.256235704408582,1.0040471075445567]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.45663187270779204,-1.850064481536072,0.71338606911949],"aabb_xy":[[0.40681509324295734,-1.9000644800203752],[0.5064486521726268,-1.8000644830517685]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.20746082967749147,1.1878308575663694,0.71338606911949],"aabb_xy":[[0.1434608264588536,1.141107745667361],[0.2714608328961293,1.2345539694653778]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.1961348340140106,0.26782282342729546,0.71338606911949],"aabb_xy":[[-0.20171650564813937,0.25532282360951997],[-0.19055316237988185,0.28032282324507096]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.4593696935088736,-1.4318944116478993,0.71338606911949],"aabb_xy":[[0.3893696919065942,-1.445327204849557],[0.5293696951111532,-1.4184616184462417]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.016458073778534588,1.3061620618277803,0.71338606911949],"aabb_xy":[[-0.038515648257798296,1.251162062263547],[0.07143179581486747,1.3611620613920135]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.40421478108074094,0.09665541111000042,0.71338606911949],"aabb_xy":[[-0.43050360540118154,0.07038397745534919],[-0.3779259567603002,0.12292684476465165]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.38654035530448067,1.1537665973373472,0.71338606911949],"aabb_xy":[[-0.4364230521821769,1.1037665980910725],[-0.33665765842678447,1.203766596583622]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.4738365888146245,-0.6936576014070412,0.71338606911949],"aabb_xy":[[-0.5166032956940447,-0.7576576048288437],[-0.4310698819352043,-0.6296575979852388]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.2083913789913685,0.12979831915941276,0.71338606911949],"aabb_xy":[[-0.25836879585662204,0.0797983176701642],[-0.1584139621261149,0.17979832064866128]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[0.43676287293109506,1.6797774652671955,0.71338606911949],"aabb_xy":[[0.3867697608219032,1.6297774645930003],[0.48675598504028694,1.7297774659413916]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.587116801880142,-2.5309105760211437,0.71338606911949],"aabb_xy":[[0.53712179092069,-2.5809105750567354],[0.6371118128395941,-2.480910576985552]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.32727905107744504,-1.776899358793702,0.71338606911949],"aabb_xy":[[-0.39227904923336404,-1.8031956033436143],[-0.2622790529215259,-1.75060311424379]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.05069511002919724,-1.4934732250231366,0.71338606911949],"aabb_xy":[[-0.11469511207892924,-1.5335677081124446],[0.01330489202053476,-1.4533787419338287]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.5051848700726357,-1.4149580489945395,0.71338606911949],"aabb_xy":[[-0.5512699613273672,-1.4789580462470944],[-0.45909977881790426,-1.3509580517419841]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.2897198847773834,-1.8687703275015848,0.71338606911949],"aabb_xy":[[0.2647198848448655,-1.875652995722508],[0.3147198847099013,-1.8618876592806615]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.36326123085277895,0.6036550234352167,0.71338606911949],"aabb_xy":[[0.31326123220685775,0.5537354797757543],[0.41326122949870014,0.6535745670946791]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.17620218879853244,-0.9176309964885903,0.71338606911949],"aabb_xy":[[0.17224170502879807,-0.9252988610741111],[0.18016267256826682,-0.9099631319030699]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.3314106561461586,1.5885191125026021,0.71338606911949],"aabb_xy":[[-0.381383950149419,1.5385191119480544],[-0.2814373621428981,1.638519113057149]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.5784833370331401,0.2437397167654689,0.71338606911949],"aabb_xy":[[0.5084833349017106,0.2209777511397732],[0.6484833391645697,0.2665016823911645]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6733226231174894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6972.png","name":"6972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6972.png","name":"6972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9300.png","name":"9300"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3513.png","name":"3513"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8339.png","name":"8339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.4204405590476,"rotation_z_degrees":257.82740713035207,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008379494494660415,0.004571676924903359,0.006441801726206342]},{"name":"camera_2","offset_m":[-0.01594740189055969,0.003845247039265906,-0.004735003948639856]},{"name":"camera_3","offset_m":[-0.012331939857760203,0.006002842511877989,0.0006539305593646731]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010043450158114548,-0.0005729945419171219,-0.00015331370052069156],"end_effector_yaw_offset_degrees":0.09818389943667727},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031436188307327096,0.0015333125501801647,0.0016417687792526729],"end_effector_yaw_offset_degrees":0.8848757243190735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007375825586252598,-0.0010450784626814058,0.0017168143526104683],"end_effector_yaw_offset_degrees":-0.249575535130095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033584888843544514,0.004464486706786871],"position_m":[0.19485848888435445,0.028964486706786873,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003479531352290296,-0.004412287949831692],"position_m":[0.31992046864770973,0.32458771205016834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00021305889502905122,0.0040336068449519065],"position_m":[0.35568694110497096,0.0673336068449519,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013074080361453926,-0.0012805782662307398],"position_m":[0.2195074080361454,-0.37258057826623076,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"00d931c1c89b5e08d246e392e07f52c229993dfe18d304e0fd72cb0dfb303159","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6972/tex_ceiling_textures_2985/tex_floor_textures_8339/tex_table_textures_9300/tex_wall_textures_3513","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3895040577095784326,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3895040577095784326,"visual_seed":3895040577095784326,"scene_id":"lab_003","finished_at":"2026-09-03T02:17:44"} +{"episode_id":"ep_000074","started_at":"2026-09-03T02:24:02","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.5952711314385823,-0.6418084366644867,0.71338606911949],"aabb_xy":[[-0.6001704237451457,-0.6694853559670554],[-0.5903718391320187,-0.6141315173619178]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.36481994298450315,1.3483453143856483,0.71338606911949],"aabb_xy":[[-0.40981252970295357,1.3033453151111996],[-0.31982735626605274,1.393345313660097]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.011614796308266673,-0.8643317476306496,0.71338606911949],"aabb_xy":[[-0.01865510624180367,-0.9443317470303213],[-0.004574486374729681,-0.7843317482309785]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.6503736373835003,-0.9130912558909827,0.71338606911949],"aabb_xy":[[0.6282011104068495,-0.9352669230471058],[0.6725461643601511,-0.8909155887348594]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.29608885579531996,1.1271212777010073,0.71338606911949],"aabb_xy":[[0.27841322520672157,1.1094410614216046],[0.31376448638391824,1.14480149398041]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.19316450468571855,0.01379484058431757,0.71338606911949],"aabb_xy":[[-0.2107428068746654,-0.003779648989787332],[-0.1755862024967717,0.03136933015842247]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.22213775163886806,0.623922625314191,0.71338606911949],"aabb_xy":[[0.15813775093539872,0.5779042428412701],[0.2861377523423374,0.6699410077871121]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.04234050675846768,1.1188829150238595,0.71338606911949],"aabb_xy":[[0.0073405084477722315,1.111167900100314],[0.07734050506916312,1.1265979299474054]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.3785509213326679,-1.4319443614148448,0.71338606911949],"aabb_xy":[[0.328550920382135,-1.4634935084183662],[0.42855092228320063,-1.4003952144113234]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.4157861082529841,-2.1336172299156777,0.71338606911949],"aabb_xy":[[-0.48578611164454605,-2.168933003619108],[-0.3457861048614221,-2.0983014562122464]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.06028363957143967,-1.3571926956642837,0.71338606911949],"aabb_xy":[[-0.13028364220802602,-1.3772975606601487],[0.009716363065146678,-1.3370878306684177]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.4823920189973396,-1.9281933108510287,0.71338606911949],"aabb_xy":[[-0.4903855087926217,-1.9361914427915046],[-0.47439852920205766,-1.9201951789105534]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.468578815424387,-0.8915776061389509,0.71338606911949],"aabb_xy":[[-0.532578811851709,-0.9387472299610474],[-0.4045788189970651,-0.8444079823168545]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.6276536440021963,-1.5989767702182534,0.71338606911949],"aabb_xy":[[0.5901536436539684,-1.610768165799337],[0.6651536443504239,-1.5871853746371698]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.3496742850779978,-0.38101076849545557,0.71338606911949],"aabb_xy":[[-0.41367428712772975,-0.42110525158476353],[-0.28567428302826575,-0.3409162854061476]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.2961708685871043,-2.0416411811471087,0.71338606911949],"aabb_xy":[[-0.3761708690573203,-2.0499518887614574],[-0.21617086811688835,-2.033330473532761]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.36094628686200564,-1.729390851054498,0.71338606911949],"aabb_xy":[[-0.4070313781167371,-1.793390848307053],[-0.31486119560727416,-1.6653908538019428]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.31102061168979533,-0.49579766388024327,0.71338606911949],"aabb_xy":[[0.28974260354632303,-0.5607976662063163],[0.33229861983326753,-0.43079766155417015]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.027832698356058727,-1.8695277350230755,0.71338606911949],"aabb_xy":[[-0.11783269509166894,-1.9227111983403697],[0.06216729837955148,-1.8163442717057807]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.11942976873237232,-2.4214390442340847,0.71338606911949],"aabb_xy":[[-0.18342976899284313,-2.4664478435870127],[-0.055429768471901515,-2.3764302448811567]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.3001122806261213,-2.2290842051685584,0.71338606911949],"aabb_xy":[[0.23611228145635135,-2.275850892287521],[0.3641122797958912,-2.182317518049596]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.11637561545896968,-0.6375033346657777,0.71338606911949],"aabb_xy":[[0.10553513723245476,-0.6546896159564264],[0.1272160936854846,-0.6203170533751288]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.5843133706367194,1.0961509923866521,0.71338606911949],"aabb_xy":[[0.5788554249996993,1.016150989078993],[0.5897713162737395,1.1761509956943113]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.034834182630156474,1.390058028270984,0.71338606911949],"aabb_xy":[[-0.0988341848505635,1.3456849441456957],[0.02916581959025056,1.4344311123962723]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.30409923581328396,1.7923408827508749,0.71338606911949],"aabb_xy":[[-0.34159923591887686,1.7855187208978938],[-0.26659923570769095,1.799163044603856]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.6468102815556576,0.6703195725490536,0.71338606911949],"aabb_xy":[[-0.654222737097046,0.6644683621274257],[-0.6393978260142691,0.6761707829706816]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[0.3560767329787624,-1.9301028950956074,0.71338606911949],"aabb_xy":[[0.26607673325558817,-1.9531762476307872],[0.44607673270193654,-1.9070295425604276]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.28328284148630034,0.7933084610435426,0.71338606911949],"aabb_xy":[[0.2192828412123221,0.7432423608462545],[0.34728284176027857,0.8433745612408304]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[0.5154144697392093,0.8046350974448324,0.71338606911949],"aabb_xy":[[0.5046414958178416,0.7696350992257935],[0.5261874436605771,0.8396350956638715]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.5076237338677025,1.3012364492166135,0.71338606911949],"aabb_xy":[[-0.5163377029176369,1.2787364485574249],[-0.498909764817768,1.3237364498758013]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.37191379436560235,-0.0681682542236941,0.71338606911949],"aabb_xy":[[-0.3768698145504836,-0.09066825442581573],[-0.3669577741807212,-0.04566825402157249]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[0.686846963161444,0.39369355619262336,0.71338606911949],"aabb_xy":[[0.676279483503345,0.3831485260796148],[0.697414442819543,0.4042385863056319]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[0.5499570656936246,-1.282475390268042,0.71338606911949],"aabb_xy":[[0.5164778984325836,-1.315954503639149],[0.5834362329546655,-1.248996276896935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683161593027451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7584.png","name":"7584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7584.png","name":"7584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5801.png","name":"5801"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7900.png","name":"7900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7236.png","name":"7236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6411.png","name":"6411"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":523.6990705581048,"rotation_z_degrees":290.36113024756696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006521626238521101,-0.004636820830671691,-0.004185057608966633]},{"name":"camera_2","offset_m":[0.019829713523184172,0.016897564784893394,-0.008242113205613749]},{"name":"camera_3","offset_m":[0.015143268899114843,-0.006873492432605453,-0.008908207883002936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014220486402621883,0.0011962065880530932,-0.0004339367631626355],"end_effector_yaw_offset_degrees":0.9361715405938025},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013896630697381443,0.0013499235794977643,-0.001407392007254091],"end_effector_yaw_offset_degrees":-0.623157112565081},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002836327039148507,-0.0014216634951040607,0.0018743890287063296],"end_effector_yaw_offset_degrees":0.6388052729392206}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003152745088373228,-0.0001853967671318693],"position_m":[0.19465274508837324,0.02431460323286813,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004441536803323573,0.0015983155313363598],"position_m":[0.3278415368033236,0.3305983155313364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027620169785822256,-0.0014688187073760685],"position_m":[0.35313798302141775,0.061831181292623924,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003875069811603353,-0.0014357935950968528],"position_m":[0.21432493018839666,-0.3727357935950969,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0cd1da34016e1b4ad047c175e93930629eeeb4e44e688c14b5daeaaa55d00dc3","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7584/tex_ceiling_textures_6411/tex_floor_textures_7236/tex_table_textures_5801/tex_wall_textures_7900","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5119954500342372890,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5119954500342372890,"visual_seed":5119954500342372890,"scene_id":"lab_003","finished_at":"2026-09-03T02:26:48"} +{"episode_id":"ep_000075","started_at":"2026-09-03T02:29:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.42011401842620183,-0.17811891501557797,0.71338606911949],"aabb_xy":[[-0.4841140204759338,-0.21821339810488594],[-0.35611401637646983,-0.13802443192627]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.05206347211997431,-2.1422298155321644,0.71338606911949],"aabb_xy":[[0.04862279587991714,-2.146091248506529],[0.05550414836003149,-2.1383683825578]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.49694463564960767,-0.16585373477994647,0.71338606911949],"aabb_xy":[[0.42694463384086223,-0.18720750354413382],[0.5669446374583531,-0.14449996601575907]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.15736441867233708,-0.2323934020853935,0.71338606911949],"aabb_xy":[[-0.16751743422648643,-0.26846294365813383],[-0.14721140311818767,-0.19632386051265313]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.536577584806635,1.3093418638830046,0.71338606911949],"aabb_xy":[[0.48657758352279495,1.259363009492382],[0.5865775860904748,1.3593207182736262]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.03103307005578082,0.23395083013469975,0.71338606911949],"aabb_xy":[[-0.03916075824909404,0.2250372217239921],[-0.022905381862467596,0.2428644385454074]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.40138479352546197,0.5901826446385221,0.71338606911949],"aabb_xy":[[0.3463915821883252,0.5351826442997285],[0.4563780048625988,0.6451826449773157]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.27561838011875855,0.1442929289271775,0.71338606911949],"aabb_xy":[[-0.2989002223168898,0.05929292762994944],[-0.2523365379206271,0.22929293022440556]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.49122432330318744,1.4526721377425909,0.71338606911949],"aabb_xy":[[-0.5036916814129231,1.4402068131092673],[-0.47875696519345184,1.4651374623759144]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.3880724621434175,0.36370716976182926,0.71338606911949],"aabb_xy":[[0.37139532615032195,0.34700724578789893],[0.40474959813651296,0.3804070937357595]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.498528105504378,0.2781519220236466,0.71338606911949],"aabb_xy":[[0.48102810637001076,0.2682722949860587],[0.516028104638745,0.28803154906123435]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.019119319922133005,0.9465522833303597,0.71338606911949],"aabb_xy":[[-0.08311931720778165,0.9050455643775157],[0.04488067736351564,0.9880590022832036]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.47631897456117656,0.5050276280148496,0.71338606911949],"aabb_xy":[[-0.48919087806211664,0.4250276276010135],[-0.46344707106023636,0.5850276284286857]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.5832003932865151,-2.4255601300907563,0.71338606911949],"aabb_xy":[[0.571328310275014,-2.5105601297844067],[0.5950724762980162,-2.340560130397106]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.5611818682183163,-0.023190167799962857,0.71338606911949],"aabb_xy":[[0.5524839059276011,-0.03531514210743759],[0.5698798305090317,-0.011065193492488136]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.6007915584357327,-0.5378661655719661,0.71338606911949],"aabb_xy":[[-0.6105475479449065,-0.5476286996312005],[-0.5910355689265587,-0.5281036315127317]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.668996876943978,-1.3534796554103252,0.71338606911949],"aabb_xy":[[0.6613726088537999,-1.361112878946869],[0.6766211450341564,-1.3458464318737815]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.28584981269682164,-1.684558797813073,0.71338606911949],"aabb_xy":[[0.26338504272541646,-1.7070587986919332],[0.3083145826682267,-1.6620587969342122]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.24067110664218894,1.813799649048518,0.71338606911949],"aabb_xy":[[0.2347045677014531,1.807838504389154],[0.24663764558292467,1.8197607937078824]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.07144356656896156,0.09432997565127543,0.71338606911949],"aabb_xy":[[-0.08234934265652427,0.014329979252446279],[-0.060537790481398845,0.1743299720501046]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.20510128675599315,1.5164482518180766,0.71338606911949],"aabb_xy":[[-0.25009387347444356,1.4714482525436277],[-0.16010870003754274,1.5614482510925252]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.36260032836940637,1.6567209061885726,0.71338606911949],"aabb_xy":[[0.35467704813065803,1.634220905950569],[0.3705236086081547,1.6792209064265757]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.41851617410645986,-1.858974449594045,0.71338606911949],"aabb_xy":[[-0.4529786521195476,-1.8656381267769677],[-0.38405369609337203,-1.8523107724111223]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[0.3563525812916175,1.7732038606164324,0.71338606911949],"aabb_xy":[[0.2923525780729797,1.726480748717424],[0.4203525845102554,1.8199269725154408]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.4944130953820943,-0.6407302963499595,0.71338606911949],"aabb_xy":[[-0.5052647016309699,-0.6515895870776106],[-0.4835614891332187,-0.6298710056223086]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.5724174299146527,-1.680322327444883,0.71338606911949],"aabb_xy":[[0.5650049743732642,-1.686173537866511],[0.5798298854560412,-1.6744711170232551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6797070555493823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2060.png","name":"2060"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2060.png","name":"2060"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1620.png","name":"1620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5649.png","name":"5649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":615.8704608674559,"rotation_z_degrees":145.9208188319956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014235278929512277,0.01921125566657556,-0.01457043122166387]},{"name":"camera_2","offset_m":[0.007469612241644375,-0.017745197474042892,-0.0016522015561016082]},{"name":"camera_3","offset_m":[0.012807945523259204,-0.016262189363711387,-0.0028498531863705608]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015679686979905366,-0.001297016691565926,-0.0019122697337350383],"end_effector_yaw_offset_degrees":-0.6663938845811985},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009513861970469812,0.001362346607663253,-0.0005316915981214553],"end_effector_yaw_offset_degrees":0.3518021029882259},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005994627624221138,0.0004186529551023421,-0.0016383842376488102],"end_effector_yaw_offset_degrees":-0.9052034164676934}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004666404921948976,0.0003160861910972172],"position_m":[0.1919666404921949,0.02481608619109722,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008863826703735421,0.004060477884436115],"position_m":[0.32251361732962647,0.33306047788443616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004931154909459707,-0.002300409937740753],"position_m":[0.35096884509054027,0.060999590062259246,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002955826896322281,-0.0004170486392765949],"position_m":[0.21524417310367772,-0.3717170486392766,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bb0be13835e222d146a9fa8d6b1c008fbf966a04fe8b6d3f9318359fdbb19cf4","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2060/tex_ceiling_textures_2983/tex_floor_textures_5649/tex_table_textures_1620/tex_wall_textures_2700","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8170997360611407195,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8170997360611407195,"visual_seed":8170997360611407195,"scene_id":"lab_003","finished_at":"2026-09-03T02:32:35"} +{"episode_id":"ep_000076","started_at":"2026-09-03T02:32:39","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.24715449767537734,-0.6356685139358793,0.71338606911949],"aabb_xy":[[0.15715449795220315,-0.658741866471059],[0.3371544973985515,-0.6125951614006994]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.1262517682286537,0.7531075110887344,0.71338606911949],"aabb_xy":[[-0.1481604503680047,0.7312068442686437],[-0.10434308608930262,0.7750081779088251]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.6209532886106872,-2.0586000316969204,0.71338606911949],"aabb_xy":[[0.5709532876601543,-2.0901491787004414],[0.6709532895612199,-2.0270508846933986]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.31067941929505144,-2.4158574657932634,0.71338606911949],"aabb_xy":[[-0.3756794193293542,-2.4625581424735903],[-0.24567941926074877,-2.3691567891129357]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.45287284462383126,-0.5476498431096388,0.71338606911949],"aabb_xy":[[0.3878728435178879,-0.5726152161777671],[0.5178728457297745,-0.5226844700415105]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.45639909317691973,1.1805588969852767,0.71338606911949],"aabb_xy":[[0.37139909448484515,1.1485730335903976],[0.5413990918689944,1.2125447603801554]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.6487669666091496,-1.9269319039007669,0.71338606911949],"aabb_xy":[[-0.6855615997340558,-1.9638377789973491],[-0.6119723334842433,-1.8900260288041846]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.1658389885605368,-1.8066119876186035,0.71338606911949],"aabb_xy":[[-0.22983899078094383,-1.8509850717438916],[-0.10183898634012978,-1.762238903493315]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[0.5500247092015926,-2.4021025516867036,0.71338606911949],"aabb_xy":[[0.5427423928249288,-2.4921025552962117],[0.5573070255782561,-2.3121025480771937]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.6619601978766395,-1.0861658412484094,0.71338606911949],"aabb_xy":[[-0.6775159672869049,-1.1017162744928166],[-0.6464044284663744,-1.0706154080040022]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.12152009947849984,-1.5714657510524237,0.71338606911949],"aabb_xy":[[0.057524402083403245,-1.6354657493531322],[0.18551579687359643,-1.5074657527517148]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.13686901820475705,-2.281941747425631,0.71338606911949],"aabb_xy":[[-0.18685196839223636,-2.331941747068191],[-0.0868860680172777,-2.23194174778307]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[0.4344480290550814,0.9571855109909793,0.71338606911949],"aabb_xy":[[0.35444803046776197,0.8778699090528184],[0.5144480276424008,1.0365011129291402]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.5217668873145109,1.5667608288611423,0.71338606911949],"aabb_xy":[[0.47176688866858973,1.51684128520168],[0.5717668859604321,1.6166803725206047]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.32503487133544556,-0.9936273100747695,0.71338606911949],"aabb_xy":[[-0.3750341465038818,-1.0436273113507166],[-0.27503559616700946,-0.9436273087988224]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.5571639609661707,-0.19103627438907678,0.71338606911949],"aabb_xy":[[0.49316396237959825,-0.2380432377885855],[0.6211639595527432,-0.14402931098956806]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.2746678300437782,1.7422335796960113,0.71338606911949],"aabb_xy":[[-0.3217972090456138,1.6782335786516094],[-0.22753845104194248,1.8062335807404133]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.042454771205683195,0.6600407306350085,0.71338606911949],"aabb_xy":[[0.03641775820501847,0.6540140295660603],[0.04849178420634793,0.6660674317039567]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.47793337024413507,1.5385576253553839,0.71338606911949],"aabb_xy":[[-0.5419333705046059,1.4935488260024559],[-0.41393336998366426,1.5835664247083119]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.6669140508182689,-1.8966705395917574,0.71338606911949],"aabb_xy":[[0.6581328236710329,-1.905450286880288],[0.6756952779655054,-1.8878907923032275]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.5456805571914416,0.8549082557998395,0.71338606911949],"aabb_xy":[[-0.615680559322871,0.8321462901741437],[-0.47568055506001194,0.877670221425535]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.364349785088352,0.5912874722790171,0.71338606911949],"aabb_xy":[[-0.4183653813702519,0.5272874693867599],[-0.3103341888064519,0.6552874751712742]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.39054827704614764,1.1277085332940913,0.71338606911949],"aabb_xy":[[-0.44054827840703487,1.0777306287186754],[-0.3405482756852604,1.1776864378695067]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.05166416920078032,-1.8200139888015654,0.71338606911949],"aabb_xy":[[-0.02833583107282667,-1.8929635366272821],[0.13166416947438728,-1.7470644409758487]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.6343884152540982,-0.03943936973630846,0.71338606911949],"aabb_xy":[[0.6267641471639199,-0.04707259327285219],[0.6420126833442764,-0.03180614619976474]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[0.3885313618170747,-0.8929759727688478,0.71338606911949],"aabb_xy":[[0.2985313653162029,-0.9388876151873058],[0.4785313583179464,-0.8470643303503893]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[0.542092720244362,1.3544095997507548,0.71338606911949],"aabb_xy":[[0.5262082269790368,1.3400566594519305],[0.5579772135096871,1.3687625400495786]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[0.5044007297701361,-1.8953502779732054,0.71338606911949],"aabb_xy":[[0.4951071115329855,-1.9328502764613391],[0.5136943480072866,-1.8578502794850713]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679601715299168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9564.png","name":"9564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9564.png","name":"9564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2725.png","name":"2725"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5453.png","name":"5453"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":505.6743945661406,"rotation_z_degrees":193.5447461450143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012007677232620924,0.01749700689773002,-0.01348787900964047]},{"name":"camera_2","offset_m":[-0.009852354054436177,-0.003857627306299856,-0.013493258483382752]},{"name":"camera_3","offset_m":[0.011595672714546767,0.01971743217127433,-0.01185943908002772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013843820744570761,0.0019794282555958467,-0.0015986984352001207],"end_effector_yaw_offset_degrees":0.8254915435429009},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007471716211174505,0.0013510800370533562,0.0001575447360362219],"end_effector_yaw_offset_degrees":0.5879834366730812},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009229568040596482,-0.00161182206099206,-0.000514841755399385],"end_effector_yaw_offset_degrees":-0.9508524759814803}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020338543223173515,0.000253050813442888],"position_m":[0.19353385432231734,0.024753050813442888,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003917757908791979,-0.004855009745119652],"position_m":[0.327317757908792,0.32414499025488036,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021169303488902634,0.0027607443273219116],"position_m":[0.3537830696511097,0.06606074432732191,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00460286529785692,-0.00282676356456789],"position_m":[0.22280286529785692,-0.3741267635645679,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8664fb9c9647519d85705b50b51d9d1156dba0f36e84bcee44ff0f3af30b52c","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9564/tex_ceiling_textures_5453/tex_floor_textures_1593/tex_table_textures_5329/tex_wall_textures_2725","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2510159867118710192,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2510159867118710192,"visual_seed":2510159867118710192,"scene_id":"lab_003","finished_at":"2026-09-03T02:35:22"} +{"episode_id":"ep_000077","started_at":"2026-09-03T02:35:25","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.20597204264389068,-2.217342762335093,0.71338606911949],"aabb_xy":[[-0.28597204480665317,-2.297297945961237],[-0.12597204048112817,-2.1373875787089496]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.6492688458847886,-1.7860021730692024,0.71338606911949],"aabb_xy":[[-0.6563102968355362,-1.7930289248069968],[-0.642227394934041,-1.778975421331408]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.01584523090343315,-2.0090790172312922,0.71338606911949],"aabb_xy":[[-0.1058452345803513,-2.070511423808396],[0.07415477277348502,-1.9476466106541874]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.4699155975573324,-0.7521972202472211,0.71338606911949],"aabb_xy":[[-0.5339155982608017,-0.7982156027201422],[-0.40591559685386314,-0.7061788377743001]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.2515472327906924,0.6559282042992041,0.71338606911949],"aabb_xy":[[-0.2692228633792907,0.6382479880198012],[-0.23387160220209405,0.6736084205786067]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.30385783672330596,1.4947193602465725,0.71338606911949],"aabb_xy":[[-0.33815474774104654,1.460422474036631],[-0.2695609257055653,1.5290162464565136]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.6196305968581652,-2.2799252026965133,0.71338606911949],"aabb_xy":[[0.5774461826973345,-2.3439252029737245],[0.661815011018996,-2.215925202419302]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.3457139784429597,-1.0920700965941474,0.71338606911949],"aabb_xy":[[0.2817139763932277,-1.1321645796834554],[0.4097139804926917,-1.0519756135048395]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.35229165549056995,0.5652940628776069,0.71338606911949],"aabb_xy":[[0.2882916535782276,0.5093829136195964],[0.4162916574029123,0.6212052121356173]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.5101533688309445,-1.0417793969709899,0.71338606911949],"aabb_xy":[[0.48765423310471756,-1.0642793977492528],[0.5326525045571715,-1.019279396192727]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.3406908013696086,-0.6629355456508199,0.71338606911949],"aabb_xy":[[-0.36569080130212656,-0.6698182138717432],[-0.3156908014370908,-0.6560528774298966]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[0.1101092470111622,-1.3614105447388112,0.71338606911949],"aabb_xy":[[0.06011613490197033,-1.411410545413007],[0.16010235912035412,-1.3114105440646158]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.4180298906344125,0.8928126416643103,0.71338606911949],"aabb_xy":[[-0.4355298908937492,0.8787210994755378],[-0.40052989037507597,0.906904183853083]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.1523408827563706,0.5525969444157082,0.71338606911949],"aabb_xy":[[-0.16311385667773837,0.5175969461966691],[-0.1415679088350028,0.587596942634747]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.1804706843539513,0.2963684385042522,0.71338606911949],"aabb_xy":[[-0.23046995952238747,0.2463684372283051],[-0.13047140918551514,0.34636843978019943]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.48901486214681744,0.048918979818298514,0.71338606911949],"aabb_xy":[[-0.5036582677008503,0.034260260161514226],[-0.4743714565927844,0.0635776994750828]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.12080583427853075,-2.469335916817268,0.71338606911949],"aabb_xy":[[0.05080583088696878,-2.5046516905206984],[0.19080583767009274,-2.4340201431138366]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.18172227783066408,1.0751708971668092,0.71338606911949],"aabb_xy":[[-0.27172227755383827,1.0520975446316294],[-0.09172227810748991,1.098244249701989]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.23191311405117326,-1.7291640758099138,0.71338606911949],"aabb_xy":[[-0.32191311055204497,-1.775075718228372],[-0.14191311755030148,-1.6832524333914556]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.23545831210378698,-1.9093633426796897,0.71338606911949],"aabb_xy":[[-0.29045152344092373,-1.9643633430184835],[-0.18046510076665018,-1.8543633423408963]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[0.5856253040357908,-2.5600555476265763,0.71338606911949],"aabb_xy":[[0.5657342641554506,-2.572711358911273],[0.6055163439161311,-2.5473997363418794]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.4081784464344283,1.3470375900233114,0.71338606911949],"aabb_xy":[[-0.4581626821426055,1.2970375912098158],[-0.35819421072625107,1.397037588836807]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.6469726371503581,-0.4288169564800297,0.71338606911949],"aabb_xy":[[-0.6844726376477164,-0.43278564002814807],[-0.6094726366529999,-0.42484827293191124]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.3449230651730229,-0.1863170924517834,0.71338606911949],"aabb_xy":[[-0.37923934234764084,-0.23631709242496113],[-0.31060678799840497,-0.13631709247860568]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.6129490491460015,1.1249173336832694,0.71338606911949],"aabb_xy":[[0.5629490505000803,1.074997790023807],[0.6629490477919227,1.1748368773427318]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[0.4500974816388601,-0.33590442642396656,0.71338606911949],"aabb_xy":[[0.4391917055512974,-0.4159044228227957],[0.4610032577264228,-0.2559044300251374]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[0.686392064839221,-2.4249344749042336,0.71338606911949],"aabb_xy":[[0.6642195378625703,-2.4471101420603563],[0.708564591815872,-2.40275880774811]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.005033549183575459,1.1109055145034707,0.71338606911949],"aabb_xy":[[-0.013747518233509944,1.088405513844282],[0.003680419866359031,1.1334055151626585]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[0.41756224568514955,-1.211030678135497,0.71338606911949],"aabb_xy":[[0.3475622438764041,-1.232384446899684],[0.487562247493895,-1.1896769093713093]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_29","position":[0.24872172767300504,-0.5182991843007501,0.71338606911949],"aabb_xy":[[0.21122172648821222,-0.5227174069968104],[0.2862217288577978,-0.5138809616046893]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[0.37058468036512004,1.3157001189298358,0.71338606911949],"aabb_xy":[[0.35303798544900106,1.2782001173655846],[0.3881313752812389,1.353200120494087]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.5338989587600808,-1.7597748778863722,0.71338606911949],"aabb_xy":[[-0.5563953801939449,-1.7822748776931197],[-0.5114025373262167,-1.7372748780796248]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_32","position":[-0.5463920345855272,-0.9862690796500089,0.71338606911949],"aabb_xy":[[-0.636392034003898,-1.0196445764941986],[-0.4563920351671562,-0.9528935828058192]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679901162907086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2119.png","name":"2119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9016.png","name":"9016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9677.png","name":"9677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/320.png","name":"320"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":684.5716594200122,"rotation_z_degrees":206.5761480596864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015847831316442018,0.005228815328141075,-0.005012217128576602]},{"name":"camera_2","offset_m":[0.004152505776756826,0.004531642911548717,-0.017333892716587744]},{"name":"camera_3","offset_m":[0.017643188540540578,-0.005459284458898801,0.009675724883225729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006375128155756095,-0.001558515706578917,0.0010372124478676865],"end_effector_yaw_offset_degrees":0.8201650473405666},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-4.4673079571869775e-05,-0.0015943188253159893,0.0014792391583123873],"end_effector_yaw_offset_degrees":0.03375592456111076},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00015754289809458426,0.00025923743445914775,-1.6467440078383935e-05],"end_effector_yaw_offset_degrees":0.17027903804481825}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004385641182549495,-0.0011121918836923873],"position_m":[0.1871143588174505,0.023387808116307612,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006576118151011053,0.001697947407982986],"position_m":[0.3240576118151011,0.330697947407983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010864408067556616,-0.0028371523444406565],"position_m":[0.3569864408067557,0.060462847655559336,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00010829036159064939,0.0046582871526210075],"position_m":[0.21830829036159066,-0.366641712847379,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93a92cc741156de83f5219eeb95ccf23b5e943f1b2bf4d2910d27ff02c49ef52","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3672/tex_ceiling_textures_320/tex_floor_textures_9677/tex_table_textures_2119/tex_wall_textures_9016","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6434236422001212668,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6434236422001212668,"visual_seed":6434236422001212668,"scene_id":"lab_003","finished_at":"2026-09-03T02:38:03"} +{"episode_id":"ep_000078","started_at":"2026-09-03T02:38:06","dimensions":{"distractor":{"count":27,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.1286708406518109,0.06043229801819372,0.71338606911949],"aabb_xy":[[-0.15056058824075166,-0.029567699271055393],[-0.10678109306287008,0.15043229530744281]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.6379438340912057,-1.5591956668282114,0.71338606911949],"aabb_xy":[[-0.6738573385161952,-1.5951091750449657],[-0.602030329666216,-1.5232821586114567]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.4882860763830058,-2.5352453004276287,0.71338606911949],"aabb_xy":[[-0.5522860784327379,-2.5753397835169367],[-0.42428607433327387,-2.495150817338321]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.6451528844907604,0.49965122209906454,0.71338606911949],"aabb_xy":[[0.632526097203564,0.49010514839749164],[0.6577796717779567,0.5091972958006374]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.6767362855969055,0.8904939097134905,0.71338606911949],"aabb_xy":[[-0.6946053933513608,0.8766610017362796],[-0.6588671778424499,0.9043268176907014]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.005636419980470486,1.1685171460702843,0.71338606911949],"aabb_xy":[[-0.08563642323831344,1.0885206382783004],[0.07436358327737247,1.2485136538622683]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.05459857395928991,1.4889426967636115,0.71338606911949],"aabb_xy":[[-0.05873443029199011,1.4514426973192545],[-0.05046271762658972,1.5264426962079685]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.342551940571373,1.3438960882153506,0.71338606911949],"aabb_xy":[[-0.39236872003620776,1.293896089731047],[-0.29273516110653824,1.3938960866996537]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.02031715511255705,-1.9293756008190412,0.71338606911949],"aabb_xy":[[-0.05071526621170064,-1.9597825028207103],[0.010080955986586532,-1.8989686988173713]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.49342945075353883,1.6479421016819056,0.71338606911949],"aabb_xy":[[0.429429450493068,1.6029333023289776],[0.5574294510140096,1.6929509010348336]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.39645567741730264,0.07874881906990261,0.71338606911949],"aabb_xy":[[-0.43395567791466083,0.0747801355217842],[-0.35895567691994434,0.08271750261802102]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.4361576921185657,-1.6094932255052026,0.71338606911949],"aabb_xy":[[0.4308201164525612,-1.6344932264343421],[0.4414952677845703,-1.5844932245760626]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.6459220530665539,-0.6216547268083583,0.71338606911949],"aabb_xy":[[0.6109220539365983,-0.6273999478840223],[0.6809220521965096,-0.6159095057326941]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.22938597204726174,-1.4225822325762938,0.71338606911949],"aabb_xy":[[-0.29097673127125456,-1.486582230685341],[-0.16779521282326895,-1.3585822344672471]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.029255355152003948,-1.0840427908945949,0.71338606911949],"aabb_xy":[[-0.05425535431763706,-1.0909950365999515],[-0.004255355986370831,-1.0770905451892383]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.5555844069082934,1.003131295846054,0.71338606911949],"aabb_xy":[[-0.5941300997334944,0.9645855247898655],[-0.5170387140830923,1.0416770669022428]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.36901053295294023,-0.9197832687834675,0.71338606911949],"aabb_xy":[[-0.4527327584530227,-1.0097832723181634],[-0.28528830745285777,-0.8297832652487716]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.31891080780428127,-1.2757527181675186,0.71338606911949],"aabb_xy":[[0.31345286216726115,-1.3557527214751774],[0.3243687534413013,-1.1957527148598592]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.4858290558578586,-0.36831312057159593,0.71338606911949],"aabb_xy":[[0.4218290565636904,-0.4322992609404501],[0.5498290551520268,-0.30432698020274174]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.11918784424621542,-1.3901247997725314,0.71338606911949],"aabb_xy":[[0.06918784388564937,-1.4401047869821342],[0.1691878446067815,-1.3401448125629283]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.5629796926678583,0.6047568023265892,0.71338606911949],"aabb_xy":[[-0.5664203689079155,0.6008953693522249],[-0.5595390164278011,0.6086182353009538]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.46459879248654257,1.399959396013057,0.71338606911949],"aabb_xy":[[-0.46993130714115555,1.3946350677678212],[-0.4592662778319296,1.4052837242582923]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[-0.11320183195319,1.6371618172989977,0.71338606911949],"aabb_xy":[[-0.1626822531671488,1.5731618193861459],[-0.06372141073923121,1.7011618152118495]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.48328227525209233,-1.99589572103358,0.71338606911949],"aabb_xy":[[-0.553282271662054,-2.016333656685261],[-0.4132822788421304,-1.9754577853818978]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.6230537819979634,0.45688776218969984,0.71338606911949],"aabb_xy":[[-0.6708599496117319,0.3918877594826408],[-0.5752476143841946,0.5218877648967588]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[0.15475413922483638,0.7019602175514326,0.71338606911949],"aabb_xy":[[0.06506706291672093,0.611960217296982],[0.24444121553295184,0.7919602178058831]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_26","position":[-0.5330888018080658,0.010960534121753351,0.71338606911949],"aabb_xy":[[-0.5741067451944367,-0.03903946650920398],[-0.49207085842169496,0.06096053475271068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.678300879132677,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3041.png","name":"3041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6953.png","name":"6953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7987.png","name":"7987"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":733.1079660014414,"rotation_z_degrees":147.77403068783258,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004860779641242071,-0.006156475637217272,0.004184463396809793]},{"name":"camera_2","offset_m":[-0.004589966876064659,0.013437166806212038,-0.015641009356128152]},{"name":"camera_3","offset_m":[-0.00256225982737799,-0.0033299282960953004,-0.004373988548683379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015834774129006015,-0.0007786104708721795,0.0004855986393875718],"end_effector_yaw_offset_degrees":-0.22067963147079883},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015611619517752998,0.001669624225138063,-0.0019986509030540684],"end_effector_yaw_offset_degrees":0.5850418904004946},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018585870395939025,0.00040441969213405714,-0.0007797405057861208],"end_effector_yaw_offset_degrees":0.19052481070935778}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007535367223170343,-0.000991797950337118],"position_m":[0.19074646327768296,0.023508202049662884,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001410428069703461,-0.002974503254037867],"position_m":[0.3248104280697035,0.32602549674596215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004033659344551121,0.004994073584497968],"position_m":[0.35186634065544886,0.06829407358449796,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002029578523232769,-0.0022470138441362444],"position_m":[0.21617042147676724,-0.37354701384413624,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5e683f802fd6a9aba31d08cf2a65afa6655bc38625c672b5bfc457da4560979","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9902/tex_ceiling_textures_7987/tex_floor_textures_6953/tex_table_textures_3041/tex_wall_textures_3469","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6323862477327489303,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6323862477327489303,"visual_seed":6323862477327489303,"scene_id":"lab_003","finished_at":"2026-09-03T02:40:53"} +{"episode_id":"ep_000079","started_at":"2026-09-03T02:40:56","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.610925499387794,1.2171480172738245,0.71338606911949],"aabb_xy":[[0.599053416376293,1.1321480175801741],[0.6227975823992952,1.3021480169674748]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.5147422173927594,1.5255137009893036,0.71338606911949],"aabb_xy":[[0.45074222010711085,1.4840069820364596],[0.5787422146784081,1.5670204199421476]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.5229680813841687,-0.15626541342443323,0.71338606911949],"aabb_xy":[[-0.5574305593972565,-0.16292909060735603],[-0.48850560337108095,-0.14960173624151038]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.3148427711000319,-0.9930252159006172,0.71338606911949],"aabb_xy":[[0.3016915251287426,-1.0180252156573038],[0.3279940170713213,-0.9680252161439307]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.2930618099157586,-2.3546118647390095,0.71338606911949],"aabb_xy":[[0.20806181122368395,-2.386597728133888],[0.3780618086078332,-2.32262600134413]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.5956175328770292,0.8936208262875631,0.71338606911949],"aabb_xy":[[0.5812831077508659,0.8815606107330244],[0.6099519580031928,0.9056810418421021]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.4633184315422676,-2.195965432867357,0.71338606911949],"aabb_xy":[[0.4408184320185601,-2.2184613803179776],[0.4858184310659749,-2.173469485416736]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.4465121027523836,-1.1056422618941224,0.71338606911949],"aabb_xy":[[-0.4690121027625319,-1.1197384815337257],[-0.42401210274223533,-1.0915460422545191]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.05804392018266746,0.980808274601424,0.71338606911949],"aabb_xy":[[-0.005956076244654433,0.9336386507793275],[0.12204391660998937,1.0279778984235204]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.6795103085462215,-2.0413823791560093,0.71338606911949],"aabb_xy":[[0.6686698303197067,-2.058568660446658],[0.6903507867727365,-2.0241960978653606]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.25778343052696634,-0.468961830934711,0.71338606911949],"aabb_xy":[[-0.29237451338101145,-0.5339618312197421],[-0.22319234767292104,-0.40396183064967994]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.4006230649478797,-0.5296623569997556,0.71338606911949],"aabb_xy":[[0.3206230616838665,-0.543222389308669],[0.48062306821189277,-0.5161023246908423]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.24540873624225762,-0.22179513278815,0.71338606911949],"aabb_xy":[[-0.33540873991917575,-0.2832275393652543],[-0.15540873256533938,-0.1603627262110456]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.11330136493362386,1.8115780128638064,0.71338606911949],"aabb_xy":[[-0.130403442891992,1.7944712073325368],[-0.09619928697525568,1.8286848183950764]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.06671562259062624,-0.8421760598902888,0.71338606911949],"aabb_xy":[[-0.013278200987931976,-0.9221760624831303],[0.14670944616918447,-0.7621760572974472]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.5476471363218864,1.5172562279943596,0.71338606911949],"aabb_xy":[[-0.5826471362179052,1.5088819924824195],[-0.5126471364258675,1.5256304635062996]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.6353175875932275,-0.6510950873226808,0.71338606911949],"aabb_xy":[[0.6292229597051092,-0.6596644818743496],[0.6414122154813459,-0.6425256927710121]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.03537608163256689,0.5272291181443904,0.71338606911949],"aabb_xy":[[-0.04329936187131522,0.5047291179063871],[-0.02745280139381856,0.5497291183823938]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.4947765107509223,-0.8323293081024228,0.71338606911949],"aabb_xy":[[0.46047959973318164,-0.866626194312364],[0.5290734217686628,-0.7980324218924814]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.00474633069623609,1.139460895705834,0.71338606911949],"aabb_xy":[[-0.010712869636971878,1.13349975104647],[0.0012202082444996995,1.1454220403651982]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.43302428499407764,-2.1459138537229054,0.71338606911949],"aabb_xy":[[-0.4386059566282064,-2.158413853540681],[-0.4274426133599489,-2.1334138539051297]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.6182267426720056,-2.098904275942859,0.71338606911949],"aabb_xy":[[0.6101904079707209,-2.106942395247276],[0.6262630773732906,-2.090866156638442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6801541793609711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9920.png","name":"9920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/447.png","name":"447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4791.png","name":"4791"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8144.png","name":"8144"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":841.4802464554568,"rotation_z_degrees":59.834504566456715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013738943144700495,-0.0044166777299752095,-0.006016742599538065]},{"name":"camera_2","offset_m":[-0.007642131583750839,-0.00319024307443911,-0.017877065869956948]},{"name":"camera_3","offset_m":[0.016760233543490318,0.0055756561218207774,0.010892514922804249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001844178371764842,0.0013485760380321328,-0.00020740444964841703],"end_effector_yaw_offset_degrees":-0.6780257172295165},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001140388452648407,0.0010021942056813431,-0.001285459548577415],"end_effector_yaw_offset_degrees":-0.5414179601323035},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018301047035072658,-0.00026401046388165343,0.0017797725941907398],"end_effector_yaw_offset_degrees":-0.6456655958550199}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003313297046691207,-0.0034017247067286436],"position_m":[0.1948132970466912,0.021098275293271358,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004326044091412725,-0.004449124032584045],"position_m":[0.32772604409141276,0.32455087596741594,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024350373949803186,0.0020731773162704983],"position_m":[0.3583350373949803,0.06537317731627049,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026437467204417607,0.0008265776870722639],"position_m":[0.21555625327955824,-0.37047342231292774,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b401a12f7ee14d3b2eedb82078ba8e7c16c52aaa569fde7832acbc007ddc856f","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2856/tex_ceiling_textures_8144/tex_floor_textures_4791/tex_table_textures_9920/tex_wall_textures_447","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":384611555423583208,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":384611555423583208,"visual_seed":384611555423583208,"scene_id":"lab_003","finished_at":"2026-09-03T02:43:54"} +{"episode_id":"ep_000080","started_at":"2026-09-03T02:43:58","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.29890184813792225,-0.606746325326943,0.71338606911949],"aabb_xy":[[-0.3288935108717926,-0.6367463246637435],[-0.2689101854040519,-0.5767463259901424]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.26984460579296554,0.6892058220912913,0.71338606911949],"aabb_xy":[[-0.3041608829675835,0.6392058221181136],[-0.2355283286183476,0.739205822064469]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.5414139363523276,-0.6409508855356669,0.71338606911949],"aabb_xy":[[-0.5494074261476097,-0.6489490174761425],[-0.5334204465570457,-0.6329527535951913]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.40968107894894246,-0.4109421423439472,0.71338606911949],"aabb_xy":[[0.3456810767285354,-0.45531522646923545],[0.4736810811693494,-0.36656905821865887]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.6438777668108772,1.2471155935244966,0.71338606911949],"aabb_xy":[[-0.6615106024044046,1.2294926475088734],[-0.6262449312173495,1.2647385395401194]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.438629933121064,0.446824905110772,0.71338606911949],"aabb_xy":[[-0.4936231444582008,0.3918249047719784],[-0.3836367217839273,0.5018249054495656]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.5499361382123875,-1.6512678502903348,0.71338606911949],"aabb_xy":[[-0.613936138915857,-1.697286232763256],[-0.4859361375089183,-1.605249467817414]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.2674174743443439,-2.2671970880062244,0.71338606911949],"aabb_xy":[[-0.33741747594662336,-2.280629881207882],[-0.1974174727420644,-2.253764294804567]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.2955270708289409,1.310378113579651,0.71338606911949],"aabb_xy":[[0.24552706954510092,1.2603992591890287],[0.34552707211278083,1.360356967970273]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.609825295226661,-2.2209264459651816,0.71338606911949],"aabb_xy":[[0.5794271841275173,-2.251333347966851],[0.6402234063258044,-2.190519543963512]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.4091801015502619,0.10611641839569375,0.71338606911949],"aabb_xy":[[-0.4391476584600876,0.076116418097808],[-0.37921254464043624,0.1361164186935795]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.27007769179670205,-1.5744296911704703,0.71338606911949],"aabb_xy":[[0.18007769207352778,-1.5975030437056497],[0.3600776915198761,-1.55135633863529]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.2566737368868579,-1.9787930723128597,0.71338606911949],"aabb_xy":[[0.22237682586911722,-2.0130899585228006],[0.2909706479045985,-1.9444961861029182]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.08781761662687715,1.5731910164939964,0.71338606911949],"aabb_xy":[[-0.11031403806074125,1.550691016687249],[-0.06532119519301305,1.5956910163007438]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.12923832269125735,0.4743149259586925,0.71338606911949],"aabb_xy":[[-0.20923832412138454,0.394797770946083],[-0.04923832126113015,0.553832080971302]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.28059628259951874,1.064325448918991,0.71338606911949],"aabb_xy":[[0.2165962823390479,1.0193166495660628],[0.3445962828599895,1.1093342482719188]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.5205121068850211,-1.5408048457483177,0.71338606911949],"aabb_xy":[[0.48301210694125474,-1.5490979357831542],[0.5580121068287875,-1.532511755713481]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[0.6055238993561893,0.10342266537410794,0.71338606911949],"aabb_xy":[[0.600888784203956,0.09955533029695927],[0.6101590145084227,0.10729000045125657]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.607173829989887,-1.3840479122362512,0.71338606911949],"aabb_xy":[[0.5571789970619453,-1.434047911131495],[0.6571686629178285,-1.334047913341008]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.1283490157545275,-2.114838046123854,0.71338606911949],"aabb_xy":[[-0.19234901904423557,-2.158172965127771],[-0.06434901246481935,-2.071503127119936]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.643687733171304,0.8842836077718172,0.71338606911949],"aabb_xy":[[-0.6605984656076457,0.8708114021792026],[-0.6267770007349621,0.8977558133644317]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[-0.5716794333666999,-0.9621006392575524,0.71338606911949],"aabb_xy":[[-0.5872352027769653,-0.9776510725019598],[-0.5561236639564348,-0.9465502060131454]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.32563392445992834,0.27825078153614413,0.71338606911949],"aabb_xy":[[-0.4056339224407134,0.2706492405742922],[-0.2456339264791433,0.2858523224979961]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.49434095739429385,-1.8926136617905893,0.71338606911949],"aabb_xy":[[0.47184095688225314,-1.9151055201559875],[0.5168409579063343,-1.8701218034251907]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6776515322040912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1528.png","name":"1528"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1528.png","name":"1528"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3155.png","name":"3155"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7513.png","name":"7513"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6876.png","name":"6876"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2395.png","name":"2395"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":641.3975155207427,"rotation_z_degrees":127.36364434596886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00959820693465506,-0.010201929596103155,-0.00804574791461786]},{"name":"camera_2","offset_m":[-0.010823329081789504,-0.005965084270400949,-0.015809392969009878]},{"name":"camera_3","offset_m":[0.01993585954647215,-0.01680775684143557,0.010687076356339129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007603335461832158,-0.0006768534854904749,0.001047004735936636],"end_effector_yaw_offset_degrees":-0.3343672608974533},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008626125127784413,0.0012401956310980422,0.001922964819319568],"end_effector_yaw_offset_degrees":-0.7580053766683714},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00039526336523696857,-0.0007131428529027887,0.0015330033514550936],"end_effector_yaw_offset_degrees":0.28143568713438327}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011115342665333696,-0.00037653462447361993],"position_m":[0.19038846573346663,0.02412346537552638,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016382753541903496,-0.00474541299477833],"position_m":[0.3250382753541904,0.3242545870052217,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002262421970393561,-0.0037775079703632084],"position_m":[0.35816242197039355,0.05952249202963679,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016713617437393935,-0.0038081601057229565],"position_m":[0.21652863825626062,-0.37510816010572295,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e8d5595a128bfbbdac7c6a7e40d95e5e4283e884fb2ff862fa740aefc333c9fc","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1528/tex_ceiling_textures_2395/tex_floor_textures_6876/tex_table_textures_3155/tex_wall_textures_7513","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6967762623961686052,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6967762623961686052,"visual_seed":6967762623961686052,"scene_id":"lab_003","finished_at":"2026-09-03T02:46:39"} +{"episode_id":"ep_000081","started_at":"2026-09-03T02:51:05","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.37282164140639734,-1.8703909121470033,0.71338606911949],"aabb_xy":[[-0.4278171192270567,-1.92539091358091],[-0.3178261635857379,-1.815390910713096]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.6483954924499862,-0.21703959116324034,0.71338606911949],"aabb_xy":[[0.6133954941392907,-0.224754606086786],[0.6833954907606816,-0.2093245762396947]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.5494508424391866,-1.611654116718803,0.71338606911949],"aabb_xy":[[0.5412362973235024,-1.6203307070164437],[0.5576653875548704,-1.602977526421161]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.5082533491014276,-0.8566396774515976,0.71338606911949],"aabb_xy":[[0.46970765627622657,-0.8951854485077864],[0.5467990419266286,-0.8180939063954091]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.5076045019162568,0.9268101825292852,0.71338606911949],"aabb_xy":[[-0.5716044992186032,0.8824437555614284],[-0.44360450461391043,0.9711766094971419]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.05146169236538101,1.2687832402477257,0.71338606911949],"aabb_xy":[[0.0019812711514222148,1.2047832423348739],[0.1009421135793398,1.3327832381605775]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.14847177829628389,1.5847540298500777,0.71338606911949],"aabb_xy":[[-0.19375039317743312,1.520754030501894],[-0.1031931634151346,1.6487540291982614]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.12269794996454786,-0.6066712596595925,0.71338606911949],"aabb_xy":[[0.10519795068646098,-0.6240093597259384],[0.14019794924263473,-0.5893331595932465]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.448786109069351,-1.8799768885192538,0.71338606911949],"aabb_xy":[[0.41128610840477225,-1.8956639465194756],[0.48628610973392966,-1.8642898305190312]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.3379071269751561,0.5567528210017239,0.71338606911949],"aabb_xy":[[0.3075090158760125,0.5263459190000542],[0.36830523807429966,0.5871597230033933]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.18579986485001898,0.6011862210373655,0.71338606911949],"aabb_xy":[[0.16912272885692345,0.5844862970634352],[0.20247700084311446,0.6178861450112958]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.13599229422872794,0.043700982325012294,0.71338606911949],"aabb_xy":[[-0.1413298698947325,0.018700981395872514],[-0.13065471856272337,0.06870098325415208]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.583446956050523,0.0923223656922767,0.71338606911949],"aabb_xy":[[-0.638439206686034,0.037322363948963926],[-0.5284547054150122,0.14732236743558946]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.1298343600938836,-0.43121038672134837,0.71338606911949],"aabb_xy":[[-0.17483436156011248,-0.4762102435828291],[-0.08483435862765477,-0.38621052985986776]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.6485553542335727,-2.2398744724901922,0.71338606911949],"aabb_xy":[[0.5845553525555753,-2.288391863969506],[0.71255535591157,-2.1913570810108776]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.39709044550825107,-1.2865266044377064,0.71338606911949],"aabb_xy":[[-0.40589250081722383,-1.2943379305926355],[-0.3882883901992784,-1.2787152782827773]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.6354814936574796,1.4892340740340502,0.71338606911949],"aabb_xy":[[-0.6435951483308567,1.481128257580021],[-0.6273678389841025,1.4973398904880793]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[0.04101041331898869,1.6378118161993656,0.71338606911949],"aabb_xy":[[-0.018989587277027493,1.582999343654142],[0.10101041391500487,1.692624288744589]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.08395667926624717,1.0540039626371978,0.71338606911949],"aabb_xy":[[0.04895668099612725,1.0469298349422096],[0.11895667753636706,1.061078090332186]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.5042345158151242,-1.3264433970666065,0.71338606911949],"aabb_xy":[[0.4542352406466881,-1.376443398342554],[0.5542337909835604,-1.2764433957906596]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.39389888474757107,-0.983527454232322,0.71338606911949],"aabb_xy":[[-0.416398020473798,-1.006027455010585],[-0.37139974902134404,-0.961027453454059]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.47917258399700735,-2.061474472405765,0.71338606911949],"aabb_xy":[[0.4151725820846651,-2.1173856216637756],[0.5431725859093498,-2.0055633231477548]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[-0.12053514001238952,1.1977886369686703,0.71338606911949],"aabb_xy":[[-0.15050269692221518,1.1677886366707846],[-0.09056758310256385,1.227788637266556]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[-0.1495952354081307,1.7249839723406502,0.71338606911949],"aabb_xy":[[-0.15423035056036405,1.721116637263501],[-0.14496012025589727,1.7288513074177985]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[0.34425678472742627,0.8653798560451174,0.71338606911949],"aabb_xy":[[0.29428371919491086,0.8153798562325845],[0.39422985025994184,0.9153798558576502]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.3030857547338252,-0.3866940694387164,0.71338606911949],"aabb_xy":[[-0.33173508709424143,-0.41533962871579216],[-0.274436422373409,-0.3580485101616406]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.6795989277148033,1.109182014557656,0.71338606911949],"aabb_xy":[[0.6560138042509085,1.0441820123122243],[0.7031840511786982,1.1741820168030879]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[0.6282113741139346,-1.9749356615758689,0.71338606911949],"aabb_xy":[[0.6057113741037863,-1.989031881215472],[0.6507113741240829,-1.9608394419362654]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.016318586465468576,-2.0091648602591548,0.71338606911949],"aabb_xy":[[-0.02436194639142375,-2.094164861354521],[-0.008275226539513403,-1.9241648591637883]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[0.018947919032352822,-1.1631608499739288,0.71338606911949],"aabb_xy":[[-0.045052077363220255,-1.2271241383926623],[0.0829479154279259,-1.0991975615551952]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_30","position":[-0.11760511764315129,-0.5927706218747746,0.71338606911949],"aabb_xy":[[-0.13518341983209814,-0.6103451114488795],[-0.10002681545420444,-0.5751961323006697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6776858818655876,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9489.png","name":"9489"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2738.png","name":"2738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4314.png","name":"4314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2648.png","name":"2648"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":545.3106865884516,"rotation_z_degrees":359.3685987664678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015988670347901964,-0.01491136041856159,0.0021969536826906624]},{"name":"camera_2","offset_m":[-0.005884775661803241,0.018637077253752878,-0.00811959059657705]},{"name":"camera_3","offset_m":[0.007343214383973683,0.0031839261184003383,0.019521285429488933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002613870123809683,-0.0017427865818361204,-1.5941424652956247e-05],"end_effector_yaw_offset_degrees":-0.7552138585222226},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015475789642947326,-0.0006545113283452514,-0.000284409859017622],"end_effector_yaw_offset_degrees":-0.6588799245826453},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-9.788498443347713e-05,0.0013609480745238284,-0.0014539904524264147],"end_effector_yaw_offset_degrees":0.8033684547792042}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002823574733817234,-0.0043157903129317585],"position_m":[0.19432357473381723,0.020184209687068244,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018312754468933403,0.0016124406565214957],"position_m":[0.3215687245531067,0.3306124406565215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005565308863751083,0.0007743726081800208],"position_m":[0.3553434691136249,0.06407437260818001,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018205573576991043,-0.0011433148493960234],"position_m":[0.2163794426423009,-0.372443314849396,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb51ef01f9c0e2d68b606063421fa1dbf6948335dfbb3527dc79d278e9c90dce","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8195/tex_ceiling_textures_2648/tex_floor_textures_4314/tex_table_textures_9489/tex_wall_textures_2738","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":822148595466758541,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":822148595466758541,"visual_seed":822148595466758541,"scene_id":"lab_003","finished_at":"2026-09-03T02:53:44"} +{"episode_id":"ep_000082","started_at":"2026-09-03T02:55:12","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.02974246174472428,1.0059976484497772,0.71338606911949],"aabb_xy":[[0.02203927107064723,0.9982882777510392],[0.037445652418801316,1.0137070191485154]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.4334208021709917,1.627135923944404,0.71338606911949],"aabb_xy":[[-0.49842080005263956,1.5760122602378634],[-0.36842080428934393,1.6782595876509452]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.24049369042590274,-2.465777345382039,0.71338606911949],"aabb_xy":[[0.20549369211520727,-2.4734923603055847],[0.2754936887365982,-2.4580623304584934]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.4739866932330583,0.5325872730158534,0.71338606911949],"aabb_xy":[[0.4261805256192896,0.4675872703087943],[0.521792860846827,0.5975872757229123]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.6068104008211039,-0.9611117555958035,0.71338606911949],"aabb_xy":[[0.5718104025509839,-0.9681858832907916],[0.6418103990912237,-0.9540376279008153]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.5484165537950894,0.9411275700951798,0.71338606911949],"aabb_xy":[[0.48441655309162,0.8951091876222589],[0.6124165544985587,0.9871459525681009]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.26095240064624864,0.19954666103630636,0.71338606911949],"aabb_xy":[[-0.2646556619753875,0.1958446427275885],[-0.2572491393171098,0.20324867934502422]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.31330157875987474,-1.068281988733677,0.71338606911949],"aabb_xy":[[0.30142949574837363,-1.1532819884273273],[0.32517366177137585,-0.9832819890400266]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.06084075300601244,-1.8545200501847092,0.71338606911949],"aabb_xy":[[-0.08712957732645309,-1.88079148383936],[-0.03455192868557177,-1.8282486165300575]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.587298252732414,0.48172082679114725,0.71338606911949],"aabb_xy":[[-0.5952215329711624,0.4592208265531439],[-0.5793749724936658,0.5042208270291506]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.09792314851805406,-1.4052670115811647,0.71338606911949],"aabb_xy":[[-0.16192314563015975,-1.4542993813755754],[-0.03392315140594837,-1.3562346417867541]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.48916422034688056,-2.2629223001527405,0.71338606911949],"aabb_xy":[[-0.5791642197652515,-2.2962977969969303],[-0.39916422092850967,-2.229546803308551]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.40155167349128185,0.9382751739199717,0.71338606911949],"aabb_xy":[[0.37655167355876396,0.9313925056990485],[0.42655167342379974,0.9451578421408952]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.4835246384489316,-0.0843852568693726,0.71338606911949],"aabb_xy":[[-0.5635246364297166,-0.09198679783122456],[-0.4035246404681466,-0.07678371590752066]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.18453847568381454,-1.6733659948948283,0.71338606911949],"aabb_xy":[[-0.19063310357193286,-1.6819353894464972],[-0.17844384779569622,-1.6647966003431598]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.06299169462138243,-2.4331777333747158,0.71338606911949],"aabb_xy":[[-0.07384330087025803,-2.444037024102367],[-0.05214008837250683,-2.4223184426470645]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.059011128842033855,1.216970789037274,0.71338606911949],"aabb_xy":[[-0.06459280047616262,1.2044707892194984],[-0.0534294572079051,1.2294707888550493]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.505903994497138,-0.36888310108422795,0.71338606911949],"aabb_xy":[[-0.5403664725102256,-0.3755467782671508],[-0.4714415164840501,-0.3622194239013052]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.19043394077060494,-2.177140734514858,0.71338606911949],"aabb_xy":[[-0.20476836589676842,-2.189200950069397],[-0.1760995156444415,-2.165080518960319]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.3153611753965344,-0.5862261122185437,0.71338606911949],"aabb_xy":[[0.3037921946495978,-0.6112261123354754],[0.32693015614347093,-0.561226112101612]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.5300422542369596,-2.5661418479628897,0.71338606911949],"aabb_xy":[[0.5237301547006212,-2.571908787216109],[0.536354353773298,-2.5603749087096714]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.42545528696147095,1.7456664063923282,0.71338606911949],"aabb_xy":[[0.4213194306287707,1.7081664069479714],[0.4295911432941711,1.7831664058366854]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.5231157819555351,0.8149338824488459,0.71338606911949],"aabb_xy":[[-0.5535138930546787,0.7845269804471764],[-0.49271767085639157,0.8453407844505154]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.5881728203546734,-2.0560762260388477,0.71338606911949],"aabb_xy":[[-0.595214271305421,-2.0631029777766425],[-0.5811313694039258,-2.0490494743010537]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.40424838722133116,-1.5471623592028343,0.71338606911949],"aabb_xy":[[0.36833488279634147,-1.5830758674195888],[0.44016189164632086,-1.5112488509860798]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.35690711476790876,-2.3825482883246365,0.71338606911949],"aabb_xy":[[-0.39440711555990415,-2.3889161292828263],[-0.31940711397591326,-2.376180447366446]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[-0.14076118813096483,0.6540099553654404,0.71338606911949],"aabb_xy":[[-0.16326118765467218,0.6315140079148195],[-0.11826118860725739,0.676505902816061]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[-0.3661785053960187,-1.4711901179992701,0.71338606911949],"aabb_xy":[[-0.4461785068261459,-1.5507072730118796],[-0.2861785039658915,-1.3916729629866607]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.145942128773491,0.9541295842292521,0.71338606911949],"aabb_xy":[[0.12466412063001872,0.889129581903179],[0.16722013691696322,1.0191295865553252]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.46177098535894934,-1.9143872112590634,0.71338606911949],"aabb_xy":[[0.3977709889316275,-1.9615568350811599],[0.5257709817862712,-1.867217587436967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6764377715542832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1505.png","name":"1505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1243.png","name":"1243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4421.png","name":"4421"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.735946261032,"rotation_z_degrees":231.70128251109597,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008022304076812379,0.00042781211117572104,0.014465155364549325]},{"name":"camera_2","offset_m":[-0.01571304291552614,0.00012215647019054102,-0.0015156441892137107]},{"name":"camera_3","offset_m":[-0.016577610964279465,0.0010868152333324103,-0.014720845111999932]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004355470296680533,-0.0004306323525670908,-0.0009896773504944796],"end_effector_yaw_offset_degrees":0.26104490690162674},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016223730666274751,-0.001271344298420757,0.0004404754362526287],"end_effector_yaw_offset_degrees":-0.5713993393329793},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00042060417951646136,0.0012133863612450745,-0.001337193650124004],"end_effector_yaw_offset_degrees":0.0603528975217289}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013312591408980437,0.0015460246201023002],"position_m":[0.19283125914089805,0.0260460246201023,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00316048461146517,0.0014320816659092019],"position_m":[0.32023951538853485,0.3304320816659092,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002382332958410578,-0.001072783491142244],"position_m":[0.35351766704158943,0.06222721650885775,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026336900261341245,0.0032480474721972826],"position_m":[0.22083369002613412,-0.36805195252780276,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8deb89e9326b34e687285fbe6a2e96320c6284700316eeacf5702d8fbf77d485","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8066/tex_ceiling_textures_4421/tex_floor_textures_1243/tex_table_textures_1505/tex_wall_textures_6255","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5394837463069702324,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5394837463069702324,"visual_seed":5394837463069702324,"scene_id":"lab_003","finished_at":"2026-09-03T02:57:46"} +{"episode_id":"ep_000083","started_at":"2026-09-03T02:57:49","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.12489121119341429,0.9960252009736887,0.71338606911949],"aabb_xy":[[0.07489120983252708,0.9460472963982732],[0.1748912125543015,1.0460031055491044]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.6463609803667889,-1.5230230153565747,0.71338606911949],"aabb_xy":[[0.6129208051707691,-1.5564666411875043],[0.6798011555628083,-1.4895793895256442]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.17195649546159053,-1.6907705892787097,0.71338606911949],"aabb_xy":[[0.15589456800307286,-1.7757705910913013],[0.18801842292010815,-1.6057705874661177]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.41830107990601295,0.5371661928691815,0.71338606911949],"aabb_xy":[[-0.45076278078794035,0.5070333607542787],[-0.38583937902408544,0.5672990249840839]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.2969522575367951,-1.23301810734878,0.71338606911949],"aabb_xy":[[-0.3866393338449106,-1.3230181076032306],[-0.2072651812286797,-1.1430181070943295]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.5124435270047922,1.1043425409848595,0.71338606911949],"aabb_xy":[[0.4749435266565645,1.0925511454037757],[0.54994352735302,1.1161339365659428]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.02880223525325143,-0.9507638978195816,0.71338606911949],"aabb_xy":[[0.0038022353207335345,-0.9576465660405049],[0.05380223518576932,-0.9438812295986583]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.436537387423787,-1.2839875857568996,0.71338606911949],"aabb_xy":[[0.40222111024916907,-1.3339875857300771],[0.47085366459840494,-1.2339875857837217]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.6162768247629367,-2.1353207559116223,0.71338606911949],"aabb_xy":[[-0.6387768250064522,-2.1475253905713942],[-0.5937768245194214,-2.1231161212518503]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.05591230566598071,-2.168764722205948,0.71338606911949],"aabb_xy":[[-0.004087694930035461,-2.2235771947511713],[0.11591230626199689,-2.1139522496607244]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.5265417175022276,-2.473298308599365,0.71338606911949],"aabb_xy":[[0.5224257673901548,-2.47741386363221],[0.5306576676143001,-2.469182753566519]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.11167776408939412,-1.7179218634064066,0.71338606911949],"aabb_xy":[[-0.12344595088405166,-1.8029218633116286],[-0.09990957729473662,-1.6329218635011855]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.5859474146093111,1.268020383530624,0.71338606911949],"aabb_xy":[[-0.6030494925676793,1.2509135779993543],[-0.568845336650943,1.2851271890618938]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.16260147741133313,-0.8192659108262399,0.71338606911949],"aabb_xy":[[-0.18509789884519723,-0.8417659106329872],[-0.14010505597746903,-0.7967659110194923]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.2910964655148598,-1.8714518275822285,0.71338606911949],"aabb_xy":[[-0.31359646503856714,-1.8939477750328493],[-0.26859646599115233,-1.8489558801316077]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.0725045120569352,1.2224049731771744,0.71338606911949],"aabb_xy":[[-0.1525045092165105,1.2108573722193572],[0.007495485102640087,1.2339525741349913]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.5758686121918064,0.019678358512877914,0.71338606911949],"aabb_xy":[[-0.63986861256934,-0.030066908337934354],[-0.5118686118142728,0.06942362536369018]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.2230320361459983,1.3617251845725171,0.71338606911949],"aabb_xy":[[0.15903203423365597,1.3058140353145067],[0.28703203805834065,1.4176363338305276]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.36534052096241765,-1.8525209924961688,0.71338606911949],"aabb_xy":[[0.3303405210663988,-1.8608952280081086],[0.4003405208584365,-1.844146756984229]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.49341018386149527,1.520686827947571,0.71338606911949],"aabb_xy":[[0.4523922404751244,1.4706868273166136],[0.5344281272478661,1.5706868285785283]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.19034520745993344,0.32669334464262034,0.71338606911949],"aabb_xy":[[-0.2703452044229726,0.24961770299884684],[-0.11034521049689427,0.40376898628639374]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[0.6809819837527691,1.0553326394165818,0.71338606911949],"aabb_xy":[[0.6666475586266055,1.043272423862043],[0.6953164088789324,1.0673928549711207]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.6247637775573762,-0.6294318408737587,0.71338606911949],"aabb_xy":[[0.6166360893640631,-0.6383454492844663],[0.6328914657506896,-0.620518232463051]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[-0.37426412674434906,-1.3885341148264132,0.71338606911949],"aabb_xy":[[-0.3815253743147565,-1.4013211250899227],[-0.3670028791739417,-1.3757471045629037]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[0.3785308711562245,1.2964174244744116,0.71338606911949],"aabb_xy":[[0.368449164077651,1.216417426582297],[0.38861257823479795,1.3764174223665262]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.47172326278397664,-2.129874173558156,0.71338606911949],"aabb_xy":[[-0.4787647137347242,-2.1369009252959503],[-0.464681811833229,-2.1228474218203615]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.6383694481708556,-0.7754487286634939,0.71338606911949],"aabb_xy":[[-0.6796739912345916,-0.839448728231611],[-0.5970649051071196,-0.7114487290953768]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[0.2658537809103335,-2.131951660373695,0.71338606911949],"aabb_xy":[[0.19585378450037164,-2.1523895960253765],[0.3358537773202952,-2.111513724722013]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[-0.48517761007457577,-0.12121447491150406,0.71338606911949],"aabb_xy":[[-0.5226776098916093,-0.12585268622264592],[-0.44767761025754216,-0.11657626360036219]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.5068587136491992,0.35142393358956303,0.71338606911949],"aabb_xy":[[-0.5243587139085358,0.33733239140079047],[-0.4893587133898626,0.3655154757783357]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805279347729939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3175.png","name":"3175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1027.png","name":"1027"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":703.4649023873326,"rotation_z_degrees":164.444823228324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01451790418753179,0.012685005040999463,-0.010541723452719363]},{"name":"camera_2","offset_m":[-0.008607624266463585,0.01292877201581526,0.01148708330512464]},{"name":"camera_3","offset_m":[-0.018537124775613083,-0.015502031035242152,-0.016389307361316784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009630913112207242,1.5432245524676664e-05,0.00026209509575584895],"end_effector_yaw_offset_degrees":0.3358757262505352},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009857493031227022,-0.0019918018405399645,0.0002371942931230159],"end_effector_yaw_offset_degrees":-0.16466658332846507},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0013745504787196815,-0.0006882947625551803,0.0015419979719977087],"end_effector_yaw_offset_degrees":0.5617005733247036}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005441015161594008,0.00416191986563614],"position_m":[0.1909558984838406,0.02866191986563614,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013950228949698674,0.0016616669389601614],"position_m":[0.32479502289496986,0.33066166693896015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00144157767618509,0.003209578402846673],"position_m":[0.3573415776761851,0.06650957840284667,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031694020147162594,-0.002096050420907791],"position_m":[0.21503059798528373,-0.3733960504209078,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"06cbb187d6ad9654d64c8fe9494b0b4d3a32cf4d5a23417502cb42359ec6c9c4","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9149/tex_ceiling_textures_1027/tex_floor_textures_3059/tex_table_textures_3175/tex_wall_textures_5566","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8801801569872930204,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8801801569872930204,"visual_seed":8801801569872930204,"scene_id":"lab_003","finished_at":"2026-09-03T03:00:57"} +{"episode_id":"ep_000084","started_at":"2026-09-03T03:01:00","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.16950161018098386,-2.29646238772158,0.71338606911949],"aabb_xy":[[-0.18939265006132414,-2.309118199006277],[-0.14961057030064362,-2.2838065764368833]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.5271152860210937,0.2248271503319228,0.71338606911949],"aabb_xy":[[0.5100132080627254,0.20772034480065307],[0.5442173639794617,0.24193395586319258]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.6154051126203146,1.0721880137259503,0.71338606911949],"aabb_xy":[[-0.643734822568855,1.0677272715322335],[-0.5870754026717745,1.0766487559196676]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.11920616228954994,-0.8956807051219182,0.71338606911949],"aabb_xy":[[0.10836568406303504,-0.912866986412567],[0.13004664051606485,-0.8784944238312694]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.03382657860131588,-0.7085139707917674,0.71338606911949],"aabb_xy":[[-0.06011540292175654,-0.7347854044464185],[-0.007537754280875219,-0.682242537137116]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[0.18030535114105262,-2.472036433858742,0.71338606911949],"aabb_xy":[[0.16243624338659712,-2.485869341835953],[0.1981744588955081,-2.458203525881531]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.5079092486211402,-1.7965476252773207,0.71338606911949],"aabb_xy":[[-0.5378768055309658,-1.8265476255752064],[-0.4779416917113145,-1.766547624979435]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.5119423423192087,-1.527336158441424,0.71338606911949],"aabb_xy":[[0.48947757234780354,-1.5498361593202843],[0.5344071122906138,-1.5048361575625633]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.05464359261197527,0.6714005398319665,0.71338606911949],"aabb_xy":[[-0.06277128080528849,0.6624869314212589],[-0.046515904418662046,0.6803141482426742]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.6308192266599693,1.0463600418436658,0.71338606911949],"aabb_xy":[[0.5933192268429357,1.0417218305325238],[0.6683192264770028,1.0509982531548074]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.27000089455210846,-1.5472177147457578,0.71338606911949],"aabb_xy":[[-0.27811454922548556,-1.5553235311997868],[-0.26188723987873136,-1.5391118982917287]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.18122826867556296,1.368487213381858,0.71338606911949],"aabb_xy":[[0.1462282687795441,1.360112977869918],[0.21622826857158184,1.376861448893798]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.022127818798631793,1.4241700163052022,0.71338606911949],"aabb_xy":[[-0.10712781721605502,1.3392957208429173],[0.06287217961879144,1.5090443117674872]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.16796638013115672,-0.6705707291261296,0.71338606911949],"aabb_xy":[[0.10397068273606011,-0.7345707274268383],[0.23196207752625328,-0.6065707308254209]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.2779819325573971,-2.268651360355194,0.71338606911949],"aabb_xy":[[0.22298968192188623,-2.3236513620985066],[0.3329741831929081,-2.213651358611881]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.49026481597011373,0.8557747444832575,0.71338606911949],"aabb_xy":[[0.48302104992386846,0.7757747462796551],[0.4975085820163591,0.9357747426868599]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.6245193755623635,0.6987608573547557,0.71338606911949],"aabb_xy":[[0.5880235549350846,0.662276914927998],[0.6610151961896421,0.7352447997815131]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.505996364805249,0.8664974893064294,0.71338606911949],"aabb_xy":[[-0.5359880275391193,0.8364974899696289],[-0.4760047020713787,0.89649748864323]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.24878455717707554,-2.5724285933516255,0.71338606911949],"aabb_xy":[[-0.2584161933975052,-2.5820659061313345],[-0.23915292095664595,-2.5627912805719166]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.33284621451624324,0.9332577876047372,0.71338606911949],"aabb_xy":[[-0.3553462147597586,0.9210531529449654],[-0.3103462142727278,0.9454624222645093]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.4224072438329769,-1.0749096053888745,0.71338606911949],"aabb_xy":[[-0.48740724171462474,-1.1260332690954156],[-0.3574072459513291,-1.0237859416823338]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.2561640874656227,-1.3460617064559575,0.71338606911949],"aabb_xy":[[0.17244186196554023,-1.4360617099906534],[0.33988631296570515,-1.2560617029212615]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.13501057901526647,-2.5330882061144955,0.71338606911949],"aabb_xy":[[0.12796912806451888,-2.5401149578522904],[0.14205202996601407,-2.5260614543767015]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.3467995308624811,-0.6966027847676024,0.71338606911949],"aabb_xy":[[-0.3835941639873874,-0.7335086598641846],[-0.31000489773757484,-0.65969690967102]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.27396865685826516,-1.7446892989986287,0.71338606911949],"aabb_xy":[[-0.28913152983520224,-1.7598547562937474],[-0.2588057838813281,-1.72952384170351]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.23408154556419053,-0.47976780921951123,0.71338606911949],"aabb_xy":[[-0.2753303565941052,-0.5347678087317286],[-0.1928327345342758,-0.4247678097072937]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[0.13329031681278214,1.1873712414089104,0.71338606911949],"aabb_xy":[[0.06929031610931281,1.1413528589359898],[0.19729031751625153,1.2333896238818318]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.11721750128352804,1.1891501240994469,0.71338606911949],"aabb_xy":[[-0.13476419619964697,1.1516501225351956],[-0.09967080636740909,1.2266501256636981]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.5893212969161188,-0.6914684635433395,0.71338606911949],"aabb_xy":[[0.49932130041524697,-0.7373801059617976],[0.6793212934169904,-0.6455568211248811]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_29","position":[-0.05114879565421415,-2.183374149094756,0.71338606911949],"aabb_xy":[[-0.11114879625023033,-2.2381866216399793],[0.008851204941802027,-2.1285616765495323]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_30","position":[-0.4068575913640473,-0.004001065073810928,0.71338606911949],"aabb_xy":[[-0.4149009512900025,-0.08900106616917736],[-0.39881423143809214,0.0809989360215555]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677541474716007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4989.png","name":"4989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8067.png","name":"8067"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/570.png","name":"570"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":505.30366895988885,"rotation_z_degrees":268.4198814705319,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028473228813219766,-0.008944761591933572,0.0021228654443122205]},{"name":"camera_2","offset_m":[0.012108909262094809,-0.015558519988732158,-0.012113637610845145]},{"name":"camera_3","offset_m":[0.015631160390940032,-0.01736659207848215,-0.007214212364565337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017956918843649806,-0.0019848157596883144,0.0007109935845142847],"end_effector_yaw_offset_degrees":0.8042394019970731},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006344626629269405,0.0001220844610749514,0.00010699773405887028],"end_effector_yaw_offset_degrees":0.9879106762261893},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015608044773739462,-0.0007662974883602888,0.0008329022162697364],"end_effector_yaw_offset_degrees":-0.11002481174313328}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001710801634972209,-0.0029090572666179595],"position_m":[0.1932108016349722,0.02159094273338204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022585767948720293,0.0020804359167700057],"position_m":[0.321141423205128,0.33108043591677,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003899877414871177,-0.004376559901846396],"position_m":[0.3520001225851288,0.0589234400981536,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030614364028762045,-0.0020881389985807743],"position_m":[0.2212614364028762,-0.3733881389985808,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d4984ed673ddcb91f986323f3264d278c903cc327c519d933ad3fc47adba2229","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3318/tex_ceiling_textures_570/tex_floor_textures_8067/tex_table_textures_6892/tex_wall_textures_4989","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2751124421806067001,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2751124421806067001,"visual_seed":2751124421806067001,"scene_id":"lab_003","finished_at":"2026-09-03T03:03:45"} +{"episode_id":"ep_000085","started_at":"2026-09-03T03:03:49","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.6825086015879085,1.046324781654505,0.71338606911949],"aabb_xy":[[-0.6888207011242469,1.040557842401286],[-0.6761965020515701,1.0520917209077238]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.4046810363993969,1.3281396244512926,0.71338606911949],"aabb_xy":[[0.3552006151854381,1.2641396265384408],[0.4541614576133557,1.3921396223641445]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.4126497350935844,0.6258060774751084,0.71338606911949],"aabb_xy":[[-0.502649731594456,0.5798944350566501],[-0.32264973859271256,0.6717177198935665]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.12196159351694069,0.043563832846870376,0.71338606911949],"aabb_xy":[[-0.14696159306867917,0.033421348981735655],[-0.0969615939652022,0.0537063167120051]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.3188455360327853,0.5260122720890954,0.71338606911949],"aabb_xy":[[0.2843831886346434,0.49151838969127265],[0.353307883430927,0.560506154486918]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.49070033331363283,1.5028985633386065,0.71338606911949],"aabb_xy":[[0.4267003310932258,1.4585254792133182],[0.5547003355340399,1.5472716474638948]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.25470840231910846,1.619918076693764,0.71338606911949],"aabb_xy":[[-0.28470006505297873,1.5899180773569632],[-0.22471673958523808,1.6499180760305643]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.5720023064494492,0.3805378283765708,0.71338606911949],"aabb_xy":[[-0.6520023086122115,0.3005826447504271],[-0.49200230428668656,0.46049301200271436]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.34807164484911046,-2.0203069809950303,0.71338606911949],"aabb_xy":[[-0.42807164181214963,-2.0973826226388033],[-0.2680716478860713,-1.9432313393512564]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.48902589541473374,-0.96514873323047,0.71338606911949],"aabb_xy":[[0.42902589516333256,-1.0194300582669344],[0.5490258956661349,-0.9108674081940051]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.019582871443489913,1.0882667202222258,0.71338606911949],"aabb_xy":[[-0.0835785688385865,1.0242667219215171],[0.04441282595160667,1.1522667185229345]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.30415803503481664,-1.4707611013849258,0.71338606911949],"aabb_xy":[[0.28164434321135945,-1.540761101985933],[0.32667172685827384,-1.400761100783918]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.12238190715977182,-0.5766523473277507,0.71338606911949],"aabb_xy":[[-0.15738190851125353,-0.5970120832845714],[-0.08738190580829007,-0.5562926113709298]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.5951779751068742,-0.32242779892439755,0.71338606911949],"aabb_xy":[[-0.644994754571709,-0.3724277974087009],[-0.5453611956420394,-0.2724278004400942]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.16248392116652677,-1.7062977956318055,0.71338606911949],"aabb_xy":[[0.15752790098164557,-1.7287977958339276],[0.16743994135140797,-1.6837977954296843]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.15852121944902697,1.7495688092472848,0.71338606911949],"aabb_xy":[[0.12352122025620868,1.738601763249622],[0.1935212186418452,1.760535855244947]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[-0.576916574712833,-0.9244401225833281,0.71338606911949],"aabb_xy":[[-0.5884855554597695,-0.9494401227002598],[-0.5653475939658964,-0.8994401224663964]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.6708399563645526,-0.6303183697175956,0.71338606911949],"aabb_xy":[[0.6573934297305093,-0.6437882213706867],[0.684286482998596,-0.6168485180645042]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.26517116132792085,-2.2326526295899294,0.71338606911949],"aabb_xy":[[0.23477305022877729,-2.263059531591599],[0.29556927242706443,-2.20224572758826]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.45076492741497276,1.2528780318198445,0.71338606911949],"aabb_xy":[[-0.5147649306336106,1.2061549199208363],[-0.3867649241963349,1.299601143718853]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.21446544221585412,0.965410395629088,0.71338606911949],"aabb_xy":[[-0.2270681413529306,0.9528149994042227],[-0.2018627430787777,0.9780057918539536]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.33152569187279535,-0.6298408706906173,0.71338606911949],"aabb_xy":[[0.32061991578523263,-0.7098408670894466],[0.34243146796035806,-0.5498408742917883]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.48581615064053707,-0.4609135633159105,0.71338606911949],"aabb_xy":[[-0.49638363029863614,-0.471458593428919],[-0.4752486709824381,-0.4503685332029019]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.4029431421525927,1.6665727446197178,0.71338606911949],"aabb_xy":[[-0.4479357288710431,1.6215727453452689],[-0.3579505554341423,1.7115727438941664]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[-0.18286513575111552,0.6825477536071012,0.71338606911949],"aabb_xy":[[-0.19719956087727897,0.6704875380525622],[-0.16853071062495206,0.6946079691616399]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.3197413184183924,-1.0206189520237563,0.71338606911949],"aabb_xy":[[0.30206568782979404,-1.038299168303159],[0.3374169490069907,-1.0029387357443535]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[-0.21154301982728402,-2.3577158911659772,0.71338606911949],"aabb_xy":[[-0.2471721757272438,-2.39334855792283],[-0.1759138639273243,-2.3220832244091243]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_27","position":[-0.04259056875612144,0.7680255526055038,0.71338606911949],"aabb_xy":[[-0.10659057066846378,0.7121144033474933],[0.021409433156220896,0.8239367018635142]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[-0.14648859933150626,-0.3286271359495645,0.71338606911949],"aabb_xy":[[-0.2264886025955194,-0.34218716825847784],[-0.06648859606749313,-0.31506710364065116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6808687173037519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6760.png","name":"6760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8124.png","name":"8124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/43.png","name":"43"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":846.5703572167102,"rotation_z_degrees":95.70207176452043,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002133413462788423,0.0021443658172878993,0.006302066706403531]},{"name":"camera_2","offset_m":[0.004461774934103064,-0.00025783172634520624,-0.014537960693287309]},{"name":"camera_3","offset_m":[0.00573179117713743,-0.008090716652282354,-0.015855505407769876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008846175220898985,0.00043582222447793384,-2.6151894400952037e-06],"end_effector_yaw_offset_degrees":-0.6416847231134815},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007591766552095013,-0.0016969753233281764,9.31160517582152e-05],"end_effector_yaw_offset_degrees":-0.8713642720309986},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018644604083974023,-0.0017683850908685188,-0.0019142596854470994],"end_effector_yaw_offset_degrees":-0.42231352836927205}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002865694126642348,0.0025004256046392464],"position_m":[0.19178656941266423,0.027000425604639246,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[2.2282495805402147e-05,0.0048146073898863604],"position_m":[0.3234222824958054,0.3338146073898864,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003993586847758149,0.000955906105868526],"position_m":[0.3562993586847758,0.06425590610586852,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041056775996400905,0.0044610278480186364],"position_m":[0.21409432240035992,-0.36683897215198136,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"951daa97a1261c8ba3814dc09b6498459082a37a9e4d7a82bcd6ea89d67bdfa4","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0102.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1521/tex_ceiling_textures_43/tex_floor_textures_8124/tex_table_textures_6760/tex_wall_textures_1972","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1828183617271578680,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1828183617271578680,"visual_seed":1828183617271578680,"scene_id":"lab_003","finished_at":"2026-09-03T03:06:33"} +{"episode_id":"ep_000086","started_at":"2026-09-03T03:08:09","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.05609602601683117,0.8890801194592846,0.71338606911949],"aabb_xy":[[-0.11609602687764396,0.8376536894527981],[0.0039039748439816386,0.9405065494657708]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.300924797285532,-0.9806474115445265,0.71338606911949],"aabb_xy":[[0.2948877842848673,-0.9866741126134748],[0.30696181028619673,-0.9746207104755784]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.31101568441693606,1.8089534080995038,0.71338606911949],"aabb_xy":[[0.2735156845999025,1.804315196788362],[0.3485156842339696,1.8135916194106456]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.6370270057301524,-1.8889700510574365,0.71338606911949],"aabb_xy":[[-0.67148948374324,-1.895633728240359],[-0.6025645277170645,-1.8823063738745136]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.5388530598174603,-2.4831085053886675,0.71338606911949],"aabb_xy":[[0.5315707434407965,-2.5731085089981756],[0.5461353761941238,-2.3931085017791576]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.16111354146750478,-2.154406167419704,0.71338606911949],"aabb_xy":[[-0.21109095833275834,-2.2044061689089527],[-0.11113612460225118,-2.1044061659304556]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.2106911248854857,1.1728209850621192,0.71338606911949],"aabb_xy":[[-0.2359119617453253,1.1475972342092322],[-0.18547028802564597,1.1980447359150057]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.29605818733437406,1.595242348729022,0.71338606911949],"aabb_xy":[[0.2769458799763952,1.57610756985178],[0.3151704946923529,1.614377127606264]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.30396261423313164,-0.2450908567704011,0.71338606911949],"aabb_xy":[[-0.3389626141291505,-0.253465092282341],[-0.26896261433711277,-0.23671662125846113]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.14344702497772022,1.5115917323740384,0.71338606911949],"aabb_xy":[[0.13267405105635247,1.4765917341549994],[0.15421999889908802,1.5465917305930774]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.023165282599097226,-1.0750363267470682,0.71338606911949],"aabb_xy":[[-0.08716097999419381,-1.1390363250477766],[0.04083041479599936,-1.0110363284463593]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.15864128907830655,-1.390797721696011,0.71338606911949],"aabb_xy":[[0.07864128581429342,-1.4043577540049241],[0.23864129234231968,-1.3772376893870975]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.29990061561625314,0.47896711920486457,0.71338606911949],"aabb_xy":[[-0.33236231649818054,0.4488342870899618],[-0.26743891473432563,0.5090999513197669]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.1844802340989613,-2.519114832042858,0.71338606911949],"aabb_xy":[[-0.19881465922512476,-2.5311750475973964],[-0.17014580897279785,-2.507054616488319]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.511924587136902,0.9546494944213397,0.71338606911949],"aabb_xy":[[-0.5469245854070219,0.9475753667263513],[-0.47692458886678213,0.9617236221163277]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.039943471511075024,1.5381575990424907,0.71338606911949],"aabb_xy":[[-0.04798683143703019,1.4531575979471243],[-0.03190011158511984,1.6231576001378571]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.2958280854649502,0.15943501404495075,0.71338606911949],"aabb_xy":[[-0.35982808573892844,0.10936891384766279],[-0.23182808519097198,0.20950111424223872]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.29630334630774946,-1.10011133532455,0.71338606911949],"aabb_xy":[[0.27880341287376603,-1.1176113352447845],[0.3138032797417328,-1.0826113354043154]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.1077049403419491,-1.7647157588629139,0.71338606911949],"aabb_xy":[[-0.14520494051382105,-1.7974164942458208],[-0.07020494017007717,-1.7320150234800065]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.20555130828767837,-1.058112420551348,0.71338606911949],"aabb_xy":[[-0.26054355892318937,-1.1131124222946607],[-0.15055905765216743,-1.0031124188080351]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.610413786345929,-0.913280326907919,0.71338606911949],"aabb_xy":[[-0.6153698065308103,-0.9357803271100408],[-0.605457766161048,-0.8907803267057975]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.27034949990185553,0.7758013549828564,0.71338606911949],"aabb_xy":[[0.22034950125593433,0.725881811323394],[0.3203494985477767,0.8257208986423188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780007823537618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8912.png","name":"8912"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8912.png","name":"8912"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8324.png","name":"8324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4768.png","name":"4768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9830.png","name":"9830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9916.png","name":"9916"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":708.3918781524121,"rotation_z_degrees":200.34660038704425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004646552907519266,-0.01302370225590865,-0.001148252880668263]},{"name":"camera_2","offset_m":[-0.0002245211943883857,0.0002404397311675105,-0.006706492560218873]},{"name":"camera_3","offset_m":[0.009886173091889515,0.0015605921427477923,-0.0016836587760736613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008114457427272224,-0.0010976153139965607,0.0006889048230411783],"end_effector_yaw_offset_degrees":0.055170624666033286},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019572274114689455,-0.0016050772410919536,0.00043878091373829396],"end_effector_yaw_offset_degrees":-0.4289720937970172},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006615576563139655,0.0010822713343269872,0.001910299765536496],"end_effector_yaw_offset_degrees":-0.5307034873698893}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029768434567357246,-0.000712787159422106],"position_m":[0.19447684345673572,0.023787212840577894,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002642296846083192,-0.0015128544100682516],"position_m":[0.32366422968460834,0.32748714558993175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002844535076698981,-0.003042109912669979],"position_m":[0.35305546492330103,0.06025789008733001,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001564419133067465,0.0016326472666589502],"position_m":[0.21663558086693255,-0.36966735273334106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ddc8ea64a3d4b2338d54045cc9348b233afbd541c0ebf1ba77da4f36fc957faa","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0104.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8912/tex_ceiling_textures_9916/tex_floor_textures_9830/tex_table_textures_8324/tex_wall_textures_4768","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":730738569622052626,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":730738569622052626,"visual_seed":730738569622052626,"scene_id":"lab_003","finished_at":"2026-09-03T03:11:09"} +{"episode_id":"ep_000087","started_at":"2026-09-03T03:11:12","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.08206747678976156,-1.1657411960203803,0.71338606911949],"aabb_xy":[[0.0750271668562246,-1.245741195420052],[0.08910778672329858,-1.0857411966207091]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[-0.5017215172347045,0.5761906340916592,0.71338606911949],"aabb_xy":[[-0.5208338245926833,0.557055855214417],[-0.4826092098767256,0.5953254129689011]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5079644545750742,-0.27906527642340606,0.71338606911949],"aabb_xy":[[-0.5255427567640211,-0.29663976599751096],[-0.49038615238612737,-0.26149078684930116]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.26908870522210715,1.2915427726438655,0.71338606911949],"aabb_xy":[[0.2636307595850871,1.2115427693362064],[0.2745466508591272,1.3715427759515246]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[0.2808328426796841,-0.7607881397411993,0.71338606911949],"aabb_xy":[[0.19083284326131317,-0.794163636585389],[0.37083284209805495,-0.7274126428970096]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.22661600395042808,-2.1284907774011006,0.71338606911949],"aabb_xy":[[-0.3066160019312131,-2.136092318362952],[-0.14661600596964303,-2.120889236439248]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.18075732151340984,-2.503921575937335,0.71338606911949],"aabb_xy":[[-0.24475732373381687,-2.548294660062623],[-0.11675731929300281,-2.4595484918120465]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[0.5834016543048908,-0.07273857333024303,0.71338606911949],"aabb_xy":[[0.5284094036693797,-0.1277385750735558],[0.6383939049404016,-0.017738571586930253]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[0.09816063075245296,-2.5590300551683303,0.71338606911949],"aabb_xy":[[0.0905363626622747,-2.566663278704874],[0.1057848988426312,-2.5513968316317865]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.18823961886812524,-1.141974957595595,0.71338606911949],"aabb_xy":[[0.18011193067481202,-1.1508885660063028],[0.19636730706143846,-1.1330613491848873]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.32991181977814066,-0.3478680865829169,0.71338606911949],"aabb_xy":[[-0.3459737472366583,-0.43286808839550867],[-0.313849892319623,-0.26286808477032503]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.6441760861079759,-1.2594817008227914,0.71338606911949],"aabb_xy":[[0.6402156023382416,-1.2671495654083123],[0.6481365698777103,-1.251813836237271]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.6772570392785024,1.2460852646122245,0.71338606911949],"aabb_xy":[[0.6656880585315659,1.2210852644952928],[0.688826020025439,1.2710852647291562]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.10185731564783063,-1.6901120185648266,0.71338606911949],"aabb_xy":[[-0.10978059588657896,-1.71261201880283],[-0.0939340354090823,-1.6676120183268233]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.4763939178238996,-1.6297886432023814,0.71338606911949],"aabb_xy":[[0.41639391797733283,-1.68660726539542],[0.5363939176704664,-1.5729700210093427]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.4628788285617707,-1.0509843350806412,0.71338606911949],"aabb_xy":[[-0.5003788287336426,-1.0836850704635481],[-0.4253788283898988,-1.0182835996977337]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.5655511791915189,0.16046847287352062,0.71338606911949],"aabb_xy":[[0.5529243919043225,0.15092239917194772],[0.5781779664787152,0.17001454657509352]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.5542976964159698,-0.7516850177356873,0.71338606911949],"aabb_xy":[[-0.5788439120387205,-0.7819339142847244],[-0.5297514807932191,-0.7214361211866502]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.06451256620618262,-1.036308498320148,0.71338606911949],"aabb_xy":[[0.060809304877043745,-1.040010516628866],[0.06821582753532147,-1.03260648001143]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.3733313185802446,0.000613170305597599,0.71338606911949],"aabb_xy":[[-0.37817491334147463,-0.004238482173386515],[-0.3684877238190147,0.005464822784581713]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[0.7162926312617008,1.397294045094395,0.71338606911949],"aabb_xy":[[0.7090313836912934,1.3845070348308854],[0.7235538788321083,1.4100810553579044]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.17361067353605564,0.06013036499460789,0.71338606911949],"aabb_xy":[[-0.19744689117666073,-0.029869635813878588],[-0.14977445589545058,0.15013036580309438]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.48516318432752725,1.7409805031061372,0.71338606911949],"aabb_xy":[[0.40516318692393377,1.6609879319079541],[0.5651631817311206,1.8209730743043198]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[-0.6059971872071467,-0.511620945808688,0.71338606911949],"aabb_xy":[[-0.6262814899305454,-0.5319035709513967],[-0.5857128844837479,-0.4913383206659791]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.5272018597266983,-0.6967328005066402,0.71338606911949],"aabb_xy":[[0.4850174455658677,-0.7607328007838515],[0.5693862738875292,-0.6327328002294291]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.05012804201310228,-1.5246324022657043,0.71338606911949],"aabb_xy":[[-0.11012804260911846,-1.5794448748109278],[0.009871958582913898,-1.4698199297204808]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[0.46106890529212974,0.83583348079984,0.71338606911949],"aabb_xy":[[0.431101348382304,0.8058334805019542],[0.49103646220195535,0.8658334810977257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756822194694775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/179.png","name":"179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/179.png","name":"179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3687.png","name":"3687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":695.9537794295534,"rotation_z_degrees":149.2115309060835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016617888346576657,-0.014908306295905241,0.012577024239483498]},{"name":"camera_2","offset_m":[0.005560289274947651,-0.017836893174359148,-0.009314430267582519]},{"name":"camera_3","offset_m":[-0.008883350168643332,0.016990983003842105,-0.008709524158901192]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019147460135293193,-0.00030865233467596963,-0.001383024604543813],"end_effector_yaw_offset_degrees":-0.6994482745331794},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017888767960717064,0.00026471672738623405,0.0011850842118458185],"end_effector_yaw_offset_degrees":-0.3421159311318327},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011672807558332872,0.00044127094065701637,-7.839110329102843e-05],"end_effector_yaw_offset_degrees":-0.9058660745844529}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011092579167192914,0.0042410762104446815],"position_m":[0.1926092579167193,0.028741076210444683,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018302693804528101,-0.0025161522705817074],"position_m":[0.3215697306195472,0.3264838477294183,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024626886709295994,-0.0015533293275065132],"position_m":[0.3534373113290704,0.06174667067249348,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003463695551629291,0.0011602039552687723],"position_m":[0.2216636955516293,-0.37013979604473124,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"abe217cffc00acf4f9ab32f968dcdbbc0b3c31e82202210b22ff1f77ec081e3f","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_179/tex_ceiling_textures_35/tex_floor_textures_3687/tex_table_textures_5697/tex_wall_textures_3745","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":5018388275205461380,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":5018388275205461380,"visual_seed":5018388275205461380,"scene_id":"lab_003","finished_at":"2026-09-03T03:14:00"} +{"episode_id":"ep_000088","started_at":"2026-09-03T03:14:03","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.05030477294391256,-1.534683036812545,0.71338606911949],"aabb_xy":[[0.032758078027793625,-1.572183038376796],[0.06785146786003149,-1.4971830352482935]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.6331622748884189,0.048497094258943996,0.71338606911949],"aabb_xy":[[0.5531622727256564,-0.03145808936719963],[0.7131622770511814,0.12845227788508762]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.3634932294663289,-1.881755816493269,0.71338606911949],"aabb_xy":[[0.30349322895847597,-1.9386025501791904],[0.4234932299741818,-1.8249090828073478]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.03076752956053297,-1.3838363021533102,0.71338606911949],"aabb_xy":[[-0.036225475197553036,-1.4638363054609693],[-0.025309583923512905,-1.303836298845651]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.15904293220478838,0.7211382038770515,0.71338606911949],"aabb_xy":[[0.06904293248161418,0.6980648513418715],[0.24904293192796254,0.7442115564122311]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.3502687885329237,-0.5919335305105837,0.71338606911949],"aabb_xy":[[-0.4053939941625144,-0.6519335319518708],[-0.29514358290333287,-0.5319335290692965]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.564845654742079,-0.970203636543773,0.71338606911949],"aabb_xy":[[-0.5998456530527745,-0.9779186514673185],[-0.5298456564313836,-0.9624886216202272]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[0.6279310810767658,1.1435058355623244,0.71338606911949],"aabb_xy":[[0.623815130964693,1.1393902805294787],[0.6320470311888383,1.1476213905951698]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.17933275435158247,-1.2715860781825314,0.71338606911949],"aabb_xy":[[0.13656604747216225,-1.3355860816043337],[0.22209946123100263,-1.2075860747607288]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.1917240330468265,-1.82073642547061,0.71338606911949],"aabb_xy":[[-0.24154081251166126,-1.8707364239549131],[-0.14190725358199174,-1.7707364269863064]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.5003210587615675,1.3064232212126914,0.71338606911949],"aabb_xy":[[-0.5047516881164077,1.300974849478009],[-0.49589042940672734,1.3118715929473739]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.6971146276528006,-1.9967983005329233,0.71338606911949],"aabb_xy":[[0.6721146277202827,-2.003680968753847],[0.7221146275853185,-1.9899156323120002]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.40637091807901504,-1.7530276936696447,0.71338606911949],"aabb_xy":[[-0.4176159736496329,-1.76426949139374],[-0.3951258625083972,-1.7417858959455494]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.23676083297398742,-1.4446712718586487,0.71338606911949],"aabb_xy":[[0.1992608328683944,-1.4514934337116296],[0.27426083307958027,-1.4378491100056674]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.4571817149524082,0.7423395418333683,0.71338606911949],"aabb_xy":[[0.39559095572841546,0.6783395437243215],[0.518772474176401,0.8063395399424153]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.21592605378606416,1.4435522180712375,0.71338606911949],"aabb_xy":[[-0.22392004236376753,1.4355521379761471],[-0.20793206520836074,1.4515522981663278]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.16625426880164007,1.5078467410638177,0.71338606911949],"aabb_xy":[[0.13179192140349824,1.4733528586659945],[0.20071661619978184,1.54234062346164]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.15728536232409052,0.9537429202539518,0.71338606911949],"aabb_xy":[[-0.20256397720523975,0.889742920905768],[-0.11200674744294123,1.0177429196021355]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.4025811243809133,-2.1889161154020926,0.71338606911949],"aabb_xy":[[-0.4086181373815781,-2.194942816471041],[-0.39654411138024864,-2.182889414333145]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.3376188770013011,1.5243470219005215,0.71338606911949],"aabb_xy":[[-0.37511887766587976,1.5086599639002989],[-0.30011887633672235,1.5400340799007433]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.35368123390681827,-1.4973891920833062,0.71338606911949],"aabb_xy":[[0.33118123389667,-1.5114854117229097],[0.37618123391696656,-1.4832929724437032]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[0.6311792809061492,0.6858848757427487,0.71338606911949],"aabb_xy":[[0.5671792792281517,0.6373674842634343],[0.6951792825841464,0.7344022672220627]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.022122990385493146,0.5116700876178708,0.71338606911949],"aabb_xy":[[-0.04123529774347201,0.4925353087406287],[-0.0030106830275142826,0.5308048664951127]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.4705992609234597,-0.16841667475433963,0.71338606911949],"aabb_xy":[[0.44275422414285265,-0.19920117349265132],[0.4984442977040669,-0.13763217601602795]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.569692678051448,-2.185786256669384,0.71338606911949],"aabb_xy":[[0.5624314304810405,-2.1985732669328937],[0.5769539256218554,-2.1729992464058747]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.23424249944984354,1.0918539956993705,0.71338606911949],"aabb_xy":[[-0.23958007511584814,1.0668539947702307],[-0.228904923783839,1.1168539966285103]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[-0.5805474667800136,-1.3874078539134869,0.71338606911949],"aabb_xy":[[-0.6155474659728317,-1.3983748999111494],[-0.5455474675871952,-1.376440807915824]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[0.04090832342899897,-1.8628684515523095,0.71338606911949],"aabb_xy":[[0.01963031528552671,-1.9278684538783821],[0.06218633157247121,-1.797868449226236]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[0.4590598873596077,-1.452113393658376,0.71338606911949],"aabb_xy":[[0.4365461955361504,-1.5221133942593836],[0.4815735791830648,-1.3821133930573686]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_29","position":[-0.4969972939294114,1.776104493155103,0.71338606911949],"aabb_xy":[[-0.5010754518364611,1.7720235129068396],[-0.4929191360223616,1.7801854734033662]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_30","position":[0.17977975992501805,1.659496864043176,0.71338606911949],"aabb_xy":[[0.11977975932900184,1.6046843914979525],[0.2397797605210342,1.7143093365883995]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.39036453729980136,-0.747236523218255,0.71338606911949],"aabb_xy":[[-0.4543645396426029,-0.7921773744623873],[-0.3263645349569998,-0.7022956719741223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.673639729800345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2434.png","name":"2434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2434.png","name":"2434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4915.png","name":"4915"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2712.png","name":"2712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/461.png","name":"461"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.0775086223653,"rotation_z_degrees":319.76834106274134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01088901145224357,0.0029079216532108335,0.019811279757888326]},{"name":"camera_2","offset_m":[0.011598269811646123,-0.0036380602377278776,-0.007124921378593623]},{"name":"camera_3","offset_m":[-0.0034001344055806584,-0.017098006707914847,-0.0005596482395524849]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001979720718059826,-2.7131303349497114e-05,-0.0004128669059869669],"end_effector_yaw_offset_degrees":0.5231364438966832},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006791145031788534,0.0012118165395415504,-0.0014067044941444068],"end_effector_yaw_offset_degrees":-0.4838858249920752},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-8.039289645197156e-05,0.0001252424222845743,0.00017753152008523473],"end_effector_yaw_offset_degrees":-0.42388702836317815}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004083435818261111,0.0028725146110287073],"position_m":[0.18741656418173888,0.027372514611028707,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004315607860033176,-0.0022431303519575905],"position_m":[0.31908439213996687,0.3267568696480424,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001916914971333633,-0.0036496208597370386],"position_m":[0.3578169149713336,0.05965037914026296,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004082483351755931,0.002665806640261721],"position_m":[0.21411751664824408,-0.3686341933597383,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"913296dec29695869b42ad9ed16b67577cd9f16fc34769c5080391efc46c5260","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2434/tex_ceiling_textures_461/tex_floor_textures_2712/tex_table_textures_5041/tex_wall_textures_4915","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":1563152638677700690,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":1563152638677700690,"visual_seed":1563152638677700690,"scene_id":"lab_003","finished_at":"2026-09-03T03:16:40"} +{"episode_id":"ep_000089","started_at":"2026-09-03T03:16:43","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[0.6386372424482161,0.6290048000912107,0.71338606911949],"aabb_xy":[[0.6197528586797059,0.6101188753108578],[0.6575216262167263,0.6478907248715634]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.031830040801762216,-1.2432323542673522,0.71338606911949],"aabb_xy":[[-0.032169956310343466,-1.2922647240617628],[0.0958300379138679,-1.1941999844729416]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.5078004509614379,-2.027750195670668,0.71338606911949],"aabb_xy":[[-0.542800450154256,-2.03871724166833],[-0.4728004517686195,-2.016783149673005]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.5341729301138813,-0.4936033637242576,0.71338606911949],"aabb_xy":[[0.4841729291633484,-0.525152510727779],[0.584172931064414,-0.46205421672073616]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.5379147785563339,-0.43425417821077517,0.71338606911949],"aabb_xy":[[-0.5598234606956848,-0.4561548450308659],[-0.5160060964169827,-0.41235351139068444]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.5785810069654316,-0.8019746453835472,0.71338606911949],"aabb_xy":[[0.5145853095703349,-0.8659746436842559],[0.642576704360528,-0.7379746470828386]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.45032375788908374,-1.1890881055585365,0.71338606911949],"aabb_xy":[[0.3903237580425169,-1.245906727751575],[0.5103237577356505,-1.1322694833654976]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.35534019878371775,1.1193982820234125,0.71338606911949],"aabb_xy":[[-0.41534019937973393,1.064585809478189],[-0.2953401981877016,1.174210754568636]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.6137083335306027,-2.361898069964229,0.71338606911949],"aabb_xy":[[-0.6496218379555923,-2.397811578180984],[-0.577794829105613,-2.3259845617474744]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.27444253185124534,-0.8504752883333806,0.71338606911949],"aabb_xy":[[0.2562367081899977,-0.8615006889153723],[0.2926483555124931,-0.8394498877513891]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.10128721671908736,-2.1374273960879124,0.71338606911949],"aabb_xy":[[0.06682486932094553,-2.1719212784857342],[0.1357495641172291,-2.102933513690089]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.3133817821871526,-1.7536773025567698,0.71338606911949],"aabb_xy":[[-0.38338178399589806,-1.7750310713209572],[-0.2433817803784072,-1.7323235337925824]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.43848796706797,0.8124194128748652,0.71338606911949],"aabb_xy":[[-0.4934811784051068,0.7574194125360717],[-0.3834947557308333,0.8674194132136589]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.1751741732900075,1.750039789846816,0.71338606911949],"aabb_xy":[[-0.24517417542143705,1.7272778242211202],[-0.10517417115857797,1.7728017554725115]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.6189372162614777,0.29787816564242675,0.71338606911949],"aabb_xy":[[-0.6363679313404842,0.2806060509785759],[-0.6015065011824712,0.3151502803062775]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.5747996969562251,0.1830170791069996,0.71338606911949],"aabb_xy":[[-0.634799698599147,0.13101692981505542],[-0.5147996953133033,0.2350172283989438]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.0034746104565855918,-0.6841844010077731,0.71338606911949],"aabb_xy":[[-0.046525391204909165,-0.7341828432634758],[0.05347461211808035,-0.6341859587520704]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.4598612476475708,-1.5983379606010413,0.71338606911949],"aabb_xy":[[-0.5148612458493156,-1.6388599272274789],[-0.40486124944582597,-1.5578159939746037]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.3222554881523047,-1.455809342036877,0.71338606911949],"aabb_xy":[[-0.3862554885298383,-1.505554608887689],[-0.2582554877747711,-1.4060640751860645]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.2807007496747748,0.8340798896240713,0.71338606911949],"aabb_xy":[[-0.2915523559236504,0.8232205988964204],[-0.2698491434258992,0.8449391803517224]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.03343924590695424,-1.947705565827817,0.71338606911949],"aabb_xy":[[-0.030560757311683617,-1.9944286777268254],[0.0974392491255921,-1.9009824539288087]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.3994515395929301,0.5296524181326934,0.71338606911949],"aabb_xy":[[0.39553766639750765,0.5209034027261366],[0.4033654127883527,0.5384014335392502]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.2209454391827983,0.5266876133123284,0.71338606911949],"aabb_xy":[[0.2127308940671143,0.5180110230146869],[0.22915998429848225,0.5353642036099696]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.17342843473174574,-0.4824331036530274,0.71338606911949],"aabb_xy":[[-0.24342843633402522,-0.49586589685468496],[-0.10342843312946626,-0.4690003104513698]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.2505636161265726,-2.1892893820397656,0.71338606911949],"aabb_xy":[[-0.3155636161608753,-2.235990058720093],[-0.18556361609226985,-2.1425887053594384]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.5363978418115489,0.23857090299637784,0.71338606911949],"aabb_xy":[[0.466397838419987,0.20325512929294695],[0.6063978452031109,0.27388667669980865]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.43369421972386407,-0.2432917003499493,0.71338606911949],"aabb_xy":[[-0.4986942178797832,-0.2695879448998615],[-0.36869422156794507,-0.2169954558000371]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.42613781495529746,0.6821303019352127,0.71338606911949],"aabb_xy":[[0.4109749419783604,0.6669648446400941],[0.44130068793223454,0.6972957592303316]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[0.4635391733111902,-2.4981565051830366,0.71338606911949],"aabb_xy":[[0.41353917202735024,-2.548135359573658],[0.5135391745950302,-2.448177650792414]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[-0.20694123558157945,0.7272823786793285,0.71338606911949],"aabb_xy":[[-0.25194123704780835,0.6822825218178479],[-0.1619412341153506,0.7722822355408093]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.6121112975043393,0.607252202666821,0.71338606911949],"aabb_xy":[[-0.6170673176892206,0.5847522024646994],[-0.6071552773194583,0.6297522028689426]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_31","position":[-0.44638656407616123,1.3176766026633322,0.71338606911949],"aabb_xy":[[-0.49419273168992983,1.2526765999562732],[-0.3985803964623925,1.3826766053703912]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[-0.38817072940966796,-1.166899546235032,0.71338606911949],"aabb_xy":[[-0.4481707299175209,-1.2237462799209533],[-0.32817072890181503,-1.1100528125491107]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_33","position":[-0.08833385722985809,-1.5142484584523965,0.71338606911949],"aabb_xy":[[-0.10861815995325683,-1.5345310835951051],[-0.0680495545064593,-1.4939658333096875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6795885544991371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1762.png","name":"1762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1762.png","name":"1762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9917.png","name":"9917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6167.png","name":"6167"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5414.png","name":"5414"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":640.4467364294904,"rotation_z_degrees":102.51066949921272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008892969478237339,0.013091526135258661,0.014073395747578859]},{"name":"camera_2","offset_m":[-0.0018023884821418389,0.008977660867974958,-0.004619507125076149]},{"name":"camera_3","offset_m":[0.006584445383719474,-0.0027351181252549123,-0.0025209651721903106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007386302970700035,0.0010735538960614734,-0.0012042170576435356],"end_effector_yaw_offset_degrees":-0.02464508552029221},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00023643231773398015,0.0013503985325651604,0.00020156874536765654],"end_effector_yaw_offset_degrees":-0.7046329450414515},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008363923338939633,0.0008486132855170274,0.0010639006843397966],"end_effector_yaw_offset_degrees":0.16409591520775613}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004844509537101306,0.004179094223193967],"position_m":[0.1963445095371013,0.02867909422319397,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001801621024640922,-0.0010127731690986238],"position_m":[0.32520162102464095,0.32798722683090137,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013162631733161087,-0.002417190621117492],"position_m":[0.3572162631733161,0.060882809378882505,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002424085630569871,0.001099707464153078],"position_m":[0.21577591436943014,-0.37020029253584696,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e05fce57957e5afeeaa7133928fb8dbed84c42fd27185161e4c6c42a242fb815","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0107.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1762/tex_ceiling_textures_5414/tex_floor_textures_6167/tex_table_textures_3579/tex_wall_textures_9917","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6981090592061280649,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6981090592061280649,"visual_seed":6981090592061280649,"scene_id":"lab_003","finished_at":"2026-09-03T03:19:30"} +{"episode_id":"ep_000090","started_at":"2026-09-03T03:19:33","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[-0.47216362371765813,-2.444838896784488,0.71338606911949],"aabb_xy":[[-0.5272888293472489,-2.5048388982257745],[-0.41703841808806735,-2.3848388953432003]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.6051873709160813,-1.867574408799869,0.71338606911949],"aabb_xy":[[-0.6143472498599579,-1.874105626843406],[-0.5960274919722047,-1.8610431907563318]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.4315575761463659,0.508961592673502,0.71338606911949],"aabb_xy":[[-0.43859902709711346,0.5019348409357074],[-0.42451612519561827,0.5159883444112965]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.07825052323555659,1.6378287448764408,0.71338606911949],"aabb_xy":[[-0.11325052154625202,1.630113729952895],[-0.04325052492486113,1.6455437597999862]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.6289280263790005,0.41652961810438605,0.71338606911949],"aabb_xy":[[0.6191720368698266,0.40676708404515155],[0.6386840158881744,0.42629215216362043]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.4269083459154308,-2.098868921881063,0.71338606911949],"aabb_xy":[[0.3719083467388413,-2.15385859665602],[0.4819083450920203,-2.043879247106105]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.22850638385720762,-2.4460762714247903,0.71338606911949],"aabb_xy":[[-0.24195291049125092,-2.4595461230778817],[-0.21505985722316426,-2.432606419771699]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.6614897620953151,-2.440796523166056,0.71338606911949],"aabb_xy":[[0.6463175928136817,-2.455965380094259],[0.6766619313769484,-2.425627666237853]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.6092081341898894,-1.5488464380005107,0.71338606911949],"aabb_xy":[[-0.6592031451493415,-1.5988464370361029],[-0.5592131232304375,-1.4988464389649192]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.18543797819723717,0.7270414140186023,0.71338606911949],"aabb_xy":[[0.13546491266472174,0.6770414142060696],[0.2354110437297527,0.7770414138311355]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.16528675828569217,1.458171949983122,0.71338606911949],"aabb_xy":[[0.07528675969122223,1.441921363669701],[0.2552867568801621,1.474422536296543]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.11793327503772866,-2.153412644653755,0.71338606911949],"aabb_xy":[[-0.14833138613687225,-2.183819546655424],[-0.08753516393858507,-2.123005742652085]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.4441855266520365,0.6825970367454528,0.71338606911949],"aabb_xy":[[0.4266388317359175,0.6450970351812015],[0.46173222156815535,0.7200970383097041]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.3027053434284037,-1.143262565769314,0.71338606911949],"aabb_xy":[[0.23870534484183126,-1.1902695291688226],[0.3667053420149762,-1.0962556023698051]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.1558896352164636,1.0063921646775391,0.71338606911949],"aabb_xy":[[0.14947582157327863,0.9999823444298707],[0.1623034488596485,1.0128019849252072]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[0.3793396746680837,0.9984844727522004,0.71338606911949],"aabb_xy":[[0.30933967825812175,0.9780465371005184],[0.44933967107804534,1.0189224084038817]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.15352370257536851,-1.9400681609870905,0.71338606911949],"aabb_xy":[[0.08952370231489772,-1.9850769603400185],[0.21752370283583933,-1.8950593616341624]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.29032663660054453,-1.9367138355408624,0.71338606911949],"aabb_xy":[[-0.35432663851288687,-1.992624984798873],[-0.2263266346882022,-1.8808026862828522]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.03222659701505792,-1.4824302888098044,0.71338606911949],"aabb_xy":[[-0.04980489920400477,-1.5000047783839094],[-0.014648294826111075,-1.4648557992356994]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.5471124872917883,-2.0725944634616917,0.71338606911949],"aabb_xy":[[0.5280001799338094,-2.0917292423389338],[0.5662247946497672,-2.0534596845844497]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.09466241653551621,1.8158720633322418,0.71338606911949],"aabb_xy":[[-0.10192366410592363,1.8030850530687323],[-0.0874011689651088,1.8286590735957513]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.4067519471544101,-1.9609966038375415,0.71338606911949],"aabb_xy":[[0.3963403884739264,-1.9663423371734396],[0.4171635058348938,-1.9556508705016429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674880340137224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5027.png","name":"5027"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2001.png","name":"2001"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":804.2286405676291,"rotation_z_degrees":108.50697020500407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01687366310968649,0.009291014267056252,-0.006644382017589283]},{"name":"camera_2","offset_m":[0.017148586739348586,-0.010640051755870931,-0.011302879361977576]},{"name":"camera_3","offset_m":[0.002919207823338984,-0.009770978543926691,0.0038451028514849307]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019945362616159913,0.0008840688456538313,0.0004617275500841747],"end_effector_yaw_offset_degrees":0.9546378247091398},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008857652130408416,0.0008027662677717747,0.0006281457691481645],"end_effector_yaw_offset_degrees":0.1571952684208351},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00042537768172843955,0.0004113126515748059,0.000959304679128318],"end_effector_yaw_offset_degrees":0.9799312777000562}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004903794459951185,-0.00163452234155934],"position_m":[0.18659620554004883,0.022865477658440662,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021496391654936596,-0.003597984594525442],"position_m":[0.32125036083450637,0.3254020154054746,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00433423016781104,0.0038167236864597087],"position_m":[0.36023423016781103,0.0671167236864597,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019816988054736466,0.004462063668681941],"position_m":[0.22018169880547364,-0.36683793633131806,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ffc37388a244a1a47b7dc0968f21fc5a705032bbd5c42143d2ea95c8cf70788c","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0108.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8555/tex_ceiling_textures_2001/tex_floor_textures_677/tex_table_textures_9109/tex_wall_textures_5027","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":6597322438830838660,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":6597322438830838660,"visual_seed":6597322438830838660,"scene_id":"lab_003","finished_at":"2026-09-03T03:22:09"} +{"episode_id":"ep_000091","started_at":"2026-09-03T03:22:12","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.30447612048603345,1.0650317328577579,0.71338606911949],"aabb_xy":[[-0.3290223361087842,1.0347828363087206],[-0.27992990486328273,1.0952806294067947]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.19897359996791808,-1.7901797265889927,0.71338606911949],"aabb_xy":[[-0.22681863674852518,-1.8209642253273044],[-0.17112856318731093,-1.759395227850681]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.39164909886282545,-0.35125159007418416,0.71338606911949],"aabb_xy":[[-0.4556491021525336,-0.3945865090781018],[-0.3276490955731174,-0.30791667107026655]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_3","position":[0.40745946738356165,0.8550102515883111,0.71338606911949],"aabb_xy":[[0.357362003402488,0.7910102510784992],[0.45755693136463527,0.9190102520981228]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.19517266588037874,-2.511188806230954,0.71338606911949],"aabb_xy":[[-0.2401726673466076,-2.556188663092435],[-0.1501726644141499,-2.4661889493694735]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.6729385341040277,-1.1352038046275423,0.71338606911949],"aabb_xy":[[0.6354385337557998,-1.1469952002086259],[0.7104385344522554,-1.1234124090464588]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.04125858254845516,0.43395137568457365,0.71338606911949],"aabb_xy":[[-0.05211018879733076,0.42309208495692263],[-0.030406976299579558,0.44481066641222466]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.4309783999209533,1.2545297366560035,0.71338606911949],"aabb_xy":[[0.39749923265991244,1.2210506232848968],[0.4644575671819943,1.2880088500271107]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.3770842001870551,-0.7461540028582057,0.71338606911949],"aabb_xy":[[-0.3959685839555652,-0.7650399276385585],[-0.3581998164185448,-0.727268078077853]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.12750949310981874,-1.3136635176316376,0.71338606911949],"aabb_xy":[[-0.16605518593501978,-1.3522092886878263],[-0.0889638002846177,-1.2751177465754489]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.40097328463536835,-1.0351196543614123,0.71338606911949],"aabb_xy":[[-0.41860612022889593,-1.052742600377035],[-0.3833404490418408,-1.017496708345789]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.48919317664789236,0.359842512786678,0.71338606911949],"aabb_xy":[[-0.5141931765804102,0.3529598445657547],[-0.4641931767153744,0.3667251810076013]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.3584458751496227,-0.1992344047067962,0.71338606911949],"aabb_xy":[[-0.3633451674561861,-0.22691132400936495],[-0.3535465828430591,-0.1715574854042274]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.5927355125054327,-2.0132076992362005,0.71338606911949],"aabb_xy":[[-0.6567355145551648,-2.0533021823255084],[-0.5287355104557008,-1.9731132161468925]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.01261007610770104,0.8486927196547125,0.71338606911949],"aabb_xy":[[-0.05238992204821802,0.8223964751048004],[0.0776100742636201,0.8749889642046248]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.17328404495001626,0.6055555760488263,0.71338606911949],"aabb_xy":[[0.1233109794175008,0.5555555762362934],[0.22325711048253175,0.6555555758613592]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.35751470573851557,1.3140213588485992,0.71338606911949],"aabb_xy":[[-0.40699512695247436,1.2500213609357476],[-0.3080342845245568,1.3780213567614512]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.681103839997816,-2.170218033978952,0.71338606911949],"aabb_xy":[[0.6511121772639457,-2.2002180333157524],[0.7110955027316863,-2.1402180346421513]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.21851626020393805,-0.711956347575257,0.71338606911949],"aabb_xy":[[-0.22259441811098782,-0.7160373278235204],[-0.21443810229688834,-0.7078753673269937]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.24163103338349978,-1.662172986030066,0.71338606911949],"aabb_xy":[[0.186637822046363,-1.7171729863688598],[0.29662424472063653,-1.6071729856912726]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.23815714013034134,1.4517238791930294,0.71338606911949],"aabb_xy":[[-0.26065627585656825,1.4292238784147664],[-0.21565800440411434,1.4742238799712923]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.12679080031768009,0.2986361528090291,0.71338606911949],"aabb_xy":[[-0.19079080223002243,0.24272500355101873],[-0.06279079840533774,0.3545473020670396]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[0.4936495214486156,-2.1269117392505246,0.71338606911949],"aabb_xy":[[0.4136495228612962,-2.206227341188685],[0.5736495200359351,-2.0475961373123632]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.035625563697795015,1.0229449951480594,0.71338606911949],"aabb_xy":[[-0.054374439979123154,0.9615125885709546],[0.12562556737471317,1.0843774017251633]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[0.5942275866079549,-1.5065091285598786,0.71338606911949],"aabb_xy":[[0.5442446364204754,-1.5565091282024388],[0.644210536795434,-1.456509128917318]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.5873133870481786,-0.8262675515233968,0.71338606911949],"aabb_xy":[[0.52331338976253,-0.8677742704762408],[0.6513133843338272,-0.7847608325705528]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[-0.6451720019086269,0.6665057905975749,0.71338606911949],"aabb_xy":[[-0.6516736384166315,0.6567379685712651],[-0.6386703654006223,0.6762736126238846]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[-0.2845879899670019,-2.1380441118317624,0.71338606911949],"aabb_xy":[[-0.3645879921297644,-2.217999295457906],[-0.20458798780423942,-2.0580889282056187]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.3579661923573461,0.06263075898646253,0.71338606911949],"aabb_xy":[[-0.3954661928547043,0.05866207543834412],[-0.3204661918599878,0.06659944253458094]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6767899953734191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6624.png","name":"6624"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6624.png","name":"6624"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8830.png","name":"8830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3426.png","name":"3426"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4957.png","name":"4957"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.9739123280197,"rotation_z_degrees":250.4908794574842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001390097567881634,-0.011090845590357255,0.01995408708898187]},{"name":"camera_2","offset_m":[0.008641384998799184,0.01258092288049813,-0.0035108173662757175]},{"name":"camera_3","offset_m":[0.01892578520270514,-0.005210960677103081,-0.006678073863725027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047857268422219607,-0.0003855728927323696,-0.00017248443842699814],"end_effector_yaw_offset_degrees":-0.8384872177493294},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001803455294714551,0.001451774874308285,0.0019985688125313174],"end_effector_yaw_offset_degrees":0.4596768159068112},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009983847071626806,0.0008736771962454966,-0.00012881639797657652],"end_effector_yaw_offset_degrees":0.9961207152756355}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002011803332411618,-0.0029606020166993543],"position_m":[0.1894881966675884,0.021539397983300648,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031512763543599487,0.002136119151749597],"position_m":[0.32024872364564005,0.3311361191517496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018134521344830411,-0.003943444480542851],"position_m":[0.35408654786551697,0.05935655551945714,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.612202563168219e-06,0.00258550451217774],"position_m":[0.21819238779743683,-0.36871449548782226,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c277296b25ae9b2cce6fdd83c8a205bdd90373206d499548b21d8773b080db31","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0109.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6624/tex_ceiling_textures_4957/tex_floor_textures_3426/tex_table_textures_8830/tex_wall_textures_6388","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3334102940029999187,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3334102940029999187,"visual_seed":3334102940029999187,"scene_id":"lab_003","finished_at":"2026-09-03T03:24:47"} +{"episode_id":"ep_000092","started_at":"2026-09-03T03:24:50","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.12081069022721624,0.7717750972200217,0.71338606911949],"aabb_xy":[[-0.17080552315515785,0.721775098324778],[-0.07081585729927464,0.8217750961152651]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.40681739530495736,-0.5508645806334922,0.71338606911949],"aabb_xy":[[-0.44244655120491716,-0.5864972473903453],[-0.3711882394049977,-0.5152319138766394]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.35143402411741764,-0.9150458989278558,0.71338606911949],"aabb_xy":[[0.3164340249874619,-0.9207911200035198],[0.38643402324737325,-0.9093006778521916]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.36089140830216704,1.4357077594687886,0.71338606911949],"aabb_xy":[[-0.3858914075741294,1.4193623958726262],[-0.3358914090302048,1.452053123064951]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.48992144925711534,0.02603976984572398,0.71338606911949],"aabb_xy":[[-0.5448951712934482,-0.0289602297185092],[-0.4349477272207825,0.08103976940995716]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[0.0950063566908732,-2.2300186248498717,0.71338606911949],"aabb_xy":[[0.07117013905026816,-2.3200186256583586],[0.1188425743314783,-2.1400186240413857]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.27714136960836544,0.9976023376653793,0.71338606911949],"aabb_xy":[[0.25385952741023404,0.9126023363681512],[0.3004232118064967,1.0826023389626074]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.08473399770218204,-0.7935208657955999,0.71338606911949],"aabb_xy":[[-0.13473399865271485,-0.8250700127991212],[-0.03473399675164923,-0.7619717187920784]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.19711937629299237,1.2801895915236572,0.71338606911949],"aabb_xy":[[0.13211937533586512,1.2282413795899514],[0.2621193772501195,1.3321378034573625]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.6515122423051877,-1.4023835038075776,0.71338606911949],"aabb_xy":[[-0.6703966260736978,-1.4212694285879304],[-0.6326278585366774,-1.3834975790272248]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.6295228837737025,0.7722750780696255,0.71338606911949],"aabb_xy":[[-0.6845228819754473,0.7317531114431878],[-0.5745228855719576,0.812797044696063]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.3247301225167815,-2.366902271291896,0.71338606911949],"aabb_xy":[[-0.3497301216824147,-2.3738545169972527],[-0.29973012335114846,-2.3599500255865395]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.22258286546753103,-1.9795305671599923,0.71338606911949],"aabb_xy":[[0.2185047075604813,-1.9836115474082556],[0.22666102337458077,-1.975449586911729]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.29811269985862565,0.1129240036696002,0.71338606911949],"aabb_xy":[[-0.32061270037066625,0.09043214530420184],[-0.27561269934658505,0.13541586203499856]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.1997001710275359,-1.8550001175712598,0.71338606911949],"aabb_xy":[[-0.2340164482021538,-1.9050001175444373],[-0.16538389385291793,-1.8050001175980819]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.25345523515812296,-1.7311386352649025,0.71338606911949],"aabb_xy":[[0.2289416110611171,-1.7554032285669388],[0.2779688592551288,-1.7068740419628659]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.4450940755089942,0.6330334162266977,0.71338606911949],"aabb_xy":[[-0.4675940750327015,0.6105374687760767],[-0.4225940759852867,0.6555293636773183]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.13432468273831288,-0.6496024884120688,0.71338606911949],"aabb_xy":[[0.07669421385104201,-0.7096024873387793],[0.1919551516255837,-0.5896024894853581]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.5982970872297646,-2.3444769988524476,0.71338606911949],"aabb_xy":[[-0.608378794308338,-2.4244769967445623],[-0.588215380151191,-2.264477000960333]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.03454018384339397,-0.8998636030109393,0.71338606911949],"aabb_xy":[[-0.05704018408690936,-0.9120682376707112],[-0.012040183599878573,-0.8876589683511673]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.5991725731451224,-1.635290422941015,0.71338606911949],"aabb_xy":[[-0.6210812552844734,-1.6571910897611057],[-0.5772638910057714,-1.6133897561209243]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.40610401807973234,1.011524316038539,0.71338606911949],"aabb_xy":[[-0.44110401797575116,1.0031500805265987],[-0.3711040181837134,1.0198985515504788]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.5217791030738275,-0.1939643124946624,0.71338606911949],"aabb_xy":[[0.44177910441694146,-0.20846917141892518],[0.6017791017307135,-0.1794594535703996]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.4314412713900226,-1.9084322979615367,0.71338606911949],"aabb_xy":[[-0.4814412727509098,-1.9584102025369525],[-0.38144127002913536,-1.8584543933861213]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.5166302642793836,-1.2211625564091009,0.71338606911949],"aabb_xy":[[0.4791302641075117,-1.2538632917920078],[0.5541302644512556,-1.1884618210261935]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[-0.6119310424853535,-1.5173985231772096,0.71338606911949],"aabb_xy":[[-0.6719310441282753,-1.5693986724691538],[-0.5519310408424316,-1.4653983738852654]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.43811028669016183,0.4874445148583062,0.71338606911949],"aabb_xy":[[0.4252383831892217,0.40744451444447],[0.450982190191102,0.5674445152721422]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.3044735558381735,-1.2929219287084752,0.71338606911949],"aabb_xy":[[0.29270536904351596,-1.377921928613697],[0.316241742632831,-1.2079219288032539]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.5006534042637816,0.7294562567932052,0.71338606911949],"aabb_xy":[[0.4932409487223931,0.7236050463715774],[0.50806585980517,0.7353074672148333]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[-0.01454804648286645,1.3464316037974067,0.71338606911949],"aabb_xy":[[-0.06454732165130261,1.2964316025214595],[0.03545122868556971,1.3964316050733538]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_30","position":[-0.28880661172279853,0.751911038707699,0.71338606911949],"aabb_xy":[[-0.34380661089938797,0.6969213639327414],[-0.233806612546209,0.8069007134826567]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[0.17161226160144005,1.6449057089838166,0.71338606911949],"aabb_xy":[[0.1660305899673113,1.632405709166041],[0.1771939332355688,1.657405708801592]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_32","position":[0.4168070501827259,1.3407755834472654,0.71338606911949],"aabb_xy":[[0.3793070500771329,1.3339534215942843],[0.4543070502883188,1.3475977453002466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6772750111853726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9949.png","name":"9949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9949.png","name":"9949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9016.png","name":"9016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6671.png","name":"6671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9432.png","name":"9432"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":604.0111707388409,"rotation_z_degrees":185.85775240794752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015365284743016489,-0.013626803761512618,0.0073431496849167]},{"name":"camera_2","offset_m":[-0.003169105250771107,0.011802775185296249,-0.008731740223374014]},{"name":"camera_3","offset_m":[0.011583128164942117,0.007356141521117028,-0.01986450862877097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008310000759487433,-0.00027645274114418287,-0.0003430353081684313],"end_effector_yaw_offset_degrees":0.562712666884511},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007905374627198516,0.00026464198416589193,0.000761512417452126],"end_effector_yaw_offset_degrees":-0.41591318254416443},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015886837025992904,-0.0010126816039157868,-0.0005996076888000791],"end_effector_yaw_offset_degrees":-0.924745778257835}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008142824543632896,0.00031335396047540206],"position_m":[0.1906857175456367,0.024813353960475404,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003267314094174104,0.003332425650655459],"position_m":[0.32013268590582594,0.33233242565065546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016678972182719186,0.004055144509327657],"position_m":[0.35423210278172806,0.06735514450932766,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002314634127760249,0.002189114201933846],"position_m":[0.21588536587223975,-0.36911088579806617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"547c0d47b38b9e15c775e463cd2885d8885c72c2cef5486d00924622b9f8e102","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0110.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9949/tex_ceiling_textures_1231/tex_floor_textures_9432/tex_table_textures_9016/tex_wall_textures_6671","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8409130377853342558,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8409130377853342558,"visual_seed":8409130377853342558,"scene_id":"lab_003","finished_at":"2026-09-03T03:27:30"} +{"episode_id":"ep_000093","started_at":"2026-09-03T03:27:33","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.6760587693922566,0.9291091308295583,0.71338606911949],"aabb_xy":[[0.6395629487649779,0.8926251884028006],[0.7125545900195354,0.9655930732563157]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.6089583119458353,1.3884855481169707,0.71338606911949],"aabb_xy":[[0.572163678820929,1.3515796730203882],[0.6457529450707415,1.4253914232135527]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.33103457938611136,-0.5050185685905619,0.71338606911949],"aabb_xy":[[0.2960345801932931,-0.5159856145882245],[0.3660345785789296,-0.4940515225928992]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.060194309219376296,-1.442542178303621,0.71338606911949],"aabb_xy":[[-0.06553188488538086,-1.4675421792327608],[-0.05485673355337173,-1.4175421773744812]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.31147993706948496,-0.4227427499010177,0.71338606911949],"aabb_xy":[[-0.32082694465178024,-0.4370463721186617],[-0.3021329294871898,-0.40843912768337365]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.3404252100688959,-2.105667045120944,0.71338606911949],"aabb_xy":[[-0.3814431534552668,-2.1556670457519007],[-0.29940726668252504,-2.055667044489986]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.5101996283838431,1.6793945890576887,0.71338606911949],"aabb_xy":[[-0.5176120839252316,1.6735433786360605],[-0.5027871728424547,1.6852457994793164]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[-0.10221716360871469,0.40096661607011974,0.71338606911949],"aabb_xy":[[-0.15002333122248335,0.3359666133630608],[-0.05441099599494603,0.46596661877717865]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.2493954252159304,1.5500243102407691,0.71338606911949],"aabb_xy":[[0.19942235968341498,1.5000243104282365],[0.2993684907484459,1.6000243100533023]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.31542484439641005,0.8896075616819683,0.71338606911949],"aabb_xy":[[0.3104688242115289,0.8671075614798468],[0.3203808645812912,0.91210756188409]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.0780666050539277,1.1219186217933532,0.71338606911949],"aabb_xy":[[0.05306660588829459,1.1149663760879966],[0.10306660421956082,1.1288708674987098]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.304613928567481,1.2733907936293147,0.71338606911949],"aabb_xy":[[-0.3221138620014643,1.2558907937090797],[-0.28711399513349756,1.2908907935495488]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.5135234589509163,-1.2524870924130709,0.71338606911949],"aabb_xy":[[0.4916337113619756,-1.3424870897023198],[0.5354132065398571,-1.1624870951238215]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.3645217707173111,0.2896642719960987,0.71338606911949],"aabb_xy":[[-0.3722249613913881,0.28195490129736067],[-0.356818580043234,0.2973736426948367]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.005339510612777709,-1.8472505291483214,0.71338606911949],"aabb_xy":[[-0.05531692747803129,-1.89725053063757],[0.04463790625247587,-1.797250527659073]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.4725211349969105,-2.4190431969411024,0.71338606911949],"aabb_xy":[[0.4025211331881651,-2.44039696570529],[0.542521136805656,-2.3976894281769154]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.3181916017783376,-2.281147446195698,0.71338606911949],"aabb_xy":[[-0.33573829669445654,-2.3186474477599495],[-0.3006449068622187,-2.2436474446314465]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.5443298085089883,-1.5670605006412943,0.71338606911949],"aabb_xy":[[0.4893365971718515,-1.6220605009800881],[0.599323019846125,-1.512060500302501]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.1553715482094531,-0.875922988908217,0.71338606911949],"aabb_xy":[[0.09137154891528484,-0.9399091292770712],[0.21937154750362128,-0.8119368485393628]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.08663788960825947,1.6685857148540424,0.71338606911949],"aabb_xy":[[0.006637892594011471,1.6484511631806311],[0.16663788662250745,1.6887202665274537]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.20132012388961118,-2.354573570811363,0.71338606911949],"aabb_xy":[[0.18126171227637086,-2.3746386577205203],[0.22137853550285144,-2.3345084839022054]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.26316497088181123,-1.4728718208656217,0.71338606911949],"aabb_xy":[[0.19816496992468405,-1.5248200327993275],[0.32816497183893845,-1.4209236089319164]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.21828321043806953,1.1766899647537126,0.71338606911949],"aabb_xy":[[-0.24612824721867663,1.1459054660154007],[-0.19043817365746238,1.207474463492024]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.02955230752154847,0.9465955098259511,0.71338606911949],"aabb_xy":[[-0.11455230621362311,0.9146096464310722],[0.05544769117052617,0.9785813732208299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6809593932576574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4141.png","name":"4141"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5002.png","name":"5002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8352.png","name":"8352"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":846.7606653756807,"rotation_z_degrees":149.07012742675113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004000169478910739,0.011832052220900838,-0.015609818804655763]},{"name":"camera_2","offset_m":[-0.00778154233720393,-0.013359865097274182,-0.005348218508048945]},{"name":"camera_3","offset_m":[-0.0015463949595541752,-0.00012191649249409728,-0.014546873436189874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.8667459072482734e-05,0.0019801585898712483,9.846005627710003e-05],"end_effector_yaw_offset_degrees":0.47303154565417427},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004234100453713455,-0.0008564761093094427,-0.0015540252637502383],"end_effector_yaw_offset_degrees":0.6679920892555644},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019035260092977206,-0.0002574510355651367,-0.0003717221772370628],"end_effector_yaw_offset_degrees":-0.9389990217895161}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029652532604829617,-0.0036333475831774945],"position_m":[0.18853474673951703,0.020866652416822506,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021176913946681798,0.0012489390193073423],"position_m":[0.3255176913946682,0.33024893901930735,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001050724540488943,-0.004785036801402925],"position_m":[0.3560050724540489,0.05851496319859707,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013289753834687893,-0.0037944079344811657],"position_m":[0.2195289753834688,-0.3750944079344812,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f3fccc9d3b6aeb02c13d1145f9ec8833443cd2b883ac75db44ab8cfa0b69db6","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_865/tex_ceiling_textures_8352/tex_floor_textures_6025/tex_table_textures_4141/tex_wall_textures_5002","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":873760825653379776,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":873760825653379776,"visual_seed":873760825653379776,"scene_id":"lab_003","finished_at":"2026-09-03T03:30:11"} +{"episode_id":"ep_000094","started_at":"2026-09-03T03:30:14","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.45430051713761316,-2.207526616220898,0.71338606911949],"aabb_xy":[[-0.4669273044248095,-2.217072689922471],[-0.4416737298504168,-2.197980542519325]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.1782411462183081,-0.8150853976426669,0.71338606911949],"aabb_xy":[[0.15324114694634583,-0.8314307612388293],[0.2032411454902704,-0.7987400340465046]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.4291429642960478,-1.0328228475125105,0.71338606911949],"aabb_xy":[[0.3791429639354817,-1.0828028347221132],[0.4791429646566138,-0.9828428603029075]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.25308519413661423,1.2380151709344678,0.71338606911949],"aabb_xy":[[0.21623464619962662,1.200515170111434],[0.28993574207360184,1.2755151717575015]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.32261076048370096,1.3928135251356801,0.71338606911949],"aabb_xy":[[-0.353757679327284,1.322813526448873],[-0.2914638416401178,1.4628135238224873]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.2831917912506698,-1.2794053400902148,0.71338606911949],"aabb_xy":[[-0.29089498192474683,-1.287114710788953],[-0.27548860057659275,-1.2716959693914767]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.18074030898955995,-1.4291668915701954,0.71338606911949],"aabb_xy":[[-0.21824030948691817,-1.433135575118314],[-0.14324030849220168,-1.4251982080220769]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.6000431448489123,-0.7488077123168655,0.71338606911949],"aabb_xy":[[-0.6499258417266086,-0.7988077115631405],[-0.5501604479712162,-0.6988077130705909]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.4497501493588485,-0.10806422503990909,0.71338606911949],"aabb_xy":[[-0.4870814258840911,-0.1427172798347614],[-0.4124188728336059,-0.07341117024505678]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.2597872712866331,0.2557827338054408,0.71338606911949],"aabb_xy":[[-0.3297872730953786,0.2344289650412535],[-0.1897872694778877,0.27713650256962824]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.5489884009898067,-0.9011259019983955,0.71338606911949],"aabb_xy":[[0.4689884030090217,-0.9087274429602474],[0.6289883989705918,-0.8935243610365435]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.4226736299842342,-1.3871739309308713,0.71338606911949],"aabb_xy":[[0.415049361894056,-1.394807154467415],[0.4302978980744125,-1.3795407073943275]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.5817526357358471,-2.021496263955089,0.71338606911949],"aabb_xy":[[0.5177526384501985,-2.063002982907933],[0.6457526330214958,-1.9799895450022449]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.04103477583428117,-0.49093720054650447,0.71338606911949],"aabb_xy":[[-0.06353477535798856,-0.513433147997125],[-0.01853477631057376,-0.4684412530958835]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.2869766437420087,-1.5776167127854404,0.71338606911949],"aabb_xy":[[0.20697664047799558,-1.5911767450943535],[0.36697664700602184,-1.5640566804765268]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.3400720447896235,-0.7930001185007947,0.71338606911949],"aabb_xy":[[0.3292204385407479,-0.8038594092284458],[0.3509236510384991,-0.7821408277731438]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.2583473179276322,-0.47176524351629023,0.71338606911949],"aabb_xy":[[-0.2646594174639707,-0.47753218276950904],[-0.25203521839129384,-0.46599830426307143]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.36167343218631703,-1.3823372635243596,0.71338606911949],"aabb_xy":[[-0.44167343325943736,-1.392115309861744],[-0.2816734311131967,-1.3725592171869752]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.18731115187844394,-2.128596084375626,0.71338606911949],"aabb_xy":[[-0.20642345923642277,-2.147730863252868],[-0.16819884452046505,-2.109461305498384]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.6143552540451106,0.13631766451505545,0.71338606911949],"aabb_xy":[[-0.6518552555607423,0.12509089149891037],[-0.5768552525294789,0.14754443753120047]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.16300268301553622,-0.011050281575095244,0.71338606911949],"aabb_xy":[[-0.19299434574940658,-0.041050280911895776],[-0.13301102028166592,0.018949717761705287]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[-0.5306793750032837,1.5538696599262276,0.71338606911949],"aabb_xy":[[-0.5528519019799344,1.5316939927701043],[-0.5085068480266327,1.5760453270823505]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[0.46678585641021586,-0.8164607479410888,0.71338606911949],"aabb_xy":[[0.45542412175692965,-0.8278292143473769],[0.47814759106350196,-0.8050922815348007]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.2724585333061516,-1.0969436818392966,0.71338606911949],"aabb_xy":[[-0.2891356692992471,-1.1136436058132269],[-0.2557813973130561,-1.0802437578653663]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.6797729673261148,-0.5911236242884661,0.71338606911949],"aabb_xy":[[0.6622729670667782,-0.6052151664772388],[0.6972729675854514,-0.5770320820996936]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.40766228985454295,-1.2172581931125903,0.71338606911949],"aabb_xy":[[-0.4421247678676307,-1.2239218702955132],[-0.3731998118414552,-1.2105945159296674]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_26","position":[-0.627645398508035,0.7250250503248772,0.71338606911949],"aabb_xy":[[-0.6368052774519116,0.7184938322813401],[-0.6184855195641584,0.7315562683684143]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[-0.3314360659250276,-2.382506999383553,0.71338606911949],"aabb_xy":[[-0.33946233655565367,-2.391258494360905],[-0.32340979529440167,-2.3737555044062]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[0.05661441639141784,1.5477782619663185,0.71338606911949],"aabb_xy":[[0.0437425128904777,1.4677782615524824],[0.06948631989235798,1.6277782623801547]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[0.19307531336260375,-1.3883072423507703,0.71338606911949],"aabb_xy":[[0.1130753101047608,-1.4683037501427545],[0.2730753166204467,-1.3083107345587865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679792310547133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6082.png","name":"6082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7562.png","name":"7562"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7777.png","name":"7777"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":805.500023527814,"rotation_z_degrees":270.17105489016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014587046362618868,0.0031208328343986305,-0.019891795847267194]},{"name":"camera_2","offset_m":[-0.0061357798876177545,0.007522623810052646,0.018168384001179757]},{"name":"camera_3","offset_m":[-0.002787602084815738,-0.008133557079996159,-0.011737934892747442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000496701392444955,-0.0002891412584824114,0.0017252084613234484],"end_effector_yaw_offset_degrees":0.25479147032269833},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021487232088779774,5.763967920909951e-05,-0.0014632392984613297],"end_effector_yaw_offset_degrees":-0.3605157906539691},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015652173546131442,0.0017503556043774846,0.0018906337196950593],"end_effector_yaw_offset_degrees":-0.4985864784012448}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003291656518496482,-0.002287569078939289],"position_m":[0.18820834348150353,0.022212430921060712,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004079723720679911,-0.004753870645853965],"position_m":[0.3274797237206799,0.32424612935414604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000738391451978908,0.0027156325188024523],"position_m":[0.3566383914519789,0.06601563251880245,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025954121146900934,0.00413020483407906],"position_m":[0.21560458788530992,-0.36716979516592096,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d90f5eca197d347d25095e879b6c8f8733993b1234a94bedec340d55fab24498","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0112.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9651/tex_ceiling_textures_7777/tex_floor_textures_7562/tex_table_textures_4510/tex_wall_textures_6082","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2442817957579202025,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2442817957579202025,"visual_seed":2442817957579202025,"scene_id":"lab_003","finished_at":"2026-09-03T03:32:57"} +{"episode_id":"ep_000095","started_at":"2026-09-03T03:33:00","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.5347998682272657,-1.2623637513083288,0.71338606911949],"aabb_xy":[[-0.5897930795644025,-1.3173637516471226],[-0.479806656890129,-1.2073637509695354]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.44201179463679563,-1.374351888517409,0.71338606911949],"aabb_xy":[[0.42451179550242835,-1.3842315155549967],[0.4595117937711627,-1.364472261479821]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.5391691295957064,0.23365497928618373,0.71338606911949],"aabb_xy":[[0.47516912791770904,0.1851375878068695],[0.6031691312737038,0.28217237076549795]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.47162552121143375,1.7247606934387716,0.71338606911949],"aabb_xy":[[0.4348308880865275,1.687854818342189],[0.50842015433634,1.7616665685353536]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.039746037104515075,-0.8186634796960639,0.71338606911949],"aabb_xy":[[-0.07474603629733334,-0.8296305256937263],[-0.004746037911696803,-0.807696433698401]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.45445363627752333,-0.8583287648398907,0.71338606911949],"aabb_xy":[[0.4368753340885765,-0.8759032544139957],[0.4720319384664702,-0.8407542752657859]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.39508353636853066,-0.9979425738604812,0.71338606911949],"aabb_xy":[[-0.4045010109383934,-1.0073587509982],[-0.3856660617986679,-0.9885263967227621]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.13115369056128123,0.4948649803209766,0.71338606911949],"aabb_xy":[[-0.1951536891478537,0.44785801692146787],[-0.06715369197470877,0.5418719437204853]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.09447897179203923,1.6624548259187661,0.71338606911949],"aabb_xy":[[-0.13197897330767094,1.651228052902621],[-0.056978970276407526,1.6736815989349112]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.49031579828634775,0.08007700253749706,0.71338606911949],"aabb_xy":[[0.42531579728584723,0.0292906373828221],[0.5553157992868483,0.130863367692172]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.4123915732549097,-2.4044801405435865,0.71338606911949],"aabb_xy":[[0.4004588388930816,-2.4168622933514463],[0.42432430761673773,-2.3920979877357276]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.16415097709232274,-2.1140806660134004,0.71338606911949],"aabb_xy":[[0.08415097566219551,-2.1935978210260094],[0.2441509785224499,-2.0345635110007905]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.12833630101207005,-1.059199786699736,0.71338606911949],"aabb_xy":[[-0.17833630196260286,-1.0907489337032574],[-0.07833630006153725,-1.0276506396962146]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.21708191161619195,1.4317628609141004,0.71338606911949],"aabb_xy":[[0.1594514427289211,1.3717628619873898],[0.2747123805034628,1.491762859840811]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.016468316553050366,0.6538244241880631,0.71338606911949],"aabb_xy":[[-0.05353168683851161,0.6185086504846321],[0.08646831994461233,0.6891401978914938]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.15344911003207784,1.41536324620562,0.71338606911949],"aabb_xy":[[-0.21744911237487938,1.3704223949614873],[-0.08944910768927626,1.4603040974497523]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.3290926222443587,0.45014478814796144,0.71338606911949],"aabb_xy":[[-0.40909261964795207,0.3701522169497786],[-0.24909262484076525,0.5301373593461443]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.6766778539549796,1.4279869780692018,0.71338606911949],"aabb_xy":[[0.6396437445269197,1.3936097707354922],[0.7137119633830392,1.462364185402911]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.24307286147648988,-1.5564599966889958,0.71338606911949],"aabb_xy":[[-0.2780728597466097,-1.5635341243839838],[-0.20807286320636992,-1.5493858689940074]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.47880150678670796,0.7247286495114165,0.71338606911949],"aabb_xy":[[0.4414702302614653,0.6900755947165642],[0.5161327833119504,0.7593817043062687]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.594158113420505,-2.4727233860469653,0.71338606911949],"aabb_xy":[[-0.6491535912411643,-2.527723387480872],[-0.5391626355998456,-2.4177233846130584]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[0.5093429545155845,-0.16626187581284446,0.71338606911949],"aabb_xy":[[0.4193429577799742,-0.21944533913013897],[0.5993429512511946,-0.11307841249554995]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.4078446513301155,-0.40164820303228943,0.71338606911949],"aabb_xy":[[0.35285240069460455,-0.45664820477560225],[0.4628369019656265,-0.34664820128897667]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6740947686033295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7895.png","name":"7895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9441.png","name":"9441"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6881.png","name":"6881"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.3528376922177,"rotation_z_degrees":294.35052621821904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010140336248528082,-0.0015711419199019964,0.01215275538904612]},{"name":"camera_2","offset_m":[0.004253509450928689,0.009741040530815863,0.018803583352700087]},{"name":"camera_3","offset_m":[0.019933131799354558,0.009938279917985855,0.016479851076845232]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00031237986761056564,-0.0019223646729947124,-0.0018400018203733235],"end_effector_yaw_offset_degrees":0.898874652319348},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008163683615994505,0.0010754636365236446,0.0005007860860396819],"end_effector_yaw_offset_degrees":-0.8359063293952735},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018356579750812574,0.0018533152749913647,-0.001714605354096276],"end_effector_yaw_offset_degrees":-0.013788240129626095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002398518071825977,-0.0004180435924308881],"position_m":[0.18910148192817403,0.024081956407569112,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004611142240855975,-0.0007753430910156],"position_m":[0.31878885775914406,0.3282246569089844,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004745908318515516,0.0004466041711417646],"position_m":[0.3511540916814845,0.06374660417114177,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003088747091892231,0.001640388162974185],"position_m":[0.2151112529081078,-0.36965961183702584,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"45cdcff0769a27e6883dc9e754d18a594f2c33bc6cfb38ac1b038c02f80acf77","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0113.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2095/tex_ceiling_textures_6881/tex_floor_textures_1800/tex_table_textures_7895/tex_wall_textures_9441","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":2179277367979064292,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":2179277367979064292,"visual_seed":2179277367979064292,"scene_id":"lab_003","finished_at":"2026-09-03T03:35:42"} +{"episode_id":"ep_000096","started_at":"2026-09-03T03:38:42","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.09498874815867198,0.9918513677714227,0.71338606911949],"aabb_xy":[[0.01498874490082902,0.9118548599794388],[0.17498875141651493,1.0718478755634067]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.07908723272302653,-1.036163562413791,0.71338606911949],"aabb_xy":[[0.04531167353233355,-1.0502020576269562],[0.11286279191371949,-1.022125067200626]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.4315243689560264,-0.19317228445868828,0.71338606911949],"aabb_xy":[[0.4180778423219831,-0.2066421361117795],[0.44497089559006975,-0.17970243280559706]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.591760035099268,-2.384355943925256,0.71338606911949],"aabb_xy":[[0.5742600348542185,-2.4018557317648224],[0.6092600353443173,-2.3668561560856887]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.2704651892954675,-1.7973263317998054,0.71338606911949],"aabb_xy":[[0.26083355307503786,-1.8069636445795139],[0.2800968255158971,-1.787689019020096]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.07148246544730052,0.7180667631073403,0.71338606911949],"aabb_xy":[[0.0414908027134302,0.6880667637705397],[0.10147412818117085,0.7480667624441407]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.09499673101873529,1.60464417263182,0.71338606911949],"aabb_xy":[[0.04971811613758603,1.5406441732836362],[0.14027534589988455,1.6686441719800036]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.4699974126247211,-2.129151064898065,0.71338606911949],"aabb_xy":[[-0.5074974141403528,-2.1403778379142095],[-0.4324974111090894,-2.1179242918819194]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.08887867063616361,-1.243160737127607,0.71338606911949],"aabb_xy":[[0.024878674240590537,-1.3071240255463408],[0.1528786670317367,-1.1791974487088737]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.6215717585528067,-0.3249427692837492,0.71338606911949],"aabb_xy":[[-0.6428497666962789,-0.3899427716098222],[-0.6002937504093344,-0.2599427669576761]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.5378760338389907,-0.047608412083956164,0.71338606911949],"aabb_xy":[[-0.6028760323960635,-0.07736094549783878],[-0.4728760352819178,-0.017855878670073544]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.2702570462069463,-1.9191345352621243,0.71338606911949],"aabb_xy":[[-0.27656914574328473,-1.924901474515343],[-0.26394494667060786,-1.9133675960089052]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.7002227289241116,-1.4974017426849289,0.71338606911949],"aabb_xy":[[0.6921793689981565,-1.5824017437802953],[0.7082660888500668,-1.4124017415895624]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.3480080592094616,1.5888957164969537,0.71338606911949],"aabb_xy":[[-0.4030012705465984,1.5338957161581603],[-0.29301484787232485,1.6438957168357475]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.6873628044160307,0.0998646392555429,0.71338606911949],"aabb_xy":[[0.6654730568270899,0.009864641966293773],[0.7092525520049715,0.189864636544792]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.057444761424088275,-0.9135133032725344,0.71338606911949],"aabb_xy":[[-0.11256996705367904,-0.9735133047138215],[-0.002319555794497496,-0.8535133018312472]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.5214272280299049,-1.4453533292387468,0.71338606911949],"aabb_xy":[[-0.5854272284074387,-1.4950985960895589],[-0.4574272276523714,-1.3956080623879343]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.0659439969352641,-0.4821433236176458,0.71338606911949],"aabb_xy":[[-0.1309439978923913,-0.5340915355513514],[-0.0009439959781368938,-0.4301951116839402]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.47699407511318404,0.6286467397590396,0.71338606911949],"aabb_xy":[[0.3970002515346258,0.5486467371661982],[0.5569878986917423,0.7086467423518813]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.4573498983355837,-0.7187390520838401,0.71338606911949],"aabb_xy":[[0.3933498959927821,-0.7636799033279726],[0.5213499006783852,-0.6737982008397077]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.39158944886525393,-1.3007341157111094,0.71338606911949],"aabb_xy":[[-0.39755598780598966,-1.3066952603704736],[-0.3856229099245181,-1.2947729710517453]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[0.5361025607146257,0.08385815584563527,0.71338606911949],"aabb_xy":[[0.5312589659533957,0.07900650336665116],[0.5409461554758557,0.08870980832461939]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777804797431772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7339.png","name":"7339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9923.png","name":"9923"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4517.png","name":"4517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4737.png","name":"4737"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":675.4499538246882,"rotation_z_degrees":285.9243148448435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002031223233041949,-0.0073657281634433545,-0.0035946961746950654]},{"name":"camera_2","offset_m":[-0.007506051924532461,-0.011659052522665138,0.004090612612131787]},{"name":"camera_3","offset_m":[0.016610023086240332,0.007116102240207013,-0.005932420258242921]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018453572506459178,4.9397153644758444e-05,-0.0011984552015597027],"end_effector_yaw_offset_degrees":0.7028212450768843},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00019025468859374902,-0.0019472504453790708,-0.0007339948644534528],"end_effector_yaw_offset_degrees":0.21109064581202652},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011616578647741646,0.0016667033687791412,0.001367743846840626],"end_effector_yaw_offset_degrees":-0.26353646589723323}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002328447359071212,-0.0010439493791181368],"position_m":[0.1891715526409288,0.023456050620881866,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018254204385539743,0.001795832567123603],"position_m":[0.32157457956144603,0.33079583256712364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004090598725558769,-0.00014549045049642908],"position_m":[0.3518094012744412,0.06315450954950357,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033122585121387613,-0.0014131435331324695],"position_m":[0.22151225851213877,-0.3727131435331325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a5762f96e7d2c250a7ab0fede48163397968fd115f550f9b2dd7f5177d089a89","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0115.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1556/tex_ceiling_textures_4737/tex_floor_textures_4517/tex_table_textures_7339/tex_wall_textures_9923","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8299143668668208480,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8299143668668208480,"visual_seed":8299143668668208480,"scene_id":"lab_003","finished_at":"2026-09-03T03:41:24"} +{"episode_id":"ep_000097","started_at":"2026-09-03T03:41:27","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.3959301206310657,0.8018685490105204,0.71338606911949],"aabb_xy":[[0.3319301242354926,0.7379052605917867],[0.4599301170266388,0.8658318374292538]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.2487471082141065,1.5899328382732612,0.71338606911949],"aabb_xy":[[0.21124710771674823,1.5859641547251424],[0.28624710871146475,1.5939015218213795]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.6153626812837776,-1.7736249300622737,0.71338606911949],"aabb_xy":[[0.5778626797681458,-1.7848517030784188],[0.6528626827994092,-1.7623981570461287]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.09344982815491087,-2.3621683770965336,0.71338606911949],"aabb_xy":[[-0.1734498255585043,-2.442160948294716],[-0.01344983075131746,-2.2821758058983503]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.07413974013331992,1.1332196607227494,0.71338606911949],"aabb_xy":[[0.049593524510569205,1.102970764173712],[0.09868595575607064,1.1634685572717862]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.056603679952289876,1.7519448113172866,0.71338606911949],"aabb_xy":[[-0.06589729818944044,1.7144448128291527],[-0.04731006171513928,1.7894448098054205]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.06728498565350771,1.3869031220615797,0.71338606911949],"aabb_xy":[[0.022006370772358452,1.322903122713396],[0.11256360053465697,1.4509031214097634]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.24607397078313586,-0.5855614743474908,0.71338606911949],"aabb_xy":[[0.20388955662230515,-0.649561474624702],[0.2882583849439666,-0.5215614740702796]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.0035233257611620994,-1.6789589062377919,0.71338606911949],"aabb_xy":[[-0.08019889973892036,-1.7689589097724876],[0.08724555126124456,-1.5889589027030957]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.37736209525040293,-0.5072293426419399,0.71338606911949],"aabb_xy":[[-0.42736209691189764,-0.5572277848976425],[-0.3273620935889081,-0.4572309003862371]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.4282407367497174,-0.4380124693713756,0.71338606911949],"aabb_xy":[[0.405740736935815,-0.44248708574185636],[0.4507407365636198,-0.433537853000895]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.18174304820472786,-0.757701206415544,0.71338606911949],"aabb_xy":[[0.12411257931745698,-0.8177012053422543],[0.23937351709199867,-0.6977012074888332]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.2389852410161925,-0.36882239659162597,0.71338606911949],"aabb_xy":[[-0.2757798741410988,-0.40572827168820824],[-0.20219060789128623,-0.3319165214950437]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.142379751343091,0.21862687074577725,0.71338606911949],"aabb_xy":[[-0.22237974835733895,0.19849231907236595],[-0.06237975432884299,0.2387614224191885]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.6061331441070976,-1.945610652611941,0.71338606911949],"aabb_xy":[[-0.6611331437288436,-2.0005943453994135],[-0.5511331444853519,-1.8906269598244685]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.2012801802870844,-1.5802787321944527,0.71338606911949],"aabb_xy":[[0.1760593434272447,-1.6055024830473392],[0.22650101714692403,-1.5550549813415657]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.14120718314983716,-1.9044988395954707,0.71338606911949],"aabb_xy":[[-0.17235410199342027,-1.974498838282278],[-0.11006026430625404,-1.8344988409086636]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.4109393669414417,-1.9076575081197706,0.71338606911949],"aabb_xy":[[-0.4749393673189753,-1.957402774970583],[-0.34693936656390806,-1.8579122412689584]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.14083461945315523,-1.0727276813035487,0.71338606911949],"aabb_xy":[[-0.2208346166127305,-1.0842752822613655],[-0.060834622293579915,-1.0611800803457314]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.1912671552199532,-2.15041937685135,0.71338606911949],"aabb_xy":[[0.15376715455537446,-2.1661064348515717],[0.22876715588453186,-2.1347323188511274]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.48000883138519734,-1.6152950473961205,0.71338606911949],"aabb_xy":[[-0.513449006581217,-1.6487386732270504],[-0.44656865618917774,-1.5818514215651902]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.0016225170931425392,-2.1571569800117047,0.71338606911949],"aabb_xy":[[-0.011039991663005289,-2.166573157149424],[0.00779495747672021,-2.1477408028739857]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.24138027384898275,1.3887943194533556,0.71338606911949],"aabb_xy":[[0.230968715168499,1.383448586117457],[0.25179183252946646,1.3941400527892538]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.27258013292733685,1.0793607542439831,0.71338606911949],"aabb_xy":[[0.26553868197658925,1.0723340025061887],[0.27962158387808445,1.0863875059817776]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.5502437178565537,-1.0564277986027355,0.71338606911949],"aabb_xy":[[-0.5663056453150713,-1.1414278004153273],[-0.534181790398036,-0.9714277967901438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6823228302673197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9569.png","name":"9569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9569.png","name":"9569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1142.png","name":"1142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4451.png","name":"4451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/573.png","name":"573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1011.png","name":"1011"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":846.2349708207757,"rotation_z_degrees":210.70744527794594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010203371286157257,0.010424084487166144,0.00011939917611193326]},{"name":"camera_2","offset_m":[-0.01298778861597016,0.014953345818851872,-0.013584675750946493]},{"name":"camera_3","offset_m":[0.006074791745073173,-0.010391236861402477,-0.012569321575942007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003135148817073408,-0.0009020102590971541,-0.0015194531062885472],"end_effector_yaw_offset_degrees":-0.5274472693922934},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00033112605424725594,0.001563227117925591,-0.0014849466055937058],"end_effector_yaw_offset_degrees":-0.7496889588058337},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00016682751015385387,0.0014208699356888714,0.0010133784586199642],"end_effector_yaw_offset_degrees":-0.4438831906632712}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004740238439263575,-0.004441578970472707],"position_m":[0.19624023843926358,0.020058421029527294,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004018256496345292,0.0006298813664613453],"position_m":[0.3274182564963453,0.3296298813664614,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019448833554445931,-0.0037031255041903833],"position_m":[0.3539551166445554,0.05959687449580961,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038387179809130922,-0.0036344336893164354],"position_m":[0.2143612820190869,-0.37493443368931645,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2cf99e24ef73c97f51b5c507e13e7872532b52f84ddf0e4384482ad3d305e2b1","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0116.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9569/tex_ceiling_textures_1011/tex_floor_textures_573/tex_table_textures_1142/tex_wall_textures_4451","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":3260312759544271025,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":3260312759544271025,"visual_seed":3260312759544271025,"scene_id":"lab_003","finished_at":"2026-09-03T03:44:03"} +{"episode_id":"ep_000098","started_at":"2026-09-03T03:44:06","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[0.3658466206246833,-1.1178616870621854,0.71338606911949],"aabb_xy":[[0.35507364670331554,-1.1528616852812243],[0.3766195945460511,-1.0828616888431464]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.16554720085890484,-1.8126059401566117,0.71338606911949],"aabb_xy":[[0.12804720068703287,-1.8453066755395189],[0.20304720103077675,-1.7799052047737045]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.3870031641615581,-0.8253879043011676,0.71338606911949],"aabb_xy":[[0.3691340564071026,-0.8392208122783785],[0.4048722719160136,-0.8115549963239567]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.4531218942128096,1.374178769183375,0.71338606911949],"aabb_xy":[[-0.5171218944867878,1.324112668986087],[-0.38912189393883134,1.4242448693806629]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.3518119179985111,-2.1519520309882347,0.71338606911949],"aabb_xy":[[0.3018119169793758,-2.1884182467260627],[0.4018119190176464,-2.115485815250407]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.27463036658961726,-1.7495080767906734,0.71338606911949],"aabb_xy":[[0.2685933535889526,-1.755534777859622],[0.28066737959028204,-1.7434813757217258]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.690188682969229,-1.116488783583993,0.71338606911949],"aabb_xy":[[0.6792829068816663,-1.196488779982822],[0.7010944590567917,-1.0364887871851638]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.3168104907519984,1.7252346350045857,0.71338606911949],"aabb_xy":[[0.236810493348405,1.6452420638064027],[0.39681048815559183,1.8052272062027683]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.6131018447100599,1.335922739367442,0.71338606911949],"aabb_xy":[[-0.6207261128002382,1.3282895158308983],[-0.6054775766198817,1.3435559629039857]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.4689178568890584,-2.4107054752687875,0.71338606911949],"aabb_xy":[[0.43212322376415213,-2.44761135036537],[0.5057124900139647,-2.3737996001722053]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.4491949171971896,0.22147105245941523,0.71338606911949],"aabb_xy":[[0.4116949166998313,0.2175023689112968],[0.4866949176945478,0.22543973600753361]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.0828909247525288,-1.8541545179704413,0.71338606911949],"aabb_xy":[[-0.16289092582564912,-1.8639325643078255],[-0.0028909236794084636,-1.8443764716330566]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.5389738292313235,-0.31150819444880806,0.71338606911949],"aabb_xy":[[0.5039738292548277,-0.3209728104964247],[0.5739738292078194,-0.30204357840119145]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.6095481430378158,-0.7758991917261222,0.71338606911949],"aabb_xy":[[-0.6895481433114228,-0.8488487395518389],[-0.5295481427642088,-0.7029496439004055]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.0061285722734159,-0.9012896306085376,0.71338606911949],"aabb_xy":[[-0.01859593038315155,-0.9137549552418612],[0.006338785836319748,-0.8888243059752142]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.6401165708802934,-0.02446573968525012,0.71338606911949],"aabb_xy":[[-0.6481105594579968,-0.032465819780340466],[-0.63212258230259,-0.016465659590159772]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.47403682922293344,-2.5111385435355316,0.71338606911949],"aabb_xy":[[-0.5239195261006298,-2.5611385427818063],[-0.4241541323452373,-2.461138544289257]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.32857277376251387,-1.8986160956951277,0.71338606911949],"aabb_xy":[[-0.3418037192971951,-1.9118435147171267],[-0.3153418282278325,-1.8853886766731278]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.10767289543278913,-0.9394871635419544,0.71338606911949],"aabb_xy":[[0.10026043989140065,-0.9453383739635823],[0.1150853509741776,-0.9336359531203264]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.32163616843186427,1.5354179135109818,0.71338606911949],"aabb_xy":[[0.29298683607144804,1.506772354233906],[0.3502855007922805,1.5640634727880576]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.14379465795714985,1.3006818299095526,0.71338606911949],"aabb_xy":[[-0.1588969594181679,1.2855803082784902],[-0.1286923564961317,1.315783351540614]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.17809796299029623,-1.7222678854961564,0.71338606911949],"aabb_xy":[[-0.21153813818631584,-1.7557115113270865],[-0.14465778779427663,-1.6888242596652263]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.5340810948225287,0.965440195080085,0.71338606911949],"aabb_xy":[[0.49658109330689704,0.9542134220639399],[0.5715810963381605,0.97666696809623]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.5629004481971562,-1.4125906926221898,0.71338606911949],"aabb_xy":[[0.5294212809361153,-1.446069805993297],[0.5963796154581972,-1.379111579251083]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6769636145805786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2026.png","name":"2026"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2026.png","name":"2026"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1287.png","name":"1287"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":637.8699298152932,"rotation_z_degrees":327.22887067684434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015413727977845782,0.01947317242492071,0.01755388516741591]},{"name":"camera_2","offset_m":[0.00110290831910392,0.005279829495344442,0.01946415030424688]},{"name":"camera_3","offset_m":[-0.006177890000194664,-0.0012339292501340401,-0.00071063804268812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013769759067083324,0.0013428553272761038,0.0012848931020428165],"end_effector_yaw_offset_degrees":-0.8782821233105362},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016053781443527626,0.0015749251780992424,-0.001277467158555984],"end_effector_yaw_offset_degrees":0.09515098462854787},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017359384593549315,0.0002896196920622136,0.0009889859580611555],"end_effector_yaw_offset_degrees":0.8862505568572512}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001360740374825017,-0.0019082890252110018],"position_m":[0.190139259625175,0.022591710974789,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00397954740661562,0.0039613384208761265],"position_m":[0.3194204525933844,0.33296133842087616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004445860882421764,-0.0010059979076079114],"position_m":[0.36034586088242176,0.06229400209239208,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00300733438296892,0.0020433938820861074],"position_m":[0.2212073343829689,-0.3692566061179139,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d0d951a8c8859d459108a34992532f0b538c6556176b6a5f562bf8d8a4801742","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0117.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2026/tex_ceiling_textures_8477/tex_floor_textures_1287/tex_table_textures_7774/tex_wall_textures_2636","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":195543312733112985,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":195543312733112985,"visual_seed":195543312733112985,"scene_id":"lab_003","finished_at":"2026-09-03T03:46:42"} +{"episode_id":"ep_000099","started_at":"2026-09-03T03:46:46","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.4665362302800822,-1.7285101963972065,0.71338606911949],"aabb_xy":[[-0.53053623349872,-1.7752333082962148],[-0.4025362270614443,-1.6817870844981981]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.4031154653645608,-0.9387936512312407,0.71338606911949],"aabb_xy":[[0.35313122965638355,-0.9887936500447364],[0.453099701072738,-0.8887936524177452]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.5435332081716882,-1.79359967505436,0.71338606911949],"aabb_xy":[[0.48855948613535527,-1.8485996746185933],[0.598506930208021,-1.738599675490127]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.2088253275803471,-1.04450592514435,0.71338606911949],"aabb_xy":[[0.1838253276478292,-1.0513885933652733],[0.23382532751286497,-1.0376232569234267]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.09376297071790496,-2.443910942190692,0.71338606911949],"aabb_xy":[[-0.13126297223353667,-2.455137715206837],[-0.05626296920227325,-2.432684169174547]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.610654035139724,1.2851472665193668,0.71338606911949],"aabb_xy":[[0.5456540351054213,1.2384465898390395],[0.6756540351740268,1.3318479431996941]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.07355357496393966,0.6638508742638711,0.71338606911949],"aabb_xy":[[-0.10855357323405956,0.6567767465688829],[-0.03855357669381976,0.6709250019588592]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.10155839533559186,-1.6161107049424546,0.71338606911949],"aabb_xy":[[0.09524629579925342,-1.6218776441956735],[0.10787049487193029,-1.6103437656892357]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[0.05106186901318421,1.2619872833041388,0.71338606911949],"aabb_xy":[[0.04028889509181644,1.2269872850850998],[0.061834842934552,1.2969872815231778]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.4837976069239214,1.0705369207940767,0.71338606911949],"aabb_xy":[[0.4608818940388715,1.0476326236576534],[0.5067133198089713,1.0934412179305004]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.27141710743390474,0.3156407917694595,0.71338606911949],"aabb_xy":[[-0.30891710793126304,0.31167210822134106],[-0.23391710693654655,0.3196094753175779]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.6316894096950781,-1.5446092718785827,0.71338606911949],"aabb_xy":[[-0.6816668265603316,-1.594609273367831],[-0.5817119928298244,-1.4946092703893339]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.30672004441931056,1.391550176935005,0.71338606911949],"aabb_xy":[[0.25672004484297584,1.3415695979828992],[0.3567200439956453,1.441530755887111]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.3142272822240817,0.5120813025023252,0.71338606911949],"aabb_xy":[[0.3016245830870053,0.4994859062774597],[0.3268299813611582,0.5246766987271907]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.2631172857843221,-0.30686661314928054,0.71338606911949],"aabb_xy":[[-0.29659645304536303,-0.3403457265203876],[-0.22963811852328114,-0.2733874997781736]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.6214901234415677,-1.57701796787145,0.71338606911949],"aabb_xy":[[0.5564901255599201,-1.6281416315779913],[0.6864901213232156,-1.5258943041649096]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.47642667045679743,-2.211760112838072,0.71338606911949],"aabb_xy":[[0.44602855935765384,-2.2421670148397412],[0.506824781555941,-2.181353210836402]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.265662189470565,1.0410447818957849,0.71338606911949],"aabb_xy":[[-0.2774303762652226,0.9560447819905633],[-0.25389400267590756,1.1260447818010064]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.03299618116773517,-1.786866616473502,0.71338606911949],"aabb_xy":[[-0.031003820510262188,-1.8353840079528163],[0.09699618284573253,-1.7383492249941879]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.38520672086287033,-0.259184331478183,0.71338606911949],"aabb_xy":[[-0.4010912141281955,-0.27353727177700704],[-0.3693222275975452,-0.24483139117935893]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.4995142888155466,-1.5611331382368163,0.71338606911949],"aabb_xy":[[-0.5219790587869517,-1.5836331391156768],[-0.4770495188441415,-1.5386331373579558]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.37510999864521827,-0.6030183695184594,0.71338606911949],"aabb_xy":[[-0.44011000128301175,-0.6544979682179064],[-0.3101099960074248,-0.5515387708190125]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.17106400803377253,-0.7485738148308327,0.71338606911949],"aabb_xy":[[0.13356400809000613,-0.7568669048656693],[0.20856400797753893,-0.7402807247959962]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.05937929928981733,-1.986685209721378,0.71338606911949],"aabb_xy":[[-0.12337929787638979,-2.033692173120887],[0.004620699296755126,-1.9396782463218694]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[0.2668605891779091,-1.3426744316412282,0.71338606911949],"aabb_xy":[[0.24357874697977774,-1.427674432938456],[0.2901424313760404,-1.257674430344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789567646308444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/276.png","name":"276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/276.png","name":"276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3124.png","name":"3124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1113.png","name":"1113"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1554.png","name":"1554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1586.png","name":"1586"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":582.8807628451756,"rotation_z_degrees":223.8515623217588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015198708711281301,-0.0058011015671917306,0.014243210424959716]},{"name":"camera_2","offset_m":[-0.009331598867983239,-0.009621874433563335,0.01680865475965915]},{"name":"camera_3","offset_m":[-0.006921366055342366,-0.017298592220779195,-0.01578390045293614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007414573174392516,-0.001994748320549279,-0.0008755578462327032],"end_effector_yaw_offset_degrees":-0.2685304602016194},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012364585596597686,-0.0013453055593482957,0.0005989703871703261],"end_effector_yaw_offset_degrees":-0.044472549269370276},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00027752984333012914,0.000376606479490288,0.00039443076211127977],"end_effector_yaw_offset_degrees":0.5930164716613575}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003322050873021205,0.002849042059632036],"position_m":[0.1881779491269788,0.027349042059632036,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022664960778103972,0.004981221170157187],"position_m":[0.32113350392218964,0.3339812211701572,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008518826312674784,-0.0032196783939022165],"position_m":[0.35675188263126745,0.060080321606097775,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00461064597191554,-0.0023756217175501192],"position_m":[0.22281064597191555,-0.37367562171755014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4f3b1589005282edabe4947cdb07a5a61f94ec66a81c2612b891fce5cf4e7a9","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/dataset/episode_0118.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_276/tex_ceiling_textures_1586/tex_floor_textures_1554/tex_table_textures_3124/tex_wall_textures_1113","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":7961565252752685870,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":7961565252752685870,"visual_seed":7961565252752685870,"scene_id":"lab_003","finished_at":"2026-09-03T03:49:24"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a12414822000054312c4a6edc09eb8d0fed0bc9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_lbk_00014 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at home. + layout_id: layout_00014 + reproducibility: + enabled: true + layout_id: layout_00014 + action_seed: 6428506004157355875 + step_seeds: + - 4947227672382490837 + - 8216466612410408910 + - 5552583258780378057 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1915 + - 0.1915 + 'y': + - 0.0245 + - 0.0245 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3234 + - 0.3234 + 'y': + - 0.329 + - 0.329 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3559 + - 0.3559 + 'y': + - 0.0633 + - 0.0633 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2182 + - 0.2182 + 'y': + - -0.3713 + - -0.3713 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3fc6bd173d97f4b908abddcbc6288a41c56509 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21707897729095385, + 0.02612899084353267, + 1.0472973097240166 + ], + "current_z": 1.0472973097240166, + "required_z": 0.861106658987682, + "initial_z": 0.761106658987682, + "lift_margin": 0.18619065073633456, + "gripper_z": 1.0531317900693355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21270291351563458, + 0.02174476241796562, + 1.0531317900693355 + ], + "object_minus_gripper": [ + 0.004376063775319267, + 0.004384228425567047, + -0.005834480345318971 + ], + "object_to_gripper_xy": 0.006194464710789111, + "object_to_gripper_z": -0.005834480345318971, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21707897729095385, + 0.002017781578185442, + 1.0472973097240166 + ], + "finger_b": [ + 0.20620081667048465, + 0.02612899084353267, + 1.0472973097240166 + ], + "finger_midpoint": [ + 0.21163989698071925, + 0.014073386210859056, + 1.0472973097240166 + ], + "object_minus_finger_midpoint": [ + 0.005439080310234601, + 0.012055604632673612, + 0.0 + ], + "finger_gap": 0.02645155554446832, + "fingertip_max_gap": 0.0959011940481874, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322577777223416, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472973097240166, + "object_top_z": 1.1001531332058714, + "finger_top_clearance": 0.0528558234818548, + "fingertip_min_top_clearance": 0.015856747044556408, + "object_projection_between_fingers": 0.8308747309447692, + "object_to_finger_line_xy": 0.009915696893562947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0504505970240937, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9930517937715735, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21731392273129693, + 0.024836835396447862, + 1.2430102856068797 + ], + "held_position": [ + 0.22196310603899322, + 0.028865095207816497, + 1.2370980956989759 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008532043837414842, + "max_held_gripper_dist": 0.008540347784910668, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005912189907903764, + "max_held_gripper_z_dist": 0.005918289784108355, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0859013811028016, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22196310603899322, + 0.0035020710022339854, + 1.2370980956989759 + ], + "held_grasp_finger_b": [ + 0.2133077232585413, + 0.02914824843237975, + 1.2370980956989759 + ], + "held_grasp_midpoint": [ + 0.21763541464876726, + 0.01632515971730687, + 1.2370980956989759 + ], + "held_grasp_object_position": [ + 0.22196310603899322, + 0.028865095207816497, + 1.2370980956989759 + ], + "held_grasp_finger_gap": 0.027067361671479207, + "held_grasp_max_gap": 0.12496571004390716, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024936349377442116, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07293471110465058, + -0.9969371571913525, + 0.02822822217756249 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034204000107941547, + "held_grasp_line_xy_max_dist": 0.04748285502195358, + "held_grasp_object_top_z": 0.04972054809331894, + "held_grasp_top_clearance": 0.036903381532751106, + "held_grasp_min_top_clearance": 0.014916164427995681 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1875688631609623, + 0.03024317942896256, + 0.7611118687087975 + ], + "target_position": [ + 0.19258575811660641, + 0.02523766095930146, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007086921062498561, + "xy_threshold": 0.08, + "gripper_dist": 0.21129630263914612, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611118687087975, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555556819054149, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658963479539318, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18348814812231815, + "release_required_pad_clearance": 0.05329481739769659, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6046978160094518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 331, + "max_placed_release_frames": 331 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37973072d72d1181ad5ea1d390285d434aa50c02038c76ceb67fbe3e28a4ea1d", + "visual_seed": 8876373665063119042, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..210259fc61fadf7e3b30da1584639256a89b3022 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2155024839238965, + 0.031135330977052806, + 1.0489191395601183 + ], + "current_z": 1.0489191395601183, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.18781257194070733, + "gripper_z": 1.0545992044406272, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21103425566378592, + 0.026634385915524222, + 1.0545992044406272 + ], + "object_minus_gripper": [ + 0.0044682282601105905, + 0.0045009450615285836, + -0.005680064880508873 + ], + "object_to_gripper_xy": 0.006342205470603224, + "object_to_gripper_z": -0.005680064880508873, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2155024839238965, + 0.007110618517548809, + 1.0489191395601183 + ], + "finger_b": [ + 0.20426128049954273, + 0.031135330977052806, + 1.0489191395601183 + ], + "finger_midpoint": [ + 0.2098818822117196, + 0.01912297474730081, + 1.0489191395601183 + ], + "object_minus_finger_midpoint": [ + 0.005620601712176904, + 0.012012356229751997, + 0.0 + ], + "finger_gap": 0.02652454454254681, + "fingertip_max_gap": 0.09388440833046527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326227227127341, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0489191395601183, + "object_top_z": 1.1005847944515175, + "finger_top_clearance": 0.05166565489139918, + "fingertip_min_top_clearance": 0.015499696467419754, + "object_projection_between_fingers": 0.8203903182080965, + "object_to_finger_line_xy": 0.010181765026565844, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04944220416523264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.33473894158793, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21566453281491424, + 0.029782684631145334, + 1.2462828583042003 + ], + "held_position": [ + 0.22046089601669258, + 0.03384579598812085, + 1.2405219268940577 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008526564640869374, + "max_held_gripper_dist": 0.008534941124831654, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005760931410142556, + "max_held_gripper_z_dist": 0.005767221902586606, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08580294693881486, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22046089601669258, + 0.0083996650930838, + 1.2405219268940577 + ], + "held_grasp_finger_b": [ + 0.21159730249998548, + 0.03411930613582542, + 1.2405219268940577 + ], + "held_grasp_midpoint": [ + 0.21602909925833902, + 0.02125948561445461, + 1.2405219268940577 + ], + "held_grasp_object_position": [ + 0.22046089601669258, + 0.03384579598812085, + 1.2405219268940577 + ], + "held_grasp_finger_gap": 0.027204103098556504, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490417742337698, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08168434328575061, + -0.9964444758910663, + 0.020641572812019945 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033991128301463004, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03681668221862289, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19695135677370193, + 0.02246638855860709, + 0.7611064321040929 + ], + "target_position": [ + 0.1909558984838406, + 0.02866191986563614, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008621492230573784, + "xy_threshold": 0.08, + "gripper_dist": 0.21968978813480727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064321040929, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.076114689946762, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09022556190371618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18780056792095196, + "release_required_pad_clearance": 0.05511278095185809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.3133513249334925, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 283, + "max_placed_release_frames": 283 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "06cbb187d6ad9654d64c8fe9494b0b4d3a32cf4d5a23417502cb42359ec6c9c4", + "visual_seed": 8801801569872930204, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9330351e0a4bab454e99e94419b032d820e64760 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21798917549499408, + 0.02226624085048195, + 1.0491462498239128 + ], + "current_z": 1.0491462498239128, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18803974180914684, + "gripper_z": 1.0548899953387414, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21303484145226287, + 0.017419996357613085, + 1.0548899953387414 + ], + "object_minus_gripper": [ + 0.004954334042731212, + 0.004846244492868863, + -0.005743745514828591 + ], + "object_to_gripper_xy": 0.006930477003181468, + "object_to_gripper_z": -0.005743745514828591, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21798917549499408, + -0.0019202303061825652, + 1.0491462498239128 + ], + "finger_b": [ + 0.20604953113171434, + 0.02226624085048195, + 1.0491462498239128 + ], + "finger_midpoint": [ + 0.2120193533133542, + 0.010173005272149692, + 1.0491462498239128 + ], + "object_minus_finger_midpoint": [ + 0.005969822181639883, + 0.012093235578332256, + 0.0 + ], + "finger_gap": 0.026972958579543363, + "fingertip_max_gap": 0.09083086090697201, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013486479289771688, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491462498239128, + "object_top_z": 1.0989842397794425, + "finger_top_clearance": 0.04983798995552968, + "fingertip_min_top_clearance": 0.01495139698665892, + "object_projection_between_fingers": 0.8040588687603529, + "object_to_finger_line_xy": 0.010706199068288711, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04791543045348601, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7521313391959472, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2175898812599784, + 0.020331386981367647, + 1.2474959463021427 + ], + "held_position": [ + 0.22295199166831073, + 0.024667631749795936, + 1.2416760315595488 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009023671887537214, + "max_held_gripper_dist": 0.009032284611328123, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005819914742593912, + "max_held_gripper_z_dist": 0.0058270923105510075, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08614335468129905, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22295199166831073, + -0.0010281653654322866, + 1.2416760315595488 + ], + "held_grasp_finger_b": [ + 0.21355610713221995, + 0.024682426457074236, + 1.2416760315595488 + ], + "held_grasp_midpoint": [ + 0.21825404940026533, + 0.011827130545820975, + 1.2416760315595488 + ], + "held_grasp_object_position": [ + 0.22295199166831073, + 0.024667631749795936, + 1.2416760315595488 + ], + "held_grasp_finger_gap": 0.02737365847085641, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024756665257678563, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0903072688824604, + -0.9959001374077129, + -0.005245331094399175 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035198214968740443, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03650813482107784, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17936667358379246, + 0.01946809577113654, + 0.7611098039480815 + ], + "target_position": [ + 0.1932108016349722, + 0.02159094273338204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014005940194166783, + "xy_threshold": 0.08, + "gripper_dist": 0.20661543766039825, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611098039480815, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579549818104159, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0910030153811917, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17774206387930117, + "release_required_pad_clearance": 0.05550150769059585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.128907244204787, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 313, + "max_placed_release_frames": 313 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d4984ed673ddcb91f986323f3264d278c903cc327c519d933ad3fc47adba2229", + "visual_seed": 2751124421806067001, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_102_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d8357bcf98a2fdb5fd18fcf119b1001508cd0937 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_102_success.json @@ -0,0 +1,684 @@ +{ + "episode": 102, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21671088185100637, + 0.029912879437626005, + 1.0484699522766832 + ], + "current_z": 1.0484699522766832, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18736350386656186, + "gripper_z": 1.0542535053204276, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.211977210941421, + 0.025388941736861154, + 1.0542535053204276 + ], + "object_minus_gripper": [ + 0.004733670909585375, + 0.004523937700764851, + -0.005783553043744449 + ], + "object_to_gripper_xy": 0.006547797538154062, + "object_to_gripper_z": -0.005783553043744449, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21671088185100637, + 0.005501440910461209, + 1.0484699522766832 + ], + "finger_b": [ + 0.2056750431462038, + 0.029912879437626005, + 1.0484699522766832 + ], + "finger_midpoint": [ + 0.21119296249860509, + 0.017707160174043605, + 1.0484699522766832 + ], + "object_minus_finger_midpoint": [ + 0.005517919352401285, + 0.0122057192635824, + 0.0 + ], + "finger_gap": 0.026790074036552494, + "fingertip_max_gap": 0.09361311283288468, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339503701827625, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484699522766832, + "object_top_z": 1.1000739787421696, + "finger_top_clearance": 0.05160402646548645, + "fingertip_min_top_clearance": 0.015481207939645952, + "object_projection_between_fingers": 0.8303074167088764, + "object_to_finger_line_xy": 0.010055989310459621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930655641644234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2366796266862305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21674642929843896, + 0.028055491023265468, + 1.245820416718309 + ], + "held_position": [ + 0.22177057087784516, + 0.032172392852928916, + 1.2399562569964893 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008750957006408856, + "max_held_gripper_dist": 0.008759255029192843, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0058641597218196395, + "max_held_gripper_z_dist": 0.005870248440836834, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613082913430904, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22177057087784516, + 0.006536234151332866, + 1.2399562569964893 + ], + "held_grasp_finger_b": [ + 0.21288540662855993, + 0.03278729486980319, + 1.2399562569964893 + ], + "held_grasp_midpoint": [ + 0.21732798875320253, + 0.019661764510568027, + 1.2399562569964893 + ], + "held_grasp_object_position": [ + 0.22177057087784516, + 0.032172392852928916, + 1.2399562569964893 + ], + "held_grasp_finger_gap": 0.027713973597836745, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025513312068717958, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07429995329020643, + -0.9970446390000509, + 0.019532147407064545 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003509506553534248, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03691651150647319, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18740503372844583, + 0.03363968978274051, + 0.761106645628731 + ], + "target_position": [ + 0.19178656941266423, + 0.027000425604639246, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007954727134144694, + "xy_threshold": 0.08, + "gripper_dist": 0.2097268475783079, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106645628731, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569371048955992, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09110913745614217, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18205779270443648, + "release_required_pad_clearance": 0.05555456872807109, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.260881659274294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 102, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "951daa97a1261c8ba3814dc09b6498459082a37a9e4d7a82bcd6ea89d67bdfa4", + "visual_seed": 1828183617271578680, + "episode_index": 102, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7b8db886cd3c06934eb156089366043d938dac50 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_104_success.json @@ -0,0 +1,684 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21926153535929924, + 0.025366183217276034, + 1.0492620376087771 + ], + "current_z": 1.0492620376087771, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.18815564880330082, + "gripper_z": 1.054884505350703, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21449485082901615, + 0.020724282947888542, + 1.054884505350703 + ], + "object_minus_gripper": [ + 0.0047666845302830885, + 0.004641900269387492, + -0.005622467741925874 + ], + "object_to_gripper_xy": 0.006653459214737833, + "object_to_gripper_z": -0.005622467741925874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21926153535929924, + 0.0010993958852057344, + 1.0492620376087771 + ], + "finger_b": [ + 0.2078638432231995, + 0.025366183217276034, + 1.0492620376087771 + ], + "finger_midpoint": [ + 0.21356268929124939, + 0.013232789551240885, + 1.0492620376087771 + ], + "object_minus_finger_midpoint": [ + 0.005698846068049851, + 0.01213339366603515, + 0.0 + ], + "finger_gap": 0.026810153924385387, + "fingertip_max_gap": 0.09233646538187437, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013405076962192689, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0492620376087771, + "object_top_z": 1.099938651361312, + "finger_top_clearance": 0.05067661375253496, + "fingertip_min_top_clearance": 0.01520298412576047, + "object_projection_between_fingers": 0.819267927291514, + "object_to_finger_line_xy": 0.010316440999302581, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866823269093719, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7915118650722329, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21902384030585245, + 0.023886319116185356, + 1.2477734791773767 + ], + "held_position": [ + 0.22410106174743144, + 0.028110961798660027, + 1.2420758282037516 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008722901465605747, + "max_held_gripper_dist": 0.00873126666456972, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005697650973625068, + "max_held_gripper_z_dist": 0.005705165165128534, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08592381287194874, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22410106174743144, + 0.0025774285836412327, + 1.2420758282037516 + ], + "held_grasp_finger_b": [ + 0.21487630079397532, + 0.028110961798660027, + 1.2420758282037516 + ], + "held_grasp_midpoint": [ + 0.21948868127070337, + 0.01534419519115063, + 1.2420758282037516 + ], + "held_grasp_object_position": [ + 0.22410106174743144, + 0.028110961798660027, + 1.2420758282037516 + ], + "held_grasp_finger_gap": 0.02714880352963785, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02477318537631906, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07463392844776881, + -0.997185360555215, + 0.007150763513021019 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003647856024715286, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664517723298752, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18726431773554653, + 0.019531053455323088, + 0.7611070184406284 + ], + "target_position": [ + 0.19447684345673572, + 0.023787212840577894, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008374689247459169, + "xy_threshold": 0.08, + "gripper_dist": 0.21287328916521278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070184406284, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564893593058929, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08645043443814189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18301329080751588, + "release_required_pad_clearance": 0.05322521721907095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4719013648157082, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ddc8ea64a3d4b2338d54045cc9348b233afbd541c0ebf1ba77da4f36fc957faa", + "visual_seed": 730738569622052626, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2bd84f4a1c09d03b7fd32e52cf996017d83d1f5a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21791061941983908, + 0.03123910656353679, + 1.0469699962525378 + ], + "current_z": 1.0469699962525378, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18586348823777177, + "gripper_z": 1.052858601734494, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21278493222492492, + 0.026485531360299228, + 1.052858601734494 + ], + "object_minus_gripper": [ + 0.005125687194914158, + 0.004753575203237562, + -0.005888605481956244 + ], + "object_to_gripper_xy": 0.006990647068257845, + "object_to_gripper_z": -0.005888605481956244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21791061941983908, + 0.006578989599387023, + 1.0469699962525378 + ], + "finger_b": [ + 0.20651239604978625, + 0.03123910656353679, + 1.0469699962525378 + ], + "finger_midpoint": [ + 0.21221150773481268, + 0.018909048081461904, + 1.0469699962525378 + ], + "object_minus_finger_midpoint": [ + 0.005699111685026403, + 0.012330058482074885, + 0.0 + ], + "finger_gap": 0.027166907528814642, + "fingertip_max_gap": 0.09412024442324504, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583453764407317, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469699962525378, + "object_top_z": 1.0984164991718928, + "finger_top_clearance": 0.05144650291935493, + "fingertip_min_top_clearance": 0.015433950875806462, + "object_projection_between_fingers": 0.82396706983143, + "object_to_finger_line_xy": 0.010346467340490563, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04956012221162252, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4683024134606237, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21743053744661142, + 0.029610900918099023, + 1.2454856747625302 + ], + "held_position": [ + 0.2228501391534532, + 0.03395684764988646, + 1.2395240498861295 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009154250751604755, + "max_held_gripper_dist": 0.00916291408263872, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0059616248764007285, + "max_held_gripper_z_dist": 0.005970607987087373, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08597511928757456, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2228501391534532, + 0.008189300879354669, + 1.2395240498861295 + ], + "held_grasp_finger_b": [ + 0.21336546832963083, + 0.03400535782758313, + 1.2395240498861295 + ], + "held_grasp_midpoint": [ + 0.218107803741542, + 0.021097329353468898, + 1.2395240498861295 + ], + "held_grasp_object_position": [ + 0.2228501391534532, + 0.03395684764988646, + 1.2395240498861295 + ], + "held_grasp_finger_gap": 0.027503232118979076, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025236629050555223, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05636492855200616, + -0.9982636734789095, + 0.017106520444568618 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004016125234319064, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03661575869968199, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18870941362706412, + 0.0244346367252773, + 0.7611093788210147 + ], + "target_position": [ + 0.1926092579167193, + 0.028741076210444683, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005809837047883942, + "xy_threshold": 0.08, + "gripper_dist": 0.21339568808911366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611093788210147, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550654517048634, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0952991570155702, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1837512329471929, + "release_required_pad_clearance": 0.0576495785077851, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.082853824109266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 343, + "max_placed_release_frames": 343 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "abe217cffc00acf4f9ab32f968dcdbbc0b3c31e82202210b22ff1f77ec081e3f", + "visual_seed": 5018388275205461380, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9f37d0a38f99ec944a4b3f8901e4aded4c4d61b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21173689207612223, + 0.02951607607983783, + 1.0480773878908565 + ], + "current_z": 1.0480773878908565, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18697082027144563, + "gripper_z": 1.0536764049412892, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20739491114602804, + 0.025057116386323727, + 1.0536764049412892 + ], + "object_minus_gripper": [ + 0.004341980930094191, + 0.004458959693514102, + -0.005599017050432753 + ], + "object_to_gripper_xy": 0.006223754489509126, + "object_to_gripper_z": -0.005599017050432753, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21173689207612223, + 0.005611504911759498, + 1.0480773878908565 + ], + "finger_b": [ + 0.20054442222954177, + 0.02951607607983783, + 1.0480773878908565 + ], + "finger_midpoint": [ + 0.206140657152832, + 0.017563790495798665, + 1.0480773878908565 + ], + "object_minus_finger_midpoint": [ + 0.0055962349232902275, + 0.011952285584039164, + 0.0 + ], + "finger_gap": 0.026395073479654012, + "fingertip_max_gap": 0.09396234705751463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013197536739827005, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0480773878908565, + "object_top_z": 1.099726126232277, + "finger_top_clearance": 0.051648738341420586, + "fingertip_min_top_clearance": 0.015494621502426142, + "object_projection_between_fingers": 0.8201931986095525, + "object_to_finger_line_xy": 0.010136406409339542, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04948117352875732, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3469055385047306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21201941986888928, + 0.02814876125014061, + 1.2440625220635133 + ], + "held_position": [ + 0.21670765225066332, + 0.032173127571131305, + 1.238379802505805 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008394542794137093, + "max_held_gripper_dist": 0.008402664046040651, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005682719557708271, + "max_held_gripper_z_dist": 0.005688105997327719, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581336030617777, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21670765225066332, + 0.006764127747264845, + 1.238379802505805 + ], + "held_grasp_finger_b": [ + 0.2080679282701548, + 0.032598663410340255, + 1.238379802505805 + ], + "held_grasp_midpoint": [ + 0.21238779026040905, + 0.01968139557880255, + 1.238379802505805 + ], + "held_grasp_object_position": [ + 0.21670765225066332, + 0.032173127571131305, + 1.238379802505805 + ], + "held_grasp_finger_gap": 0.027240926257858584, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024982193899147243, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08693989532974596, + -0.9960825668901219, + 0.016154706361885655 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003223988089137674, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03690188525300113, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17865928872272704, + 0.02103452914259088, + 0.7611069088037503 + ], + "target_position": [ + 0.18741656418173888, + 0.027372514611028707, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010810177300263861, + "xy_threshold": 0.08, + "gripper_dist": 0.20987351337362256, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069088037503, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571740275839717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09427360804129657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1801148311064097, + "release_required_pad_clearance": 0.05713680402064829, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.846129850554568, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 344, + "max_placed_release_frames": 344 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "913296dec29695869b42ad9ed16b67577cd9f16fc34769c5080391efc46c5260", + "visual_seed": 1563152638677700690, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1305a27b67e77c4add87c3e680b1531b05ad6e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2213368453798136, + 0.03260741683796524, + 1.047428719887621 + ], + "current_z": 1.047428719887621, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.18632215226821014, + "gripper_z": 1.0531382309308885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21643285086948322, + 0.027896818294141104, + 1.0531382309308885 + ], + "object_minus_gripper": [ + 0.004903994510330384, + 0.004710598543824135, + -0.005709511043267446 + ], + "object_to_gripper_xy": 0.00679991917587471, + "object_to_gripper_z": -0.005709511043267446, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2213368453798136, + 0.00823689868202838, + 1.047428719887621 + ], + "finger_b": [ + 0.20983045549900697, + 0.03260741683796524, + 1.047428719887621 + ], + "finger_midpoint": [ + 0.2155836504394103, + 0.02042215775999681, + 1.047428719887621 + ], + "object_minus_finger_midpoint": [ + 0.0057531949404033, + 0.01218525907796843, + 0.0 + ], + "finger_gap": 0.02695030914995183, + "fingertip_max_gap": 0.09168390944040475, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01347515457497591, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047428719887621, + "object_top_z": 1.0977564470516867, + "finger_top_clearance": 0.05032772716406564, + "fingertip_min_top_clearance": 0.015098318149219692, + "object_projection_between_fingers": 0.8177151109553499, + "object_to_finger_line_xy": 0.010404952386232172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048341954720202376, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6349983304547124, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2209857126046491, + 0.03136083338016138, + 1.2454585132634945 + ], + "held_position": [ + 0.22620373435675387, + 0.03566704080577555, + 1.2396745667724907 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008900854476321315, + "max_held_gripper_dist": 0.008908851233812133, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0057839464910038885, + "max_held_gripper_z_dist": 0.005794811168680081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08589976089351964, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22620373435675387, + 0.010086408072563158, + 1.2396745667724907 + ], + "held_grasp_finger_b": [ + 0.21675764189486735, + 0.03566704080577555, + 1.2396745667724907 + ], + "held_grasp_midpoint": [ + 0.22148068812581062, + 0.022876724439169355, + 1.2396745667724907 + ], + "held_grasp_object_position": [ + 0.22620373435675387, + 0.03566704080577555, + 1.2396745667724907 + ], + "held_grasp_finger_gap": 0.02726898299955476, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484106720627312, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07137030156266891, + -0.9974435714695724, + 0.003549899840537885 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003798431749749116, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662554599936481, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19399500320765917, + 0.0325909568748129, + 0.7611064315510251 + ], + "target_position": [ + 0.1963445095371013, + 0.02867909422319397, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00456320604369557, + "xy_threshold": 0.08, + "gripper_dist": 0.2152386837533779, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064315510251, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593419973420305, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08786330971040611, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18602292825857333, + "release_required_pad_clearance": 0.05393165485520306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8733538879802127, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 324, + "max_placed_release_frames": 324 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e05fce57957e5afeeaa7133928fb8dbed84c42fd27185161e4c6c42a242fb815", + "visual_seed": 6981090592061280649, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9f75fbb134a780eb0bc6423dcb09eb7b104357ec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2111387937797554, + 0.02610404598483856, + 1.0488608428956616 + ], + "current_z": 1.0488608428956616, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1877544540901852, + "gripper_z": 1.0545819403799677, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2061215067435438, + 0.0211954234640499, + 1.0545819403799677 + ], + "object_minus_gripper": [ + 0.0050172870362115984, + 0.00490862252078866, + -0.005721097484306048 + ], + "object_to_gripper_xy": 0.007019098535804336, + "object_to_gripper_z": -0.005721097484306048, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2111387937797554, + 0.0019292395382880816, + 1.0488608428956616 + ], + "finger_b": [ + 0.19907444428973128, + 0.02610404598483856, + 1.0488608428956616 + ], + "finger_midpoint": [ + 0.20510661903474334, + 0.01401664276156332, + 1.0488608428956616 + ], + "object_minus_finger_midpoint": [ + 0.006032174745012053, + 0.01208740322327524, + 0.0 + ], + "finger_gap": 0.027017953204223736, + "fingertip_max_gap": 0.09115383936657637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013508976602111868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488608428956616, + "object_top_z": 1.0988237605517204, + "finger_top_clearance": 0.04996291765605876, + "fingertip_min_top_clearance": 0.014988875296817644, + "object_projection_between_fingers": 0.8006102039488756, + "object_to_finger_line_xy": 0.010794796764222618, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048076919683288186, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8860057359649317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21049880005834168, + 0.024264189372953188, + 1.2470685597833924 + ], + "held_position": [ + 0.21594964393335295, + 0.02863527409540759, + 1.2412740172342795 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009077158363392207, + "max_held_gripper_dist": 0.009085569939096608, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005794542549112824, + "max_held_gripper_z_dist": 0.005802869640517683, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593165489532384, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21594964393335295, + 0.00290374216586664, + 1.2412740172342795 + ], + "held_grasp_finger_b": [ + 0.2064368414827888, + 0.02863527409540759, + 1.2412740172342795 + ], + "held_grasp_midpoint": [ + 0.21119324270807088, + 0.015769508130637114, + 1.2412740172342795 + ], + "held_grasp_object_position": [ + 0.21594964393335295, + 0.02863527409540759, + 1.2412740172342795 + ], + "held_grasp_finger_gap": 0.02743364988302586, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024757070340557342, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09113147689329765, + -0.9958204644572269, + -0.006054460127836059 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003565012867656421, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0364747991631023, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.16996994609461094, + 0.021458255676561937, + 0.7611079017233501 + ], + "target_position": [ + 0.18659620554004883, + 0.022865477658440662, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016685705764315013, + "xy_threshold": 0.08, + "gripper_dist": 0.20647058492935916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079017233501, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07633180283695552, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0912357108458887, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17714079208524014, + "release_required_pad_clearance": 0.055617855422944354, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.396372569377556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ffc37388a244a1a47b7dc0968f21fc5a705032bbd5c42143d2ea95c8cf70788c", + "visual_seed": 6597322438830838660, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba7470c5ac459c866e05bc17fbd6bf0bbfde72e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21471600798521667, + 0.02373591109112109, + 1.0477703327739585 + ], + "current_z": 1.0477703327739585, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.1866635863406133, + "gripper_z": 1.0538309055989743, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20958357429873362, + 0.018989845063824284, + 1.0538309055989743 + ], + "object_minus_gripper": [ + 0.005132433686483057, + 0.004746066027296804, + -0.00606057282501582 + ], + "object_to_gripper_xy": 0.006990494852412591, + "object_to_gripper_z": -0.00606057282501582, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21471600798521667, + -0.0009569876812298456, + 1.0477703327739585 + ], + "finger_b": [ + 0.20338935503851419, + 0.02373591109112109, + 1.0477703327739585 + ], + "finger_midpoint": [ + 0.20905268151186543, + 0.011389461704945621, + 1.0477703327739585 + ], + "object_minus_finger_midpoint": [ + 0.005663326473351243, + 0.012346449386175467, + 0.0 + ], + "finger_gap": 0.027166750206026012, + "fingertip_max_gap": 0.09256894394169213, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013583375103013006, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477703327739585, + "object_top_z": 1.0985412471155387, + "finger_top_clearance": 0.05077091434158021, + "fingertip_min_top_clearance": 0.015231274302474028, + "object_projection_between_fingers": 0.8261687678679901, + "object_to_finger_line_xy": 0.010295228266958336, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048784471970846066, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8557242158625088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21401929569096953, + 0.021895699228926604, + 1.2478712186845178 + ], + "held_position": [ + 0.21944382433573378, + 0.026244171019835213, + 1.2417537540799493 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00926056645796274, + "max_held_gripper_dist": 0.009268889490192198, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006117464604568523, + "max_held_gripper_z_dist": 0.0061266874662093684, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08606003757588068, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21944382433573378, + 0.00047041977745743965, + 1.2417537540799493 + ], + "held_grasp_finger_b": [ + 0.2099731334971746, + 0.02636190696331436, + 1.2417537540799493 + ], + "held_grasp_midpoint": [ + 0.2147084789164542, + 0.013416163370385899, + 1.2417537540799493 + ], + "held_grasp_object_position": [ + 0.21944382433573378, + 0.026244171019835213, + 1.2417537540799493 + ], + "held_grasp_finger_gap": 0.02756924180413676, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025236359900714406, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06355203742589938, + -0.9979435099212699, + 0.008359996712527518 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003912031799339984, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036617682241796096, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19119999352745592, + 0.029099804909507775, + 0.7611068993299985 + ], + "target_position": [ + 0.1894881966675884, + 0.021539397983300648, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007751774079479679, + "xy_threshold": 0.08, + "gripper_dist": 0.21731685475262827, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068993299985, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07631423114970047, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09563328048060189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.187681337162858, + "release_required_pad_clearance": 0.05781664024030095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.494731892727739, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 278, + "max_placed_release_frames": 278 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c277296b25ae9b2cce6fdd83c8a205bdd90373206d499548b21d8773b080db31", + "visual_seed": 3334102940029999187, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7f7081629e4ce686343175fc8ac5b270f2d03e18 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2143154188720962, + 0.027251056937366635, + 1.0465980224606959 + ], + "current_z": 1.0465980224606959, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18549151444592982, + "gripper_z": 1.0520766040267877, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20978691931804316, + 0.022698534773058998, + 1.0520766040267877 + ], + "object_minus_gripper": [ + 0.004528499554053045, + 0.004552522164307637, + -0.0054785815660918225 + ], + "object_to_gripper_xy": 0.0064212745049227506, + "object_to_gripper_z": -0.0054785815660918225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2143154188720962, + 0.0032186533831058918, + 1.0465980224606959 + ], + "finger_b": [ + 0.20298244657295975, + 0.027251056937366635, + 1.0465980224606959 + ], + "finger_midpoint": [ + 0.208648932722528, + 0.015234855160236264, + 1.0465980224606959 + ], + "object_minus_finger_midpoint": [ + 0.005666486149568217, + 0.012016201777130371, + 0.0 + ], + "finger_gap": 0.026570522797412902, + "fingertip_max_gap": 0.09293066186906485, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013285261398706446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465980224606959, + "object_top_z": 1.0974624568926874, + "finger_top_clearance": 0.05086443443199151, + "fingertip_min_top_clearance": 0.01525933032959742, + "object_projection_between_fingers": 0.8180770644553129, + "object_to_finger_line_xy": 0.010250402893413314, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048965330934532425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0997802510779862, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21428671173766606, + 0.025920556521739704, + 1.2421370364839932 + ], + "held_position": [ + 0.21913187924904937, + 0.030059044548676656, + 1.236573669745579 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008458946791921513, + "max_held_gripper_dist": 0.008466893391402493, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005563366738414288, + "max_held_gripper_z_dist": 0.0055687544689426716, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577569138762817, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21913187924904937, + 0.004651304918231882, + 1.236573669745579 + ], + "held_grasp_finger_b": [ + 0.21020013573576968, + 0.03006250581837883, + 1.236573669745579 + ], + "held_grasp_midpoint": [ + 0.21466600749240952, + 0.017356905368305357, + 1.236573669745579 + ], + "held_grasp_object_position": [ + 0.21913187924904937, + 0.030059044548676656, + 1.236573669745579 + ], + "held_grasp_finger_gap": 0.026935203236185964, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024647608655871883, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07699593443657805, + -0.9970137457643014, + 0.005934377581112036 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034754410765155614, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671218873767717, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19357417891873824, + 0.018776437783733148, + 0.761106421218036 + ], + "target_position": [ + 0.1898243618078717, + 0.023615228168031164, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006121684469827102, + "xy_threshold": 0.08, + "gripper_dist": 0.21748702955573568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106421218036, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07620176041332075, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09004452373973264, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18550025936754896, + "release_required_pad_clearance": 0.05502226186986632, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.121569626125697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 280, + "max_placed_release_frames": 280 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66f577623a0b65bbff1bdcef9c005aee9964dedf60afeb06579318f6395871f0", + "visual_seed": 1805435583525673026, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d7ad63c646bcb6f5f943b11768ec342df1e60b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21517713113896703, + 0.026893634364057714, + 1.0479124536255275 + ], + "current_z": 1.0479124536255275, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1868059456107617, + "gripper_z": 1.0536810993082857, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.210642077013868, + 0.022317637323628764, + 1.0536810993082857 + ], + "object_minus_gripper": [ + 0.004535054125099025, + 0.00457599704042895, + -0.0057686456827581445 + ], + "object_to_gripper_xy": 0.006442551112066725, + "object_to_gripper_z": -0.0057686456827581445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21517713113896703, + 0.0028862265543751664, + 1.0479124536255275 + ], + "finger_b": [ + 0.20377262609465432, + 0.026893634364057714, + 1.0479124536255275 + ], + "finger_midpoint": [ + 0.2094748786168107, + 0.01488993045921644, + 1.0479124536255275 + ], + "object_minus_finger_midpoint": [ + 0.005702252522156337, + 0.012003703904841274, + 0.0 + ], + "finger_gap": 0.02657853203331893, + "fingertip_max_gap": 0.09386903189943141, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328926601665946, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0479124536255275, + "object_top_z": 1.0994685833971112, + "finger_top_clearance": 0.051556129771583636, + "fingertip_min_top_clearance": 0.015466838931475074, + "object_projection_between_fingers": 0.8158842666876943, + "object_to_finger_line_xy": 0.010301268825651067, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943451594971571, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3148725185789099, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21518819011931772, + 0.025388732539490547, + 1.2460386199347666 + ], + "held_position": [ + 0.22008727000562783, + 0.02950330058024047, + 1.240196675063212 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008663658221368806, + "max_held_gripper_dist": 0.008671446023853597, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0058419448715545386, + "max_held_gripper_z_dist": 0.005850493720953143, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08588673910173422, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22008727000562783, + 0.0040085171938197715, + 1.240196675063212 + ], + "held_grasp_finger_b": [ + 0.21112128873245098, + 0.02973683313422206, + 1.240196675063212 + ], + "held_grasp_midpoint": [ + 0.21560427936903942, + 0.016872675164020915, + 1.240196675063212 + ], + "held_grasp_object_position": [ + 0.22008727000562783, + 0.02950330058024047, + 1.240196675063212 + ], + "held_grasp_finger_gap": 0.027245826493613963, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024876755427248202, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08430461462038785, + -0.9962808713385304, + 0.01780891233755177 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003409861917102354, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03675866277690886, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18099445650725154, + 0.020599157118456377, + 0.7611073094945037 + ], + "target_position": [ + 0.1906857175456367, + 0.024813353960475404, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010567875639758703, + "xy_threshold": 0.08, + "gripper_dist": 0.20783030561899318, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073094945037, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550700920818372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734037920346406, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17877014761214843, + "release_required_pad_clearance": 0.05367018960173203, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.348397191924335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "547c0d47b38b9e15c775e463cd2885d8885c72c2cef5486d00924622b9f8e102", + "visual_seed": 8409130377853342558, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..05905d2b2e367018cdd24ca4b2d60309d4f5c692 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2126055311327809, + 0.024915977739524895, + 1.048429047473416 + ], + "current_z": 1.048429047473416, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18732253945864996, + "gripper_z": 1.0542181963511588, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20831778574607374, + 0.020492282355860758, + 1.0542181963511588 + ], + "object_minus_gripper": [ + 0.004287745386707176, + 0.004423695383664137, + -0.005789148877742845 + ], + "object_to_gripper_xy": 0.006160668904322003, + "object_to_gripper_z": -0.005789148877742845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2126055311327809, + 0.0010362176576986424, + 1.048429047473416 + ], + "finger_b": [ + 0.2014954125893106, + 0.024915977739524895, + 1.048429047473416 + ], + "finger_midpoint": [ + 0.20705047186104575, + 0.012976097698611768, + 1.048429047473416 + ], + "object_minus_finger_midpoint": [ + 0.005555059271735163, + 0.011939880040913127, + 0.0 + ], + "finger_gap": 0.026337761400991262, + "fingertip_max_gap": 0.09548201192691097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013168880700495636, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048429047473416, + "object_top_z": 1.1009261057065374, + "finger_top_clearance": 0.05249705823312145, + "fingertip_min_top_clearance": 0.015749117469936433, + "object_projection_between_fingers": 0.8220575082794311, + "object_to_finger_line_xy": 0.01007325418661947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05024100596345549, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8693192957542808, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2127195136595934, + 0.023561158702341434, + 1.2445338204090632 + ], + "held_position": [ + 0.2173290123013092, + 0.0275935957767933, + 1.2386716559789201 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008477794423871601, + "max_held_gripper_dist": 0.008485640490618989, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005862164430143091, + "max_held_gripper_z_dist": 0.0058677391325892, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576797442097728, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2173290123013092, + 0.002284659557688396, + 1.2386716559789201 + ], + "held_grasp_finger_b": [ + 0.20865536049537367, + 0.02775717707078583, + 1.2386716559789201 + ], + "held_grasp_midpoint": [ + 0.21299218639834144, + 0.015020918314237113, + 1.2386716559789201 + ], + "held_grasp_object_position": [ + 0.2173290123013092, + 0.0275935957767933, + 1.2386716559789201 + ], + "held_grasp_finger_gap": 0.026908760359883988, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024687103528058408, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08029241040187128, + -0.9965066046374033, + 0.02297206446733968 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003326246005712669, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036843279735439445, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1862049714117588, + 0.027224067133310676, + 0.7611079465293191 + ], + "target_position": [ + 0.18853474673951703, + 0.020866652416822506, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006770862201762149, + "xy_threshold": 0.08, + "gripper_dist": 0.21232914213222517, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079465293191, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549595703158339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685045288365574, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1847900889285924, + "release_required_pad_clearance": 0.05342522644182787, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8578707170041833, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 335, + "max_placed_release_frames": 335 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f3fccc9d3b6aeb02c13d1145f9ec8833443cd2b883ac75db44ab8cfa0b69db6", + "visual_seed": 873760825653379776, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84df9522ffad1315328989631a27af382e87f733 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21254109256730144, + 0.024028359579310453, + 1.0497836053904268 + ], + "current_z": 1.0497836053904268, + "required_z": 0.86110680603799, + "initial_z": 0.76110680603799, + "lift_margin": 0.18867679935243686, + "gripper_z": 1.0557118515975366, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20809591242347467, + 0.019546502655220413, + 1.0557118515975366 + ], + "object_minus_gripper": [ + 0.004445180143826777, + 0.00448185692409004, + -0.005928246207109744 + ], + "object_to_gripper_xy": 0.006312421722214516, + "object_to_gripper_z": -0.005928246207109744, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21254109256730144, + 5.586099565139498e-06, + 1.0497836053904268 + ], + "finger_b": [ + 0.20137655616500316, + 0.024028359579310453, + 1.0497836053904268 + ], + "finger_midpoint": [ + 0.20695882436615232, + 0.012016972839437796, + 1.0497836053904268 + ], + "object_minus_finger_midpoint": [ + 0.0055822682011491265, + 0.012011386739872657, + 0.0 + ], + "finger_gap": 0.02649038540182831, + "fingertip_max_gap": 0.09489463045156124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013245192700914147, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497836053904268, + "object_top_z": 1.1018868431296507, + "finger_top_clearance": 0.05210323773922387, + "fingertip_min_top_clearance": 0.015630971321767162, + "object_projection_between_fingers": 0.8223746958455336, + "object_to_finger_line_xy": 0.010124546129867625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04994731522578062, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.701621059578956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21262839321037724, + 0.022444047132759333, + 1.2461037226437714 + ], + "held_position": [ + 0.217405962118405, + 0.026517712174300608, + 1.240102590445633 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00868524606451434, + "max_held_gripper_dist": 0.008693377455117238, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006001132198138359, + "max_held_gripper_z_dist": 0.006006840443270711, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08612538969971614, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.217405962118405, + 0.001068887546475505, + 1.240102590445633 + ], + "held_grasp_finger_b": [ + 0.20870712785629314, + 0.026929841414642205, + 1.240102590445633 + ], + "held_grasp_midpoint": [ + 0.21305654498734905, + 0.013999364480558855, + 1.240102590445633 + ], + "held_grasp_object_position": [ + 0.217405962118405, + 0.026517712174300608, + 1.240102590445633 + ], + "held_grasp_finger_gap": 0.02728476960670801, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025076071712595783, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08015534852216993, + -0.9966117234498991, + 0.018444315804913902 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003340223128491016, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03689568895428194, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19069819008317632, + 0.021052558712428046, + 0.7611064766399348 + ], + "target_position": [ + 0.18820834348150353, + 0.022212430921060712, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002746750742280765, + "xy_threshold": 0.08, + "gripper_dist": 0.21941022200382207, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064766399348, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756864936437723, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697870399855563, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18938634088702694, + "release_required_pad_clearance": 0.05348935199927782, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.991272686475636, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 303, + "max_placed_release_frames": 303 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d90f5eca197d347d25095e879b6c8f8733993b1234a94bedec340d55fab24498", + "visual_seed": 2442817957579202025, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..442e6d2d03d82185d37ff71b46430d325a01fbb4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2133597844036197, + 0.024381058929870063, + 1.046885437211036 + ], + "current_z": 1.046885437211036, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1857789888009148, + "gripper_z": 1.0523654626144108, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20887075695300497, + 0.019788907404469494, + 1.0523654626144108 + ], + "object_minus_gripper": [ + 0.004489027450614719, + 0.0045921515254005695, + -0.0054800254033746665 + ], + "object_to_gripper_xy": 0.006421777252802472, + "object_to_gripper_z": -0.0054800254033746665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2133597844036197, + 0.000488814115327104, + 1.046885437211036 + ], + "finger_b": [ + 0.20184524462391595, + 0.024381058929870063, + 1.046885437211036 + ], + "finger_midpoint": [ + 0.20760251451376782, + 0.012434936522598583, + 1.046885437211036 + ], + "object_minus_finger_midpoint": [ + 0.005757269889851868, + 0.01194612240727148, + 0.0 + ], + "finger_gap": 0.02652214147870482, + "fingertip_max_gap": 0.09278615691918796, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01326107073935241, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046885437211036, + "object_top_z": 1.0978866493777146, + "finger_top_clearance": 0.05100121216667852, + "fingertip_min_top_clearance": 0.015300363650003573, + "object_projection_between_fingers": 0.8115153470964778, + "object_to_finger_line_xy": 0.010372774896942822, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889307845959398, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0970635990628015, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2134601944203641, + 0.022331372755800875, + 1.2457018776781705 + ], + "held_position": [ + 0.21837586044840604, + 0.026406337939116346, + 1.2401495772277258 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00846151015105979, + "max_held_gripper_dist": 0.008470478631785397, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005552300450444747, + "max_held_gripper_z_dist": 0.005561812876965, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08613362160925174, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21837586044840604, + 0.0008227621798613185, + 1.2401495772277258 + ], + "held_grasp_finger_b": [ + 0.20960868532472848, + 0.027094083515379272, + 1.2401495772277258 + ], + "held_grasp_midpoint": [ + 0.21399227288656725, + 0.013958422847620295, + 1.2401495772277258 + ], + "held_grasp_object_position": [ + 0.21837586044840604, + 0.026406337939116346, + 1.2401495772277258 + ], + "held_grasp_finger_gap": 0.02769558961934682, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025276088389015162, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09866743388986027, + -0.9950440911241687, + 0.012328593126030404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0031378800814214135, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036901508375528407, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1788041699434474, + 0.016366302976687203, + 0.7611097234605486 + ], + "target_position": [ + 0.18910148192817403, + 0.024081956407569112, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012867242982716794, + "xy_threshold": 0.08, + "gripper_dist": 0.2067567909302991, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097234605486, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586569436856522, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873923191684542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17630486257753575, + "release_required_pad_clearance": 0.053696159584227104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3854118171522214, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 311, + "max_placed_release_frames": 311 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "45cdcff0769a27e6883dc9e754d18a594f2c33bc6cfb38ac1b038c02f80acf77", + "visual_seed": 2179277367979064292, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_115_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03b33e633896ae672ccbf31de389d95287502ac7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_115_success.json @@ -0,0 +1,684 @@ +{ + "episode": 115, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21406481843038727, + 0.026121824036221354, + 1.0473812439972416 + ], + "current_z": 1.0473812439972416, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.1862747359824758, + "gripper_z": 1.0531250729879122, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20898816845078577, + 0.02121576890188588, + 1.0531250729879122 + ], + "object_minus_gripper": [ + 0.0050766499796015, + 0.004906055134335473, + -0.0057438289906706075 + ], + "object_to_gripper_xy": 0.007059869120353958, + "object_to_gripper_z": -0.0057438289906706075, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21406481843038727, + 0.0018414399048970347, + 1.0473812439972416 + ], + "finger_b": [ + 0.20205439897197025, + 0.026121824036221354, + 1.0473812439972416 + ], + "finger_midpoint": [ + 0.20805960870117876, + 0.013981631970559195, + 1.0473812439972416 + ], + "object_minus_finger_midpoint": [ + 0.0060052097292085105, + 0.012140192065662159, + 0.0 + ], + "finger_gap": 0.027088507325649894, + "fingertip_max_gap": 0.09072260809477467, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013544253662824947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473812439972416, + "object_top_z": 1.0972363614192573, + "finger_top_clearance": 0.04985511742201565, + "fingertip_min_top_clearance": 0.01495653522660466, + "object_projection_between_fingers": 0.8034168900189255, + "object_to_finger_line_xy": 0.010765362392359179, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786130404738734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6106098082009042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21349311906836288, + 0.02430654198303199, + 1.2441156578390062 + ], + "held_position": [ + 0.21896040099444414, + 0.028702233996036604, + 1.2382874079807151 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009120404395810402, + "max_held_gripper_dist": 0.009128175799843952, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005828249858291112, + "max_held_gripper_z_dist": 0.005841579427876997, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08661978822230058, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21896040099444414, + 0.0029671976990646833, + 1.2382874079807151 + ], + "held_grasp_finger_b": [ + 0.20946308462339538, + 0.028702233996036604, + 1.2382874079807151 + ], + "held_grasp_midpoint": [ + 0.21421174280891975, + 0.015834715847550643, + 1.2382874079807151 + ], + "held_grasp_object_position": [ + 0.21896040099444414, + 0.028702233996036604, + 1.2382874079807151 + ], + "held_grasp_finger_gap": 0.027431571436180118, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024766506329871128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0907536589328627, + -0.9958572525348376, + -0.005666212497118739 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035620592464015053, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03647508069444385, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.16898402796876066, + 0.02729626920520595, + 0.7611071144899341 + ], + "target_position": [ + 0.1891715526409288, + 0.023456050620881866, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020549536032835033, + "xy_threshold": 0.08, + "gripper_dist": 0.2034844247387106, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071144899341, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577274168736364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537941974183107, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17681909264858825, + "release_required_pad_clearance": 0.052689709870915535, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.43159397607224953, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 328, + "max_placed_release_frames": 328 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 115, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a5762f96e7d2c250a7ab0fede48163397968fd115f550f9b2dd7f5177d089a89", + "visual_seed": 8299143668668208480, + "episode_index": 115, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_116_success.json new file mode 100644 index 0000000000000000000000000000000000000000..be460469152e210faa26cccef97d36d6c29ea249 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_116_success.json @@ -0,0 +1,684 @@ +{ + "episode": 116, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22059962194102678, + 0.021450803493206834, + 1.0469140601708222 + ], + "current_z": 1.0469140601708222, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.1858074925514116, + "gripper_z": 1.052738540534158, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21631064053628365, + 0.0171605158385945, + 1.052738540534158 + ], + "object_minus_gripper": [ + 0.004288981404743125, + 0.004290287654612333, + -0.005824480363335827 + ], + "object_to_gripper_xy": 0.006066459399810676, + "object_to_gripper_z": -0.005824480363335827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22059962194102678, + -0.0026815041048412615, + 1.0469140601708222 + ], + "finger_b": [ + 0.2099584504263262, + 0.021450803493206834, + 1.0469140601708222 + ], + "finger_midpoint": [ + 0.2152790361836765, + 0.009384649694182786, + 1.0469140601708222 + ], + "object_minus_finger_midpoint": [ + 0.005320585757350282, + 0.012066153799024048, + 0.0 + ], + "finger_gap": 0.026374282951619466, + "fingertip_max_gap": 0.09614048880154097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187141475809726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0469140601708222, + "object_top_z": 1.0995716098027566, + "finger_top_clearance": 0.052657549631934364, + "fingertip_min_top_clearance": 0.015797264889580324, + "object_projection_between_fingers": 0.8372138079260685, + "object_to_finger_line_xy": 0.009736606855526823, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05057024440077049, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0614414052062218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22093203915436163, + 0.01979174870354411, + 1.2426359264815987 + ], + "held_position": [ + 0.22547068244978843, + 0.023749363365120207, + 1.2367349233371652 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008431122990637679, + "max_held_gripper_dist": 0.00843912448909371, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0059010031444335365, + "max_held_gripper_z_dist": 0.005905187951780633, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08616536004988923, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22547068244978843, + -0.0015850508261080142, + 1.2367349233371652 + ], + "held_grasp_finger_b": [ + 0.21699747165916256, + 0.02423342005388897, + 1.2367349233371652 + ], + "held_grasp_midpoint": [ + 0.2212340770544755, + 0.01132418461389048, + 1.2367349233371652 + ], + "held_grasp_object_position": [ + 0.22547068244978843, + 0.023749363365120207, + 1.2367349233371652 + ], + "held_grasp_finger_gap": 0.027173309325211586, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025244603310385284, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06108869745837676, + -0.9978213210463335, + 0.024915503370168235 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034837257083224537, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03706333308906139, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1984082818649193, + 0.020745652435146252, + 0.7611091985324702 + ], + "target_position": [ + 0.19624023843926358, + 0.020058421029527294, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002274356898201769, + "xy_threshold": 0.08, + "gripper_dist": 0.2176414379886115, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091985324702, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565510137774376, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805392567246507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1877181291330436, + "release_required_pad_clearance": 0.05402696283623254, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0645028474950458, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 322, + "max_placed_release_frames": 322 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 116, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2cf99e24ef73c97f51b5c507e13e7872532b52f84ddf0e4384482ad3d305e2b1", + "visual_seed": 3260312759544271025, + "episode_index": 116, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2336113748adc157fcf985b616b458cc317f4cca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21540377030436636, + 0.026615331168913105, + 1.0496767487971148 + ], + "current_z": 1.0496767487971148, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18857024078234874, + "gripper_z": 1.055432202067849, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2102443380605663, + 0.02186551511391291, + 1.055432202067849 + ], + "object_minus_gripper": [ + 0.005159432243800055, + 0.004749816055000196, + -0.005755453270734234 + ], + "object_to_gripper_xy": 0.007012880551863214, + "object_to_gripper_z": -0.005755453270734234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21540377030436636, + 0.0019012393455958975, + 1.0496767487971148 + ], + "finger_b": [ + 0.2040647550512935, + 0.026615331168913105, + 1.0496767487971148 + ], + "finger_midpoint": [ + 0.20973426267782994, + 0.014258285257254501, + 1.0496767487971148 + ], + "object_minus_finger_midpoint": [ + 0.005669507626536424, + 0.012357045911658603, + 0.0 + ], + "finger_gap": 0.02719116771234316, + "fingertip_max_gap": 0.09421966160284873, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01359558385617158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496767487971148, + "object_top_z": 1.1012504232024978, + "finger_top_clearance": 0.05157367440538296, + "fingertip_min_top_clearance": 0.015472102321614922, + "object_projection_between_fingers": 0.8261018499820613, + "object_to_finger_line_xy": 0.010306047431101223, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049609830801424365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.405603698115525, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2147419796751283, + 0.025146434795259215, + 1.245959706772315 + ], + "held_position": [ + 0.2201450536378757, + 0.029550872494315004, + 1.24012611581274 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009089722942720431, + "max_held_gripper_dist": 0.009098356374133327, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00583359095957503, + "max_held_gripper_z_dist": 0.005841234921545757, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655729141943536, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2201450536378757, + 0.003860368589306823, + 1.24012611581274 + ], + "held_grasp_finger_b": [ + 0.21066108123925031, + 0.029550872494315004, + 1.24012611581274 + ], + "held_grasp_midpoint": [ + 0.21540306743856302, + 0.016705620541810913, + 1.24012611581274 + ], + "held_grasp_object_position": [ + 0.2201450536378757, + 0.029550872494315004, + 1.24012611581274 + ], + "held_grasp_finger_gap": 0.027385173421965562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025145496130606123, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05339879912049302, + -0.9984984709694213, + 0.012221772548081435 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004052401803746982, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036641069267813506, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18949856929912662, + 0.029161419279803695, + 0.761106425146657 + ], + "target_position": [ + 0.190139259625175, + 0.022591710974789, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006600875040998052, + "xy_threshold": 0.08, + "gripper_dist": 0.21710424297797315, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106425146657, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07627145674166255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09274078452416588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1875879000534643, + "release_required_pad_clearance": 0.056370392262082944, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.06946756987397, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d0d951a8c8859d459108a34992532f0b538c6556176b6a5f562bf8d8a4801742", + "visual_seed": 195543312733112985, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4e03fd16694654da3003587a6497fc51ba4d950c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21317922364127748, + 0.028009603621688188, + 1.0475078267086766 + ], + "current_z": 1.0475078267086766, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1864013782985554, + "gripper_z": 1.0532729540381114, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20822949220429426, + 0.02330368967153812, + 1.0532729540381114 + ], + "object_minus_gripper": [ + 0.004949731436983212, + 0.004705913950150069, + -0.005765127329434794 + ], + "object_to_gripper_xy": 0.006829748707271514, + "object_to_gripper_z": -0.005765127329434794, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21317922364127748, + 0.0035659156526496203, + 1.0475078267086766 + ], + "finger_b": [ + 0.20175877035611195, + 0.028009603621688188, + 1.0475078267086766 + ], + "finger_midpoint": [ + 0.2074689969986947, + 0.015787759637168903, + 1.0475078267086766 + ], + "object_minus_finger_midpoint": [ + 0.0057102266425827775, + 0.012221843984519285, + 0.0 + ], + "finger_gap": 0.026980004350747776, + "fingertip_max_gap": 0.09254952590796706, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013490002175373895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0475078267086766, + "object_top_z": 1.0983717263356783, + "finger_top_clearance": 0.05086389962700166, + "fingertip_min_top_clearance": 0.015259169888100482, + "object_projection_between_fingers": 0.8208228383572208, + "object_to_finger_line_xy": 0.010346847722425617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877476295398353, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7914122028501477, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21260657180612913, + 0.026620701211725287, + 1.2458858088172715 + ], + "held_position": [ + 0.21785996582064493, + 0.030926909520497044, + 1.240055760629183 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008951594301894959, + "max_held_gripper_dist": 0.008959448931838537, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00583004818808841, + "max_held_gripper_z_dist": 0.005838360398627174, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08588718258469541, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21785996582064493, + 0.005317936554375943, + 1.240055760629183 + ], + "held_grasp_finger_b": [ + 0.2084412127055154, + 0.030926909520497044, + 1.240055760629183 + ], + "held_grasp_midpoint": [ + 0.21315058926308017, + 0.018122423037436493, + 1.240055760629183 + ], + "held_grasp_object_position": [ + 0.21785996582064493, + 0.030926909520497044, + 1.240055760629183 + ], + "held_grasp_finger_gap": 0.027286121135538546, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02487612435966298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07088121885855903, + -0.9974526153151009, + 0.008008309071858897 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037913569570332687, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03661457518933534, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17801321716558105, + 0.021434297070508562, + 0.7611064463031745 + ], + "target_position": [ + 0.1881779491269788, + 0.027349042059632036, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01176035646285529, + "xy_threshold": 0.08, + "gripper_dist": 0.2097990144534398, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064463031745, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07616307523856493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09227539821958868, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923091364605798, + "release_required_pad_clearance": 0.05613769910979434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.545051902895837, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 332, + "max_placed_release_frames": 332 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4f3b1589005282edabe4947cdb07a5a61f94ec66a81c2612b891fce5cf4e7a9", + "visual_seed": 7961565252752685870, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb3fe9b1c3ddbc6091c4c24aba0b8752a7bee6d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21200618592701465, + 0.02723772035448527, + 1.047411225571312 + ], + "current_z": 1.047411225571312, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.18630483676583554, + "gripper_z": 1.0531556055441162, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20723034671467203, + 0.022561494749236966, + 1.0531556055441162 + ], + "object_minus_gripper": [ + 0.00477583921234262, + 0.0046762256052483055, + -0.005744379972804303 + ], + "object_to_gripper_xy": 0.006683990282258739, + "object_to_gripper_z": -0.005744379972804303, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21200618592701465, + 0.0030183023510035154, + 1.047411225571312 + ], + "finger_b": [ + 0.20051604208687307, + 0.02723772035448527, + 1.047411225571312 + ], + "finger_midpoint": [ + 0.20626111400694386, + 0.015128011352744393, + 1.047411225571312 + ], + "object_minus_finger_midpoint": [ + 0.005745071920070788, + 0.012109709001740878, + 0.0 + ], + "finger_gap": 0.026806782982941455, + "fingertip_max_gap": 0.09289391307913558, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013403391491470728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047411225571312, + "object_top_z": 1.098301825147939, + "finger_top_clearance": 0.050890599576627116, + "fingertip_min_top_clearance": 0.015267179872988134, + "object_projection_between_fingers": 0.8162778437035213, + "object_to_finger_line_xy": 0.010381126178460391, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894695653956779, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.081670620802559, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21165386907108208, + 0.025834291330139897, + 1.2455971045587977 + ], + "held_position": [ + 0.21677316127390034, + 0.03006870039436931, + 1.2397832369595112 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00882827442046843, + "max_held_gripper_dist": 0.008836778735590715, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005813867599286482, + "max_held_gripper_z_dist": 0.0058222678348824886, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570834753950184, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21677316127390034, + 0.004504491088787776, + 1.2397832369595112 + ], + "held_grasp_finger_b": [ + 0.20754098604114013, + 0.030077946093845134, + 1.2397832369595112 + ], + "held_grasp_midpoint": [ + 0.21215707365752023, + 0.017291218591316455, + 1.2397832369595112 + ], + "held_grasp_object_position": [ + 0.21677316127390034, + 0.03006870039436931, + 1.2397832369595112 + ], + "held_grasp_finger_gap": 0.027188870157181674, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0247988600457421, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0758198516527582, + -0.99708241210582, + 0.008832528776819613 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036358137214489708, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036630056614978826, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18652535099644274, + 0.02915721942648362, + 0.7611076405030166 + ], + "target_position": [ + 0.18733104703332298, + 0.024340110351494068, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004884023540503386, + "xy_threshold": 0.08, + "gripper_dist": 0.21438930926238442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611076405030166, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568326386810906, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18591707242728234, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 354, + "max_placed_release_frames": 354 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2120d7d750922962f59dce5be8c8987b340d6bc28463b87fb0467beb09a3a884", + "visual_seed": 106474398676362370, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ebe1001a62f8507687794acb70261831e28753c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21487010498712572, + 0.029744157798967677, + 1.0467426548144614 + ], + "current_z": 1.0467426548144614, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1856361467996952, + "gripper_z": 1.0525272578798561, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21011543978590488, + 0.025080223877922983, + 1.0525272578798561 + ], + "object_minus_gripper": [ + 0.004754665201220837, + 0.004663933921044694, + -0.0057846030653947444 + ], + "object_to_gripper_xy": 0.006660264318746795, + "object_to_gripper_z": -0.0057846030653947444, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21487010498712572, + 0.005541183128246948, + 1.0467426548144614 + ], + "finger_b": [ + 0.2033730654298858, + 0.029744157798967677, + 1.0467426548144614 + ], + "finger_midpoint": [ + 0.20912158520850577, + 0.01764267046360731, + 1.0467426548144614 + ], + "object_minus_finger_midpoint": [ + 0.005748519778619954, + 0.012101487335360366, + 0.0 + ], + "finger_gap": 0.026794885733891244, + "fingertip_max_gap": 0.09194612518588613, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013397442866945622, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467426548144614, + "object_top_z": 1.0972424471931888, + "finger_top_clearance": 0.05049979237872737, + "fingertip_min_top_clearance": 0.015149937713618243, + "object_projection_between_fingers": 0.8158938769849657, + "object_to_finger_line_xy": 0.01038491300002799, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847306259294307, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7350018426884054, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2146836653767882, + 0.028275340099048724, + 1.242618745866847 + ], + "held_position": [ + 0.21975813754863271, + 0.03251109506251666, + 1.2367478468237012 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008840777313572449, + "max_held_gripper_dist": 0.008849961414955353, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00587089904314575, + "max_held_gripper_z_dist": 0.005877128526269093, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08581762488963396, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21975813754863271, + 0.006972371980709121, + 1.2367478468237012 + ], + "held_grasp_finger_b": [ + 0.21061642050654586, + 0.03251109506251666, + 1.2367478468237012 + ], + "held_grasp_midpoint": [ + 0.21518727902758927, + 0.019741733521612893, + 1.2367478468237012 + ], + "held_grasp_object_position": [ + 0.21975813754863271, + 0.03251109506251666, + 1.2367478468237012 + ], + "held_grasp_finger_gap": 0.027125585102018176, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024716881017787625, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08075800483739477, + -0.996727509255445, + 0.0035237690219785947 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003524996267297986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036623542732094304, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18865793490389957, + 0.023603014247868394, + 0.7611067345813961 + ], + "target_position": [ + 0.19006167057310927, + 0.027968311326644242, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004585443535251587, + "xy_threshold": 0.08, + "gripper_dist": 0.2131050335374179, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067345813961, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549607460558855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521004901625338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18345297220704773, + "release_required_pad_clearance": 0.052605024508126694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.27123954810503226, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 304, + "max_placed_release_frames": 304 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b37028e857b9e9117fe6660a1e8ab32116158a1085b0e0d2fdcacb129bb770f", + "visual_seed": 5000579924647445562, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e9a4038a67c86b583dd5711161aa54127393b12b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21782038601845288, + 0.022653929556555215, + 1.048591361863136 + ], + "current_z": 1.048591361863136, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.187484615429791, + "gripper_z": 1.0540461195272706, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21321677162371355, + 0.01807566655856778, + 1.0540461195272706 + ], + "object_minus_gripper": [ + 0.00460361439473933, + 0.004578262997987435, + -0.005454757664134613 + ], + "object_to_gripper_xy": 0.00649259251564366, + "object_to_gripper_z": -0.005454757664134613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21782038601845288, + -0.0014506106856188746, + 1.048591361863136 + ], + "finger_b": [ + 0.2064660802204875, + 0.022653929556555215, + 1.048591361863136 + ], + "finger_midpoint": [ + 0.2121432331194702, + 0.01060165943546817, + 1.048591361863136 + ], + "object_minus_finger_midpoint": [ + 0.005677152898982685, + 0.012052270121087045, + 0.0 + ], + "finger_gap": 0.026644870433918423, + "fingertip_max_gap": 0.09258958763126388, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013322435216959212, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048591361863136, + "object_top_z": 1.0993759461673684, + "finger_top_clearance": 0.050784584304232494, + "fingertip_min_top_clearance": 0.015235375291269764, + "object_projection_between_fingers": 0.8184091557522382, + "object_to_finger_line_xy": 0.010271782769887458, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879479381563194, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9485973988499817, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21775225263027514, + 0.020880950982438237, + 1.2478148750439881 + ], + "held_position": [ + 0.22271690716095466, + 0.025008599179896174, + 1.2422930743917844 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008495619853409886, + "max_held_gripper_dist": 0.008504203739100779, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005521800652203757, + "max_held_gripper_z_dist": 0.005531384764243308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08631951381650906, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22271690716095466, + -0.0005286372238209694, + 1.2422930743917844 + ], + "held_grasp_finger_b": [ + 0.21372561419924777, + 0.02531931755832939, + 1.2422930743917844 + ], + "held_grasp_midpoint": [ + 0.21822126068010123, + 0.01239534016725421, + 1.2422930743917844 + ], + "held_grasp_object_position": [ + 0.22271690716095466, + 0.025008599179896174, + 1.2422930743917844 + ], + "held_grasp_finger_gap": 0.027367135683942695, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025021479617287373, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08210414302236657, + -0.9965856965348782, + 0.008709716450867154 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034466699225823264, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03678094534976445, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1903490366169691, + 0.019323183618911857, + 0.7611079435798093 + ], + "target_position": [ + 0.19328210171707447, + 0.020667291715321216, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003226375281378374, + "xy_threshold": 0.08, + "gripper_dist": 0.2145291392991347, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079435798093, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565726400701346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08688907206289719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18469044207729535, + "release_required_pad_clearance": 0.053444536031448595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8978869438273727, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 328, + "max_placed_release_frames": 328 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "013844f0edfe5208b87bc8db30ff66d5ac03062bcd04a91f97274d70d507c3d4", + "visual_seed": 739086057057826352, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..360a76f4e320fa56974952d7f4e5640d09973176 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21712927737596763, + 0.02837756743349383, + 1.047255371541358 + ], + "current_z": 1.047255371541358, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18614892313123665, + "gripper_z": 1.0532082728117251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21240628767739703, + 0.023646707777079, + 1.0532082728117251 + ], + "object_minus_gripper": [ + 0.004722989698570601, + 0.004730859656414829, + -0.0059529012703671835 + ], + "object_to_gripper_xy": 0.006684883303506311, + "object_to_gripper_z": -0.0059529012703671835, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21712927737596763, + 0.004341539720868138, + 1.047255371541358 + ], + "finger_b": [ + 0.2053661022884946, + 0.02837756743349383, + 1.047255371541358 + ], + "finger_midpoint": [ + 0.21124768983223113, + 0.016359553577180982, + 1.047255371541358 + ], + "object_minus_finger_midpoint": [ + 0.005881587543736494, + 0.012018013856312848, + 0.0 + ], + "finger_gap": 0.02676009933353492, + "fingertip_max_gap": 0.09236813040503358, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013380049666767455, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047255371541358, + "object_top_z": 1.097661447354066, + "finger_top_clearance": 0.05040607581270806, + "fingertip_min_top_clearance": 0.015121822743812435, + "object_projection_between_fingers": 0.8067703887513272, + "object_to_finger_line_xy": 0.010565730674872674, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048684065202516794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2358615295982436, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21703055207714855, + 0.026544617175364715, + 1.2448608485820407 + ], + "held_position": [ + 0.22215635875250558, + 0.030754816623571483, + 1.2388233710816514 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008969437442477777, + "max_held_gripper_dist": 0.00897840582269072, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006037477500389299, + "max_held_gripper_z_dist": 0.006048819228251068, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593738421006847, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22215635875250558, + 0.005138695083822689, + 1.2388233710816514 + ], + "held_grasp_finger_b": [ + 0.21300917825783866, + 0.030958771923339658, + 1.2388233710816514 + ], + "held_grasp_midpoint": [ + 0.2175827685051721, + 0.018048733503581174, + 1.2388233710816514 + ], + "held_grasp_object_position": [ + 0.22215635875250558, + 0.030754816623571483, + 1.2388233710816514 + ], + "held_grasp_finger_gap": 0.027392467559542267, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024952511129512602, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08466068410171265, + -0.9963919878200578, + 0.005964492889082296 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003482314616003061, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036672807373620865, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17471400748639893, + 0.02376216623699861, + 0.7611071473689248 + ], + "target_position": [ + 0.19242282130730312, + 0.027720271458331107, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01814576214675446, + "xy_threshold": 0.08, + "gripper_dist": 0.20627561206551367, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071473689248, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07627270396325386, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08984450476198229, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17653323885565772, + "release_required_pad_clearance": 0.054922252380991146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.907671360505719, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 325, + "max_placed_release_frames": 325 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "20aa36c77ca478354c77a8677ebe99e4182b27335a277cec4aae09ce7b48b5d9", + "visual_seed": 8219245262219944687, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..688f9b6495df9df517e164748bde5e9456b36d65 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_17_success.json @@ -0,0 +1,684 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21428883325528575, + 0.032283850749739024, + 1.049790746737165 + ], + "current_z": 1.049790746737165, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18868417911775415, + "gripper_z": 1.055355588706001, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20950676036961552, + 0.02775513514216378, + 1.055355588706001 + ], + "object_minus_gripper": [ + 0.00478207288567023, + 0.004528715607575243, + -0.0055648419688361095 + ], + "object_to_gripper_xy": 0.006586158678483081, + "object_to_gripper_z": -0.0055648419688361095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21428883325528575, + 0.00779694771265801, + 1.049790746737165 + ], + "finger_b": [ + 0.20331072312035461, + 0.032283850749739024, + 1.049790746737165 + ], + "finger_midpoint": [ + 0.2087997781878202, + 0.020040399231198516, + 1.049790746737165 + ], + "object_minus_finger_midpoint": [ + 0.005489055067465554, + 0.012243451518540508, + 0.0 + ], + "finger_gap": 0.02683518813949485, + "fingertip_max_gap": 0.093383013547093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341759406974742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049790746737165, + "object_top_z": 1.1010012055896417, + "finger_top_clearance": 0.05121045885247666, + "fingertip_min_top_clearance": 0.01536313765574298, + "object_projection_between_fingers": 0.8326422309331613, + "object_to_finger_line_xy": 0.010017441167435597, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0491915067735465, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1379654647715596, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2140209796083902, + 0.0310307756373404, + 1.2473797072250932 + ], + "held_position": [ + 0.21904415539121275, + 0.0352138163920723, + 1.2417428251666112 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008631602646213465, + "max_held_gripper_dist": 0.00864065597624125, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005636882058482007, + "max_held_gripper_z_dist": 0.0056438458882164255, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587532237342398, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21904415539121275, + 0.009697183725512456, + 1.2417428251666112 + ], + "held_grasp_finger_b": [ + 0.2098850019030462, + 0.03522539093798528, + 1.2417428251666112 + ], + "held_grasp_midpoint": [ + 0.21446457864712948, + 0.022461287331748868, + 1.2417428251666112 + ], + "held_grasp_object_position": [ + 0.21904415539121275, + 0.0352138163920723, + 1.2417428251666112 + ], + "held_grasp_finger_gap": 0.027121568098152863, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024970038897187335, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05626774137461328, + -0.9983232886176966, + 0.013585016899026688 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00385873513918704, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03673142088055896, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19132268676166508, + 0.03454936190747472, + 0.7611149734975395 + ], + "target_position": [ + 0.18934346530149382, + 0.028369610708628697, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006488963127344872, + "xy_threshold": 0.08, + "gripper_dist": 0.21811990338516793, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611149734975395, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07615034432464327, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09276991418741844, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1887540301692033, + "release_required_pad_clearance": 0.05638495709370922, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.078476542461424, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 343, + "max_placed_release_frames": 343 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "494f6a6e84226b07ccb427a37d349ce01a3ff5780f2afa78d42577138240d268", + "visual_seed": 2671165117360140977, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75da820d0ac60b4a1a7255e92ae22eb30ba0a06f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21803434853009113, + 0.025109145619287787, + 1.047890536126578 + ], + "current_z": 1.047890536126578, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18678408771645694, + "gripper_z": 1.0536420086029072, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21333164908208274, + 0.020419761710045878, + 1.0536420086029072 + ], + "object_minus_gripper": [ + 0.004702699448008385, + 0.004689383909241909, + -0.0057514724763292335 + ], + "object_to_gripper_xy": 0.0066412125057518905, + "object_to_gripper_z": -0.0057514724763292335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21803434853009113, + 0.0010288808103057776, + 1.047890536126578 + ], + "finger_b": [ + 0.2064014104191876, + 0.025109145619287787, + 1.047890536126578 + ], + "finger_midpoint": [ + 0.21221787947463938, + 0.013069013214796782, + 1.047890536126578 + ], + "object_minus_finger_midpoint": [ + 0.005816469055451745, + 0.012040132404491005, + 0.0 + ], + "finger_gap": 0.02674293182062896, + "fingertip_max_gap": 0.09223076823090581, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013371465910314474, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047890536126578, + "object_top_z": 1.0985337631167866, + "finger_top_clearance": 0.05064322699020862, + "fingertip_min_top_clearance": 0.015192968097062587, + "object_projection_between_fingers": 0.8107827175130955, + "object_to_finger_line_xy": 0.010474701580810717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861538411545291, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9500715545911985, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21804582068526238, + 0.02327136847999231, + 1.2465235164589392 + ], + "held_position": [ + 0.22314451655748183, + 0.027447942374520348, + 1.2406891446575763 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008802293076828312, + "max_held_gripper_dist": 0.008810901414075112, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005834371801362925, + "max_held_gripper_z_dist": 0.00584286291062619, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08628251013779858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22314451655748183, + 0.001804218815219196, + 1.2406891446575763 + ], + "held_grasp_finger_b": [ + 0.2141190653367973, + 0.027876138627843636, + 1.2406891446575763 + ], + "held_grasp_midpoint": [ + 0.21863179094713958, + 0.014840178721531417, + 1.2406891446575763 + ], + "held_grasp_object_position": [ + 0.22314451655748183, + 0.027447942374520348, + 1.2406891446575763 + ], + "held_grasp_finger_gap": 0.027589921573880457, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025138136368979578, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09127676591031324, + -0.9957820733521034, + 0.009306685529232419 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003345217661597394, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03675375804023577, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18355844131199572, + 0.014100779395810106, + 0.7611068483700636 + ], + "target_position": [ + 0.19335639567862137, + 0.0222485904477564, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01274310537932951, + "xy_threshold": 0.08, + "gripper_dist": 0.20807994605514502, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068483700636, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572898738323679, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09337036592245178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17739073166928773, + "release_required_pad_clearance": 0.05668518296122589, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.788631486750267, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 313, + "max_placed_release_frames": 313 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b7a19b769b27314ae5c86df53674cb187d907dd0e6569686383dea9ad80d00e6", + "visual_seed": 4103697784844779751, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7205dcbfb0c2ea8dd4ead9bf62ea8bbd852ee27f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22046738707970512, + 0.02195933621846471, + 1.0482389618454864 + ], + "current_z": 1.0482389618454864, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18713251343536508, + "gripper_z": 1.053985947664147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21578573098593323, + 0.01730655152222889, + 1.053985947664147 + ], + "object_minus_gripper": [ + 0.004681656093771885, + 0.0046527846962358226, + -0.0057469858186607325 + ], + "object_to_gripper_xy": 0.006600477953139281, + "object_to_gripper_z": -0.0057469858186607325, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22046738707970512, + -0.0021312499721697752, + 1.0482389618454864 + ], + "finger_b": [ + 0.2089081608033709, + 0.02195933621846471, + 1.0482389618454864 + ], + "finger_midpoint": [ + 0.214687773941538, + 0.009914043123147469, + 1.0482389618454864 + ], + "object_minus_finger_midpoint": [ + 0.005779613138167106, + 0.012045293095317242, + 0.0 + ], + "finger_gap": 0.026720255521156307, + "fingertip_max_gap": 0.09255170167017843, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360127760578154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482389618454864, + "object_top_z": 1.0991339772261566, + "finger_top_clearance": 0.050895015380670205, + "fingertip_min_top_clearance": 0.01526850461420106, + "object_projection_between_fingers": 0.8128558237677689, + "object_to_finger_line_xy": 0.010421627019494365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048775850835089216, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9594267395431081, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22053319413415423, + 0.019962422394098525, + 1.2468180921765228 + ], + "held_position": [ + 0.2255976486437171, + 0.02411675427677323, + 1.2409895205298884 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00876809103002414, + "max_held_gripper_dist": 0.008776391362431891, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005828571646634417, + "max_held_gripper_z_dist": 0.005835500841586905, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600001995429399, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2255976486437171, + -0.0015097345483443539, + 1.2409895205298884 + ], + "held_grasp_finger_b": [ + 0.21662100457843417, + 0.024592484323748946, + 1.2409895205298884 + ], + "held_grasp_midpoint": [ + 0.22110932661107563, + 0.011541374887702295, + 1.2409895205298884 + ], + "held_grasp_object_position": [ + 0.2255976486437171, + 0.02411675427677323, + 1.2409895205298884 + ], + "held_grasp_finger_gap": 0.027602644234229496, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025168383096941176, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09160671839859759, + -0.995727762814121, + 0.011594460117907766 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033207682559953083, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036787435231950244, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1844055782993668, + 0.018584386124477548, + 0.7611080915502764 + ], + "target_position": [ + 0.19582061045714594, + 0.02007363972303505, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011511769431496984, + "xy_threshold": 0.08, + "gripper_dist": 0.20694637559593754, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080915502764, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558002917904985, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09343822977133291, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17793679578160806, + "release_required_pad_clearance": 0.05671911488566646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.860808605037645, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 316, + "max_placed_release_frames": 316 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9442e019ee7afde1a04c1fe2091f8e3d15096999c5030d5c5424431e1af33c72", + "visual_seed": 749395337093771734, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5012e292394f57131cb97be5740b23266523805f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22018633168705215, + 0.02876836269905968, + 1.0465225834973546 + ], + "current_z": 1.0465225834973546, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18541607548258865, + "gripper_z": 1.0523760073374284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21525130181841765, + 0.024026142355829214, + 1.0523760073374284 + ], + "object_minus_gripper": [ + 0.004935029868634505, + 0.004742220343230467, + -0.0058534238400738126 + ], + "object_to_gripper_xy": 0.006844207301657627, + "object_to_gripper_z": -0.0058534238400738126, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22018633168705215, + 0.0044175931292521715, + 1.0465225834973546 + ], + "finger_b": [ + 0.20858568683281298, + 0.02876836269905968, + 1.0465225834973546 + ], + "finger_midpoint": [ + 0.21438600925993256, + 0.016592977914155926, + 1.0465225834973546 + ], + "object_minus_finger_midpoint": [ + 0.005800322427119586, + 0.012175384784903754, + 0.0 + ], + "finger_gap": 0.02697285560848256, + "fingertip_max_gap": 0.09107173381465772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01348642780424128, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465225834973546, + "object_top_z": 1.0967240846249557, + "finger_top_clearance": 0.050201501127601134, + "fingertip_min_top_clearance": 0.015060450338280356, + "object_projection_between_fingers": 0.8150261194409325, + "object_to_finger_line_xy": 0.010472922622917021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04803586690732886, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4171836638913285, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2198784183137829, + 0.027049699722964934, + 1.242225629980771 + ], + "held_position": [ + 0.22513024739708198, + 0.03135620448952434, + 1.2362801889531838 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009026403549426656, + "max_held_gripper_dist": 0.009034482530426635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005945441027587206, + "max_held_gripper_z_dist": 0.005954163172729565, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08596947433550664, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22513024739708198, + 0.005716322489597939, + 1.2362801889531838 + ], + "held_grasp_finger_b": [ + 0.21583557095712186, + 0.03135620448952434, + 1.2362801889531838 + ], + "held_grasp_midpoint": [ + 0.22048290917710192, + 0.018536263489561142, + 1.2362801889531838 + ], + "held_grasp_object_position": [ + 0.22513024739708198, + 0.03135620448952434, + 1.2362801889531838 + ], + "held_grasp_finger_gap": 0.027272597219438047, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024774149576529243, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08350283001217645, + -0.9965054193067953, + 0.0020558871918769928 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035607067326609747, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036557043495046265, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1973330425011806, + 0.03235319788124389, + 0.7611122481030523 + ], + "target_position": [ + 0.19516711442171492, + 0.027587903703625814, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005234431492020761, + "xy_threshold": 0.08, + "gripper_dist": 0.2149778299818503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611122481030523, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574378240345293, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08904165740734528, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1860427189224421, + "release_required_pad_clearance": 0.05452082870367264, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.070955022857747, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 325, + "max_placed_release_frames": 325 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f14f569972ea6eaba509dd9e24ac4e2cb563dff42a3b6a937e6c8d4b252b820", + "visual_seed": 8016807734146597072, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..54473a394e2da736285e98ffde1acf17314e335c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21934185111043325, + 0.026682859914984786, + 1.0485342488412028 + ], + "current_z": 1.0485342488412028, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18742774082643665, + "gripper_z": 1.0544033586540875, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2146018524834871, + 0.022116898085562553, + 1.0544033586540875 + ], + "object_minus_gripper": [ + 0.004739998626946157, + 0.004565961829422233, + -0.0058691098128846875 + ], + "object_to_gripper_xy": 0.006581458380267422, + "object_to_gripper_z": -0.0058691098128846875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21934185111043325, + 0.0023217319935455775, + 1.0485342488412028 + ], + "finger_b": [ + 0.2081896401248077, + 0.026682859914984786, + 1.0485342488412028 + ], + "finger_midpoint": [ + 0.21376574561762046, + 0.014502295954265181, + 1.0485342488412028 + ], + "object_minus_finger_midpoint": [ + 0.0055761054928127884, + 0.012180563960719605, + 0.0 + ], + "finger_gap": 0.02679246840947344, + "fingertip_max_gap": 0.09399756962410788, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396234204736726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485342488412028, + "object_top_z": 1.1001186442856823, + "finger_top_clearance": 0.05158439544447946, + "fingertip_min_top_clearance": 0.01547531863334387, + "object_projection_between_fingers": 0.826740722263997, + "object_to_finger_line_xy": 0.010140179481620333, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04949878481205394, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2729496780096097, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21914660373664344, + 0.02528314739377234, + 1.244726332890974 + ], + "held_position": [ + 0.22414174960193256, + 0.029491722277257614, + 1.2387780701512279 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008834331575533545, + "max_held_gripper_dist": 0.008841916210209149, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005948262739746024, + "max_held_gripper_z_dist": 0.005955801159756691, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08586098604389183, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22414174960193256, + 0.0040125357236721485, + 1.2387780701512279 + ], + "held_grasp_finger_b": [ + 0.2150180900897112, + 0.029491722277257614, + 1.2387780701512279 + ], + "held_grasp_midpoint": [ + 0.21957991984582187, + 0.016752129000464883, + 1.2387780701512279 + ], + "held_grasp_object_position": [ + 0.22414174960193256, + 0.029491722277257614, + 1.2387780701512279 + ], + "held_grasp_finger_gap": 0.027063446017226957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024844857325580203, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06358927183495898, + -0.9978742506932432, + 0.014261287140303502 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037470037531839332, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03671765454245271, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1880059602926663, + 0.03596601140776898, + 0.7611063835747075 + ], + "target_position": [ + 0.1945175319799226, + 0.02591478566518312, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011976130625819781, + "xy_threshold": 0.08, + "gripper_dist": 0.21049215710075028, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063835747075, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07610446554351273, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09388472829023987, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18264570576054157, + "release_required_pad_clearance": 0.05694236414511994, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.387714455613024, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 318, + "max_placed_release_frames": 318 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c6eaaa291a6b4e9d3dcd79a73f8fc8a12d60eb6fdb0e6b9bd9f1a0993359ebda", + "visual_seed": 1044892493167291671, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..df656919081ee202985fbfed6d35af7859f3147a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22030851280209934, + 0.031563275408283034, + 1.0472700202627403 + ], + "current_z": 1.0472700202627403, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.18616339303868468, + "gripper_z": 1.0532098681455426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2158723268811465, + 0.02713824424742184, + 1.0532098681455426 + ], + "object_minus_gripper": [ + 0.004436185920952851, + 0.004425031160861195, + -0.005939847882802329 + ], + "object_to_gripper_xy": 0.006265831652690078, + "object_to_gripper_z": -0.005939847882802329, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22030851280209934, + 0.007426437360957277, + 1.0472700202627403 + ], + "finger_b": [ + 0.20934124776440027, + 0.031563275408283034, + 1.0472700202627403 + ], + "finger_midpoint": [ + 0.2148248802832498, + 0.019494856384620157, + 1.0472700202627403 + ], + "object_minus_finger_midpoint": [ + 0.005483632518849535, + 0.012068419023662878, + 0.0 + ], + "finger_gap": 0.026511655046978274, + "fingertip_max_gap": 0.09584604862362589, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013255827523489137, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472700202627403, + "object_top_z": 1.0998392749353259, + "finger_top_clearance": 0.05256925467258555, + "fingertip_min_top_clearance": 0.015770776401775648, + "object_projection_between_fingers": 0.8288712425283316, + "object_to_finger_line_xy": 0.009984857586897874, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05042302431181295, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.885932426638088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2203907972807789, + 0.030641666720433003, + 1.2429244684220577 + ], + "held_position": [ + 0.22507033692153133, + 0.03472682343892586, + 1.236901365319421 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008652419756866475, + "max_held_gripper_dist": 0.008661246127120005, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006023103102636762, + "max_held_gripper_z_dist": 0.006029455986347632, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08564658758831009, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22507033692153133, + 0.009427913988328335, + 1.236901365319421 + ], + "held_grasp_finger_b": [ + 0.216168261722906, + 0.03472682343892586, + 1.236901365319421 + ], + "held_grasp_midpoint": [ + 0.2206192993222187, + 0.022077368713627095, + 1.236901365319421 + ], + "held_grasp_object_position": [ + 0.22507033692153133, + 0.03472682343892586, + 1.236901365319421 + ], + "held_grasp_finger_gap": 0.02681942882000869, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024704560194635544, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06060908710921977, + -0.9978337957648852, + 0.025578400834072482 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003690696905050398, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03682842332161099, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18341739499638976, + 0.03942716225762592, + 0.7611099131337113 + ], + "target_position": [ + 0.19577527279938967, + 0.02913466049520664, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016082684363105615, + "xy_threshold": 0.08, + "gripper_dist": 0.2088184945448016, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611099131337113, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07608866151285226, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09565443310321288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18168366043545725, + "release_required_pad_clearance": 0.05782721655160644, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.50229553451821, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 325, + "max_placed_release_frames": 325 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c068157fe9fdd574b66b6beda1dc4cd1cd547eb1ecc97716caaabd84e99dc79", + "visual_seed": 1674831394320265485, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..075572cc8a2c9c65ed93f085f67fbadc020a50dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22163953356050756, + 0.027877481728765675, + 1.047065104255303 + ], + "current_z": 1.047065104255303, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1859586558451819, + "gripper_z": 1.0533223549415818, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21645693479306902, + 0.023076110479955128, + 1.0533223549415818 + ], + "object_minus_gripper": [ + 0.00518259876743854, + 0.004801371248810547, + -0.0062572506862788035 + ], + "object_to_gripper_xy": 0.0070648776247830385, + "object_to_gripper_z": -0.0062572506862788035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22163953356050756, + 0.003219843501209156, + 1.047065104255303 + ], + "finger_b": [ + 0.21010433636259596, + 0.027877481728765675, + 1.047065104255303 + ], + "finger_midpoint": [ + 0.21587193496155177, + 0.015548662614987416, + 1.047065104255303 + ], + "object_minus_finger_midpoint": [ + 0.0057675985989557865, + 0.012328819113778259, + 0.0 + ], + "finger_gap": 0.027222415347572745, + "fingertip_max_gap": 0.09071688307266582, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013611207673786367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047065104255303, + "object_top_z": 1.0968124977957312, + "finger_top_clearance": 0.04974739354042823, + "fingertip_min_top_clearance": 0.014924218062128469, + "object_projection_between_fingers": 0.8204453177543507, + "object_to_finger_line_xy": 0.010448401281004943, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785844153633291, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7170839934014257, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22140933199373306, + 0.025533350937781266, + 1.2427058788962095 + ], + "held_position": [ + 0.22689485112352006, + 0.029879711095578985, + 1.2363420975584538 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00945935936833561, + "max_held_gripper_dist": 0.009467946214113144, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006363781337755725, + "max_held_gripper_z_dist": 0.006374023416509056, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08650295921017245, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22689485112352006, + 0.003988858774935489, + 1.2363420975584538 + ], + "held_grasp_finger_b": [ + 0.21768124235484868, + 0.030398933471804408, + 1.2363420975584538 + ], + "held_grasp_midpoint": [ + 0.22228804673918437, + 0.017193896123369946, + 1.2363420975584538 + ], + "held_grasp_object_position": [ + 0.22689485112352006, + 0.029879711095578985, + 1.2363420975584538 + ], + "held_grasp_finger_gap": 0.027971103518387223, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02563937949917651, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07546809048998178, + -0.9971464776883815, + -0.0018626195129298746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036363714271208975, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036722967623803594, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.20025239700147382, + 0.02470454137820212, + 0.7611063781132142 + ], + "target_position": [ + 0.19623816226059107, + 0.025882980636543956, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004183634740331815, + "xy_threshold": 0.08, + "gripper_dist": 0.21810494206429387, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063781132142, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559511674889115, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09094787512652223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18770139762444268, + "release_required_pad_clearance": 0.05547393756326112, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.086607258291166, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b98e6d40ff4344ab4173b845fad35f43290390ed543b06dd4fa83dae2b3d7ee5", + "visual_seed": 28061770967166383, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e37625053b6ebec8f66b923881b01bee947d37d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21900208845981997, + 0.031740988841011314, + 1.0498804037450102 + ], + "current_z": 1.0498804037450102, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18877395533488883, + "gripper_z": 1.0557165289647037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21404467664451027, + 0.026904346469670784, + 1.0557165289647037 + ], + "object_minus_gripper": [ + 0.0049574118153097035, + 0.00483664237134053, + -0.0058361252196934554 + ], + "object_to_gripper_xy": 0.006925968620692617, + "object_to_gripper_z": -0.0058361252196934554, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21900208845981997, + 0.007521144460725519, + 1.0498804037450102 + ], + "finger_b": [ + 0.20708614236017997, + 0.031740988841011314, + 1.0498804037450102 + ], + "finger_midpoint": [ + 0.21304411540999996, + 0.019631066650868417, + 1.0498804037450102 + ], + "object_minus_finger_midpoint": [ + 0.0059579730498200145, + 0.012109922190142897, + 0.0 + ], + "finger_gap": 0.026992418069798546, + "fingertip_max_gap": 0.09066712570990329, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013496209034899278, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498804037450102, + "object_top_z": 1.0997277005413795, + "finger_top_clearance": 0.049847296796369234, + "fingertip_min_top_clearance": 0.01495418903891077, + "object_projection_between_fingers": 0.8051172153899046, + "object_to_finger_line_xy": 0.010691978741247618, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04783356285495165, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6033342356285356, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21874504633578704, + 0.030072113509958268, + 1.249554746078525 + ], + "held_position": [ + 0.22411659741022463, + 0.03438550330930691, + 1.2436457253355324 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0090760904935734, + "max_held_gripper_dist": 0.009084223515350143, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005909020742992599, + "max_held_gripper_z_dist": 0.005923527508471693, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635312370197554, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22411659741022463, + 0.008659075043999272, + 1.2436457253355324 + ], + "held_grasp_finger_b": [ + 0.21464306024665367, + 0.0344157866264657, + 1.2436457253355324 + ], + "held_grasp_midpoint": [ + 0.21937982882843915, + 0.021537430835232487, + 1.2436457253355324 + ], + "held_grasp_object_position": [ + 0.22411659741022463, + 0.03438550330930691, + 1.2436457253355324 + ], + "held_grasp_finger_gap": 0.027443689583070287, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02480093012284729, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08988391668694794, + -0.9959520129677968, + -0.0006851178055373719 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035627714801533287, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649842711421394, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18527506296260457, + 0.02752100138504133, + 0.7611062803703335 + ], + "target_position": [ + 0.1939894618728898, + 0.029331685693442813, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008900523918976434, + "xy_threshold": 0.08, + "gripper_dist": 0.21142600412192233, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062803703335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0763130434105866, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08812381610856289, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18111792875491808, + "release_required_pad_clearance": 0.054061908054281446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.136207303112393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 324, + "max_placed_release_frames": 324 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4013854d8e8b2967fc0536c6b8a4b2559320c1d96f1303b296dbff7d1ea1b98c", + "visual_seed": 2769887805224176456, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed2456a6110b847f3bae12bee20008fabe43ddc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21692308777099453, + 0.02118048608475501, + 1.0474301630619856 + ], + "current_z": 1.0474301630619856, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18632365504721937, + "gripper_z": 1.052933379561953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21209425712441235, + 0.016380060331421822, + 1.052933379561953 + ], + "object_minus_gripper": [ + 0.004828830646582183, + 0.004800425753333188, + -0.005503216499967545 + ], + "object_to_gripper_xy": 0.006808942122432516, + "object_to_gripper_z": -0.005503216499967545, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21692308777099453, + -0.0028905576159547505, + 1.0474301630619856 + ], + "finger_b": [ + 0.20503678810943415, + 0.02118048608475501, + 1.0474301630619856 + ], + "finger_midpoint": [ + 0.21097993794021436, + 0.00914496423440013, + 1.0474301630619856 + ], + "object_minus_finger_midpoint": [ + 0.0059431498307801756, + 0.01203552185035488, + 0.0 + ], + "finger_gap": 0.02684584259221322, + "fingertip_max_gap": 0.09083956831567636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013422921296106604, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474301630619856, + "object_top_z": 1.0972054134957647, + "finger_top_clearance": 0.04977525043377917, + "fingertip_min_top_clearance": 0.014932575130133751, + "object_projection_between_fingers": 0.803962447852371, + "object_to_finger_line_xy": 0.010657726149230306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04791978415783818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8045008996342586, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21655954498298433, + 0.019367270032492764, + 1.245811941797157 + ], + "held_position": [ + 0.2217956552253423, + 0.023650292665804186, + 1.2402277140845732 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008771814663658369, + "max_held_gripper_dist": 0.008779654604313195, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005584227712583711, + "max_held_gripper_z_dist": 0.005593257518899497, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08604503872350905, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2217956552253423, + -0.0019753789551667554, + 1.2402277140845732 + ], + "held_grasp_finger_b": [ + 0.21250199315118673, + 0.02368058115412128, + 1.2402277140845732 + ], + "held_grasp_midpoint": [ + 0.21714882418826453, + 0.010852601099477263, + 1.2402277140845732 + ], + "held_grasp_object_position": [ + 0.2217956552253423, + 0.023650292665804186, + 1.2402277140845732 + ], + "held_grasp_finger_gap": 0.02728736784444364, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024698337417641523, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09145675039516472, + -0.9958039161810793, + -0.00319739356078541 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003457171360183371, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655127462398261, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1870441900399897, + 0.021493976035455793, + 0.7611063641858188 + ], + "target_position": [ + 0.19241970679909726, + 0.019788737109679714, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005639505317084833, + "xy_threshold": 0.08, + "gripper_dist": 0.21088541104828143, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063641858188, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568057479082654, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09032276865325568, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18182311885283192, + "release_required_pad_clearance": 0.055161384326627844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.41624290295014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 319, + "max_placed_release_frames": 319 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "907b50d7dbb40d82b0b20e6de01a537c519235f0a0cb5dcaf360a579d686af9b", + "visual_seed": 6370501505713416046, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3e7c970089951609e00e5413c4877b847a7b772e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.211628417405304, + 0.032040039541624696, + 1.0495393109128601 + ], + "current_z": 1.0495393109128601, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.18843262408416006, + "gripper_z": 1.055093607479485, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2068025228852835, + 0.027470334342257277, + 1.055093607479485 + ], + "object_minus_gripper": [ + 0.004825894520020496, + 0.004569705199367419, + -0.005554296566624872 + ], + "object_to_gripper_xy": 0.006646161563450702, + "object_to_gripper_z": -0.005554296566624872, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.211628417405304, + 0.007547775152364731, + 1.0495393109128601 + ], + "finger_b": [ + 0.20056797765479079, + 0.032040039541624696, + 1.0495393109128601 + ], + "finger_midpoint": [ + 0.20609819753004738, + 0.019793907346994714, + 1.0495393109128601 + ], + "object_minus_finger_midpoint": [ + 0.00553021987525662, + 0.012246132194629982, + 0.0 + ], + "finger_gap": 0.026873859834198446, + "fingertip_max_gap": 0.09267575593021407, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013436929917099228, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495393109128601, + "object_top_z": 1.1003675474473933, + "finger_top_clearance": 0.05082823653453317, + "fingertip_min_top_clearance": 0.015248470960359932, + "object_projection_between_fingers": 0.8306111992206971, + "object_to_finger_line_xy": 0.01008024959207092, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883787796510704, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9018367156843106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21123726091394726, + 0.030990437613778427, + 1.2479478955381647 + ], + "held_position": [ + 0.21631635793105902, + 0.03520835273690477, + 1.2423287212475187 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00866966863287104, + "max_held_gripper_dist": 0.008677618882211847, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005619174290645956, + "max_held_gripper_z_dist": 0.005625399290720701, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08569398686523245, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21631635793105902, + 0.009682710051312363, + 1.2423287212475187 + ], + "held_grasp_finger_b": [ + 0.20704572397492865, + 0.03520835273690477, + 1.2423287212475187 + ], + "held_grasp_midpoint": [ + 0.21168104095299384, + 0.022445531394108566, + 1.2423287212475187 + ], + "held_grasp_object_position": [ + 0.21631635793105902, + 0.03520835273690477, + 1.2423287212475187 + ], + "held_grasp_finger_gap": 0.027157008091118852, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02494098040303298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05827099237246145, + -0.998258486865094, + 0.009191564053056654 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038855472391774912, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670955082803301, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1878426559660572, + 0.02658023939247303, + 0.7611090887435322 + ], + "target_position": [ + 0.18664464577732523, + 0.028731248917198547, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002462127207876458, + "xy_threshold": 0.08, + "gripper_dist": 0.21582684105010044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611090887435322, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562074227383843, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085314614324119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18637628708797566, + "release_required_pad_clearance": 0.052657307162059505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3690244722836393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 362, + "max_placed_release_frames": 362 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a177afd14ea13075fba371fa74d84e203b17dde62df9c5c0febc6043e0f6482e", + "visual_seed": 8907891091030783722, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01e552eaf22c47c5429f508940a53262ddb03027 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21759422035014747, + 0.025813004785327536, + 1.048524344970621 + ], + "current_z": 1.048524344970621, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1874178965604999, + "gripper_z": 1.0540350882195504, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21289417704891778, + 0.021108608854560132, + 1.0540350882195504 + ], + "object_minus_gripper": [ + 0.004700043301229695, + 0.004704395930767404, + -0.005510743248929417 + ], + "object_to_gripper_xy": 0.006649943466440526, + "object_to_gripper_z": -0.005510743248929417, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21759422035014747, + 0.00176245249969879, + 1.048524344970621 + ], + "finger_b": [ + 0.20590983493713647, + 0.025813004785327536, + 1.048524344970621 + ], + "finger_midpoint": [ + 0.21175202764364198, + 0.013787728642513163, + 1.048524344970621 + ], + "object_minus_finger_midpoint": [ + 0.005842192706505489, + 0.012025276142814373, + 0.0 + ], + "finger_gap": 0.02673862239763946, + "fingertip_max_gap": 0.09175857180878028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013369311198819723, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048524344970621, + "object_top_z": 1.0987837771229574, + "finger_top_clearance": 0.050259432152336414, + "fingertip_min_top_clearance": 0.015077829645700924, + "object_projection_between_fingers": 0.8090438317969841, + "object_to_finger_line_xy": 0.01050973824013716, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837928590439014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.860010926394005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21746235406298356, + 0.024019036548341907, + 1.2460506585226552 + ], + "held_position": [ + 0.22254673206041659, + 0.02824163966945952, + 1.2404598640786206 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008656688700346154, + "max_held_gripper_dist": 0.008666716820625827, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005590794444034541, + "max_held_gripper_z_dist": 0.005600737860669502, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08595282273367978, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22254673206041659, + 0.002680126376600098, + 1.2404598640786206 + ], + "held_grasp_finger_b": [ + 0.21340716475774482, + 0.028299273961684347, + 1.2404598640786206 + ], + "held_grasp_midpoint": [ + 0.21797694840908072, + 0.015489700169142223, + 1.2404598640786206 + ], + "held_grasp_object_position": [ + 0.22254673206041659, + 0.02824163966945952, + 1.2404598640786206 + ], + "held_grasp_finger_gap": 0.02720059582925335, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024722667411661996, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08736557363031444, + -0.9961748675296082, + 0.0016999548858155351 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034383002275602892, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036617846657555506, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17346737626845615, + 0.02836965161755559, + 0.761110981339168 + ], + "target_position": [ + 0.1929936827644554, + 0.02290316673428107, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020277058523236816, + "xy_threshold": 0.08, + "gripper_dist": 0.20189683474426554, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110981339168, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566760944738236, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08699747592421654, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17534074111857753, + "release_required_pad_clearance": 0.05349873796210827, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.001850872625135, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 325, + "max_placed_release_frames": 325 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b66a6b4fefe4902b37868a4618784135c16431431974aae61012f056df01d994", + "visual_seed": 7997972503568853596, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73bd43b2a9678ccc03848e3ab4928e15ccfae077 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2204045748622601, + 0.02967930103774515, + 1.0471637739065103 + ], + "current_z": 1.0471637739065103, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.18605738510103398, + "gripper_z": 1.0528109407716253, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21573112197152333, + 0.025040373626485188, + 1.0528109407716253 + ], + "object_minus_gripper": [ + 0.004673452890736757, + 0.004638927411259961, + -0.005647166865115016 + ], + "object_to_gripper_xy": 0.006584892516121641, + "object_to_gripper_z": -0.005647166865115016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2204045748622601, + 0.005566128199142659, + 1.0471637739065103 + ], + "finger_b": [ + 0.2088906244895855, + 0.02967930103774515, + 1.0471637739065103 + ], + "finger_midpoint": [ + 0.21464759967592278, + 0.017622714618443905, + 1.0471637739065103 + ], + "object_minus_finger_midpoint": [ + 0.005756975186337304, + 0.012056586419301244, + 0.0 + ], + "finger_gap": 0.026721080770222037, + "fingertip_max_gap": 0.09251977270437761, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360540385111024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471637739065103, + "object_top_z": 1.097797919345752, + "finger_top_clearance": 0.05063414543924183, + "fingertip_min_top_clearance": 0.015190243631772564, + "object_projection_between_fingers": 0.81433045767024, + "object_to_finger_line_xy": 0.010390218785641088, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875988635218881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0589270983315024, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22032402585826635, + 0.02842259154914141, + 1.2431096068724181 + ], + "held_position": [ + 0.22531995112654987, + 0.032651085416182855, + 1.237375708703894 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00870155261300454, + "max_held_gripper_dist": 0.008709432924718997, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00573389816852421, + "max_held_gripper_z_dist": 0.005740816666086612, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858221264606028, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22531995112654987, + 0.007189280506081425, + 1.237375708703894 + ], + "held_grasp_finger_b": [ + 0.21616716200585467, + 0.032651085416182855, + 1.237375708703894 + ], + "held_grasp_midpoint": [ + 0.22074355656620226, + 0.01992018296113214, + 1.237375708703894 + ], + "held_grasp_object_position": [ + 0.22531995112654987, + 0.032651085416182855, + 1.237375708703894 + ], + "held_grasp_finger_gap": 0.027056922551686874, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024708603357726077, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07453383287149914, + -0.9972111522338619, + 0.00382434542073673 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036151189744457603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03668375593660205, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18943927432103938, + 0.03109048690718639, + 0.7611085285045639 + ], + "target_position": [ + 0.1957009685680852, + 0.026391901010350848, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007828507154843027, + "xy_threshold": 0.08, + "gripper_dist": 0.2116603342712937, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085285045639, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0762173375379698, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09594418678487292, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18270822185056368, + "release_required_pad_clearance": 0.05797209339243646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.87676296189293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 309, + "max_placed_release_frames": 309 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3deaaa8e1054e5102ae57cb185eaff90c7b516673858380ecad32f1322c3c2a", + "visual_seed": 8929983837321356189, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4301566b325cbc80b512c7303114c0eeec33591a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21354613538881573, + 0.026617042144379145, + 1.0496039299745354 + ], + "current_z": 1.0496039299745354, + "required_z": 0.8611069252472795, + "initial_z": 0.7611069252472795, + "lift_margin": 0.18849700472725595, + "gripper_z": 1.0553470069608353, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20875649670353746, + 0.021899182409506238, + 1.0553470069608353 + ], + "object_minus_gripper": [ + 0.0047896386852782635, + 0.004717859734872907, + -0.005743076986299833 + ], + "object_to_gripper_xy": 0.006723008196741184, + "object_to_gripper_z": -0.005743076986299833, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21354613538881573, + 0.0024485552613511424, + 1.0496039299745354 + ], + "finger_b": [ + 0.20191996645279192, + 0.026617042144379145, + 1.0496039299745354 + ], + "finger_midpoint": [ + 0.20773305092080382, + 0.014532798702865144, + 1.0496039299745354 + ], + "object_minus_finger_midpoint": [ + 0.005813084468011903, + 0.012084243441514, + 0.0 + ], + "finger_gap": 0.026819462379847614, + "fingertip_max_gap": 0.09359752487715409, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013409731189923807, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496039299745354, + "object_top_z": 1.1007899735598947, + "finger_top_clearance": 0.051186043585359275, + "fingertip_min_top_clearance": 0.015355813075607766, + "object_projection_between_fingers": 0.8120799484302564, + "object_to_finger_line_xy": 0.01047697778018455, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049298762438577046, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.317327792089053, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21302074215317218, + 0.025207587532302775, + 1.247752923407546 + ], + "held_position": [ + 0.21814812736670106, + 0.029481680622115584, + 1.2419400938724015 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008851380574404674, + "max_held_gripper_dist": 0.00886032231910782, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005812829535144504, + "max_held_gripper_z_dist": 0.00581929125107794, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570210169168982, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21814812736670106, + 0.003970809660631989, + 1.2419400938724015 + ], + "held_grasp_finger_b": [ + 0.20877278338258237, + 0.029481680622115584, + 1.2419400938724015 + ], + "held_grasp_midpoint": [ + 0.2134604553746417, + 0.01672624514137379, + 1.2419400938724015 + ], + "held_grasp_object_position": [ + 0.21814812736670106, + 0.029481680622115584, + 1.2419400938724015 + ], + "held_grasp_finger_gap": 0.02717906569464847, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024765413660495946, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0722083276957242, + -0.9973156780720791, + 0.012140662379634737 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003757663832284542, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03666056532918171, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18092354103171807, + 0.026794701766862355, + 0.7611079234654233 + ], + "target_position": [ + 0.18893039730221814, + 0.025819093793527176, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008066074525695972, + "xy_threshold": 0.08, + "gripper_dist": 0.21103492944421257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079234654233, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554685644430575, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0952818504813812, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18302269999621504, + "release_required_pad_clearance": 0.0576409252406906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.062889738034697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 346, + "max_placed_release_frames": 346 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b205ae7135bc7a10cfc2771f2b385fc582254357d94513765bec4ab866337c5", + "visual_seed": 8866183580133362950, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c93571f84f1ed0757a8566a2707369a7c23f40ed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21509527367280923, + 0.024720695347496918, + 1.0486536309740755 + ], + "current_z": 1.0486536309740755, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.1875472421685993, + "gripper_z": 1.0543485417971714, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2100747272601701, + 0.01987879908635061, + 1.0543485417971714 + ], + "object_minus_gripper": [ + 0.005020546412639132, + 0.004841896261146308, + -0.005694910823095922 + ], + "object_to_gripper_xy": 0.006974944134913645, + "object_to_gripper_z": -0.005694910823095922, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21509527367280923, + 0.00040619540872083337, + 1.0486536309740755 + ], + "finger_b": [ + 0.2032672827283786, + 0.024720695347496918, + 1.0486536309740755 + ], + "finger_midpoint": [ + 0.2091812782005939, + 0.012563445378108875, + 1.0486536309740755 + ], + "object_minus_finger_midpoint": [ + 0.005913995472215328, + 0.012157249969388042, + 0.0 + ], + "finger_gap": 0.027038792078313615, + "fingertip_max_gap": 0.09118082922380638, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013519396039156814, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486536309740755, + "object_top_z": 1.0985888477687769, + "finger_top_clearance": 0.049935216794701365, + "fingertip_min_top_clearance": 0.014980565038410425, + "object_projection_between_fingers": 0.808641660240397, + "object_to_finger_line_xy": 0.010636262310137156, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809041461190319, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.74338648852511, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21448125980090793, + 0.023164828464411674, + 1.2464568386127046 + ], + "held_position": [ + 0.21985619865106143, + 0.02753781009437295, + 1.2406864462996365 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00901722592738939, + "max_held_gripper_dist": 0.00902654588798631, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0057703923130680845, + "max_held_gripper_z_dist": 0.005777927997890897, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08580291015374561, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21985619865106143, + 0.0018843908514648263, + 1.2406864462996365 + ], + "held_grasp_finger_b": [ + 0.2103152726666451, + 0.02753781009437295, + 1.2406864462996365 + ], + "held_grasp_midpoint": [ + 0.21508573565885325, + 0.014711100472918888, + 1.2406864462996365 + ], + "held_grasp_object_position": [ + 0.21985619865106143, + 0.02753781009437295, + 1.2406864462996365 + ], + "held_grasp_finger_gap": 0.027370187933087337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024812548694102432, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07959879441057555, + -0.9968259847892157, + -0.0014099565217484678 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003734380697545342, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655452951712377, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17785088126511384, + 0.0179237843634199, + 0.7611071313507064 + ], + "target_position": [ + 0.19024861118710198, + 0.021391877986774145, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012873670051656235, + "xy_threshold": 0.08, + "gripper_dist": 0.20943353000024129, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071313507064, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07614566129879746, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0935100924601779, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17938503141720516, + "release_required_pad_clearance": 0.05675504623008895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.948004159909548, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 318, + "max_placed_release_frames": 318 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d2d2722d73820b4c412881f3a251910551eb256dd7e78755945e8edc9f7b793", + "visual_seed": 489006624556590353, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9985f5017ed6363744d91b9334c86c1cf338b985 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21747872368447319, + 0.021288008158430953, + 1.0487578960342443 + ], + "current_z": 1.0487578960342443, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1876514476241231, + "gripper_z": 1.0544575954316553, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21264950639881655, + 0.01660833348471237, + 1.0544575954316553 + ], + "object_minus_gripper": [ + 0.004829217285656634, + 0.004679674673718583, + -0.0056996993974109955 + ], + "object_to_gripper_xy": 0.00672463342078421, + "object_to_gripper_z": -0.0056996993974109955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21747872368447319, + -0.002995849343980298, + 1.0487578960342443 + ], + "finger_b": [ + 0.20600497585967648, + 0.021288008158430953, + 1.0487578960342443 + ], + "finger_midpoint": [ + 0.21174184977207483, + 0.009146079407225328, + 1.0487578960342443 + ], + "object_minus_finger_midpoint": [ + 0.005736873912398355, + 0.012141928751205625, + 0.0 + ], + "finger_gap": 0.026858008569967402, + "fingertip_max_gap": 0.09284312751135926, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013429004284983701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487578960342443, + "object_top_z": 1.099768414845787, + "finger_top_clearance": 0.051010518811542616, + "fingertip_min_top_clearance": 0.015303155643462801, + "object_projection_between_fingers": 0.8174999511970077, + "object_to_finger_line_xy": 0.010374069859651629, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892156375567963, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9733428017032505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21705028414094135, + 0.019669861144399697, + 1.2471533375267596 + ], + "held_position": [ + 0.22222525432084136, + 0.02392832946914785, + 1.2413967788197675 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008834751665031918, + "max_held_gripper_dist": 0.008842641520977915, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005756558706992099, + "max_held_gripper_z_dist": 0.005767693236756299, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600044332061225, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22222525432084136, + -0.0016551710598068504, + 1.2413967788197675 + ], + "held_grasp_finger_b": [ + 0.2129208369511437, + 0.02392832946914785, + 1.2413967788197675 + ], + "held_grasp_midpoint": [ + 0.21757304563599253, + 0.0111365792046705, + 1.2413967788197675 + ], + "held_grasp_object_position": [ + 0.22222525432084136, + 0.02392832946914785, + 1.2413967788197675 + ], + "held_grasp_finger_gap": 0.027222925667616204, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024792434708482344, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07678420176387174, + -0.9970045709821653, + 0.009277488892662887 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036582491922692324, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660960045524375, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18165166217657697, + 0.016818602976968695, + 0.7611066695083548 + ], + "target_position": [ + 0.1927355578073111, + 0.020205484556562608, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011589810575984405, + "xy_threshold": 0.08, + "gripper_dist": 0.20845705842155596, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066695083548, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586166349023984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08910399549629149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17851566160915228, + "release_required_pad_clearance": 0.054551997748145745, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.137714451579489, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 319, + "max_placed_release_frames": 319 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e708ed20a156508013b1cb8cfdd969c1bda9625c8da4d249c19ca450435c0b56", + "visual_seed": 2641540266355614414, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4742024bc83e1d53a2df7116619ce062fee26b97 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21824919035857548, + 0.028393765591009083, + 1.0478077887137243 + ], + "current_z": 1.0478077887137243, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.18670098267573465, + "gripper_z": 1.0538884909544102, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21343841366396793, + 0.023798554307685973, + 1.0538884909544102 + ], + "object_minus_gripper": [ + 0.004810776694607555, + 0.00459521128332311, + -0.006080702240685909 + ], + "object_to_gripper_xy": 0.006652784315138978, + "object_to_gripper_z": -0.006080702240685909, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21824919035857548, + 0.003965886876377004, + 1.0478077887137243 + ], + "finger_b": [ + 0.20707639432182504, + 0.028393765591009083, + 1.0478077887137243 + ], + "finger_midpoint": [ + 0.21266279234020025, + 0.016179826233693045, + 1.0478077887137243 + ], + "object_minus_finger_midpoint": [ + 0.005586398018375238, + 0.012213939357316038, + 0.0 + ], + "finger_gap": 0.026861731697260353, + "fingertip_max_gap": 0.09330861782534733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01343086584863018, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478077887137243, + "object_top_z": 1.0990848972505396, + "finger_top_clearance": 0.05127710853681533, + "fingertip_min_top_clearance": 0.015383132561044599, + "object_projection_between_fingers": 0.8269961661457068, + "object_to_finger_line_xy": 0.010160465809317053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915430891267367, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0507244565390537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21789033773558988, + 0.02714727307106299, + 1.2461015631104886 + ], + "held_position": [ + 0.2229613321930593, + 0.031375163596938135, + 1.2399495457401275 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009024265112001913, + "max_held_gripper_dist": 0.00903268494418219, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006152017370361085, + "max_held_gripper_z_dist": 0.006158248189525706, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08592326097558405, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2229613321930593, + 0.005856441213975206, + 1.2399495457401275 + ], + "held_grasp_finger_b": [ + 0.21368182131970392, + 0.031375163596938135, + 1.2399495457401275 + ], + "held_grasp_midpoint": [ + 0.2183215767563816, + 0.01861580240545667, + 1.2399495457401275 + ], + "held_grasp_object_position": [ + 0.2229613321930593, + 0.031375163596938135, + 1.2399495457401275 + ], + "held_grasp_finger_gap": 0.027153535941152378, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024879701491557386, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06309758974077995, + -0.9979032601820543, + 0.014414488784942774 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038299453919198854, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03669488455423428, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18997050873668178, + 0.029160702767176302, + 0.7611116339517127 + ], + "target_position": [ + 0.19334627668186255, + 0.02697818800426227, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004019848244653979, + "xy_threshold": 0.08, + "gripper_dist": 0.21405049258012837, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116339517127, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07606607319537843, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.093023816673022, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18428071699765158, + "release_required_pad_clearance": 0.056511908336511, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.37097580562461, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "88c61bcf0574f93cc0230f0a35a45912797c773e127f1f50c2a871cb4dfd70eb", + "visual_seed": 5318896966108578749, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8265f331c711ff46f332f6337176cd5a41e7fd7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.218325082623958, + 0.02296169796618453, + 1.050164437760988 + ], + "current_z": 1.050164437760988, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18905798935086693, + "gripper_z": 1.0558921137996211, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21364194128484135, + 0.01827876812298214, + 1.0558921137996211 + ], + "object_minus_gripper": [ + 0.004683141339116653, + 0.004682929843202392, + -0.005727676038633112 + ], + "object_to_gripper_xy": 0.006622812447782203, + "object_to_gripper_z": -0.005727676038633112, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.218325082623958, + -0.0010904262912882683, + 1.050164437760988 + ], + "finger_b": [ + 0.20668955838786984, + 0.02296169796618453, + 1.050164437760988 + ], + "finger_midpoint": [ + 0.21250732050591392, + 0.01093563583744813, + 1.050164437760988 + ], + "object_minus_finger_midpoint": [ + 0.005817762118044079, + 0.0120260621287364, + 0.0 + ], + "finger_gap": 0.026718722004345687, + "fingertip_max_gap": 0.09256654268825953, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359361002172844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050164437760988, + "object_top_z": 1.1009243359535346, + "finger_top_clearance": 0.05075989819254656, + "fingertip_min_top_clearance": 0.015227969457763984, + "object_projection_between_fingers": 0.8103553709500673, + "object_to_finger_line_xy": 0.010474268742408805, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878327134412977, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.997685761815304, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21810860270410212, + 0.02134832110796127, + 1.2486784815363121 + ], + "held_position": [ + 0.22315297052169883, + 0.025563621105602414, + 1.2428734488272837 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008769994612438985, + "max_held_gripper_dist": 0.008778621161932855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005805032709028435, + "max_held_gripper_z_dist": 0.005811170010491029, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08596635179670141, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22315297052169883, + 5.1360089113529926e-05, + 1.2428734488272837 + ], + "held_grasp_finger_b": [ + 0.21396455280071225, + 0.025563621105602414, + 1.2428734488272837 + ], + "held_grasp_midpoint": [ + 0.21855876166120553, + 0.012807490597357972, + 1.2428734488272837 + ], + "held_grasp_object_position": [ + 0.22315297052169883, + 0.025563621105602414, + 1.2428734488272837 + ], + "held_grasp_finger_gap": 0.027116461465110056, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024653142551354694, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08366951867247772, + -0.9964594287821373, + 0.008247329039918982 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00351242378901102, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662488830634111, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18775871847442951, + 0.021177011810379454, + 0.7611064284081505 + ], + "target_position": [ + 0.1938161616658418, + 0.02117094758562338, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006057446226918494, + "xy_threshold": 0.08, + "gripper_dist": 0.2119924543679246, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064284081505, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578385204276218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08789704094969274, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1826965447869232, + "release_required_pad_clearance": 0.05394852047484637, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.905860477553581, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 313, + "max_placed_release_frames": 313 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7165f5904e4a96dd7338230af15201ef46f4d86f5249b6f62be73e2f4f6cbbdd", + "visual_seed": 7002111217645139977, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b340afe4af823f1c4ffc9081bd910eb915ffa506 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2135459443077958, + 0.030571415854149377, + 1.0495752232960935 + ], + "current_z": 1.0495752232960935, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18846871528132736, + "gripper_z": 1.0553001900439716, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20877400610078856, + 0.02585648417138771, + 1.0553001900439716 + ], + "object_minus_gripper": [ + 0.004771938207007248, + 0.004714931682761669, + -0.005724966747878035 + ], + "object_to_gripper_xy": 0.006708351140526659, + "object_to_gripper_z": -0.005724966747878035, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2135459443077958, + 0.006421994975936074, + 1.0495752232960935 + ], + "finger_b": [ + 0.20190458877985093, + 0.030571415854149377, + 1.0495752232960935 + ], + "finger_midpoint": [ + 0.20772526654382337, + 0.018496705415042725, + 1.0495752232960935 + ], + "object_minus_finger_midpoint": [ + 0.005820677763972437, + 0.012074710439106653, + 0.0 + ], + "finger_gap": 0.02680887329376409, + "fingertip_max_gap": 0.09304693008478776, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013404436646882045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0495752232960935, + "object_top_z": 1.1004887396627474, + "finger_top_clearance": 0.050913516366653866, + "fingertip_min_top_clearance": 0.015274054909996143, + "object_projection_between_fingers": 0.8114398211611473, + "object_to_finger_line_xy": 0.010486527768500016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04902346504239388, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.186448577982709, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21332406044225546, + 0.02919426405222493, + 1.2450583431359639 + ], + "held_position": [ + 0.21843331697949733, + 0.033465286469901115, + 1.2392440050072202 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008840399466709838, + "max_held_gripper_dist": 0.008848663366210315, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005814338128743657, + "max_held_gripper_z_dist": 0.005821658103261296, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08578474162404627, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21843331697949733, + 0.007933734491190631, + 1.2392440050072202 + ], + "held_grasp_finger_b": [ + 0.20922092567255512, + 0.033465286469901115, + 1.2392440050072202 + ], + "held_grasp_midpoint": [ + 0.21382712132602621, + 0.02069951048054587, + 1.2392440050072202 + ], + "held_grasp_object_position": [ + 0.21843331697949733, + 0.033465286469901115, + 1.2392440050072202 + ], + "held_grasp_finger_gap": 0.0271427393612697, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02474321887023894, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07723157912983794, + -0.9969901719903873, + 0.00677348800026234 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036075821344649477, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663715310677845, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17498102458356732, + 0.04145107584599039, + 0.7611099794463269 + ], + "target_position": [ + 0.18877370015247555, + 0.029203242389886, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018445794201324812, + "xy_threshold": 0.08, + "gripper_dist": 0.2056092271112368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611099794463269, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07671032755462655, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08898127089506298, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17995826570214463, + "release_required_pad_clearance": 0.054490635447531494, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.003668720307414, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e360b7b2329fa9362d3a8612a6103ddf69960f7c6d8f404233140a23af1c079b", + "visual_seed": 6761978046511978991, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..98cdb671a74a28f48f353f609b0b3ded90c2e95a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21677691066476798, + 0.030424034092645966, + 1.0497243895897241 + ], + "current_z": 1.0497243895897241, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18861788157495818, + "gripper_z": 1.0553933464906373, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2117682933740356, + 0.025560625191578326, + 1.0553933464906373 + ], + "object_minus_gripper": [ + 0.005008617290732376, + 0.00486340890106764, + -0.00566895690091318 + ], + "object_to_gripper_xy": 0.006981331771518044, + "object_to_gripper_z": -0.00566895690091318, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21677691066476798, + 0.0061732533224974255, + 1.0497243895897241 + ], + "finger_b": [ + 0.20482692351199985, + 0.030424034092645966, + 1.0497243895897241 + ], + "finger_midpoint": [ + 0.21080191708838392, + 0.018298643707571696, + 1.0497243895897241 + ], + "object_minus_finger_midpoint": [ + 0.005974993576384063, + 0.01212539038507427, + 0.0 + ], + "finger_gap": 0.027035209651732492, + "fingertip_max_gap": 0.09117015801727701, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013517604825866246, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497243895897241, + "object_top_z": 1.0998151642426337, + "finger_top_clearance": 0.050090774652909564, + "fingertip_min_top_clearance": 0.015027232395872869, + "object_projection_between_fingers": 0.8046221198446507, + "object_to_finger_line_xy": 0.010719225868082015, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808507900863851, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.74480585671765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21628330161595855, + 0.02877126444463328, + 1.247283355251887 + ], + "held_position": [ + 0.22167521776634846, + 0.033157249878653594, + 1.241535778126519 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00901910587654487, + "max_held_gripper_dist": 0.009026240654548313, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0057475771253678865, + "max_held_gripper_z_dist": 0.005759746539948374, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08570927607477644, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22167521776634846, + 0.007506757284872798, + 1.241535778126519 + ], + "held_grasp_finger_b": [ + 0.21210728294782458, + 0.033157249878653594, + 1.241535778126519 + ], + "held_grasp_midpoint": [ + 0.2168912503570865, + 0.020332003581763194, + 1.241535778126519 + ], + "held_grasp_object_position": [ + 0.22167521776634846, + 0.033157249878653594, + 1.241535778126519 + ], + "held_grasp_finger_gap": 0.027376872483816067, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024758125329604704, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08375553349236721, + -0.9964523184614205, + -0.00823332510405006 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036945294438023683, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653981992014704, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.16768361343291088, + 0.025821627910039457, + 0.761106582506282 + ], + "target_position": [ + 0.19179193266200076, + 0.027169335014576086, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.024145959713610953, + "xy_threshold": 0.08, + "gripper_dist": 0.2021507867266263, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106582506282, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574882040283265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09019482879786626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17485354583864107, + "release_required_pad_clearance": 0.055097414398933134, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.280684956935837, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 331, + "max_placed_release_frames": 331 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cc23367b9eb451c69241133ad16d1713a306d4743763ab6fc3e3f7b0a851f39", + "visual_seed": 6967478819125758708, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a5182bd2feb391f4e07b2738c7dbdc340c2e37dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22032716597311547, + 0.021602806780114715, + 1.04737786771895 + ], + "current_z": 1.04737786771895, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.1862715385181185, + "gripper_z": 1.0532945391719497, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21531518160154683, + 0.016735521034607515, + 1.0532945391719497 + ], + "object_minus_gripper": [ + 0.005011984371568634, + 0.0048672857455072, + -0.005916671452999678 + ], + "object_to_gripper_xy": 0.006986448158346687, + "object_to_gripper_z": -0.005916671452999678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22032716597311547, + -0.002646880888801322, + 1.04737786771895 + ], + "finger_b": [ + 0.2083802261499017, + 0.021602806780114715, + 1.04737786771895 + ], + "finger_midpoint": [ + 0.2143536960615086, + 0.009477962945656697, + 1.04737786771895 + ], + "object_minus_finger_midpoint": [ + 0.005973469911606882, + 0.012124843834458018, + 0.0 + ], + "finger_gap": 0.02703288225808468, + "fingertip_max_gap": 0.09117552634727849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01351644112904234, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.04737786771895, + "object_top_z": 1.0974836107148511, + "finger_top_clearance": 0.05010574299590109, + "fingertip_min_top_clearance": 0.015031722898770344, + "object_projection_between_fingers": 0.8046881261919471, + "object_to_finger_line_xy": 0.010716931940382575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808776317363925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7281703262835466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21981010306375326, + 0.019886764525175293, + 1.2463918648906 + ], + "held_position": [ + 0.22521917963127258, + 0.024242635672648838, + 1.240402370413272 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00917091963003829, + "max_held_gripper_dist": 0.009178017213102203, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0059894944773279946, + "max_held_gripper_z_dist": 0.006005192181423036, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600549660900644, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22521917963127258, + -0.00146070444485562, + 1.240402370413272 + ], + "held_grasp_finger_b": [ + 0.21566044138517965, + 0.024242635672648838, + 1.240402370413272 + ], + "held_grasp_midpoint": [ + 0.22043981050822611, + 0.011390965613896608, + 1.240402370413272 + ], + "held_grasp_object_position": [ + 0.22521917963127258, + 0.024242635672648838, + 1.240402370413272 + ], + "held_grasp_finger_gap": 0.027423186723162463, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02477739694690587, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0867067726788921, + -0.9962208870149359, + -0.005087223878023961 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036476475259600654, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03650274425244111, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1938007375589862, + 0.023488621431837525, + 0.7611096945964143 + ], + "target_position": [ + 0.19542690791370984, + 0.020039247621918256, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038134773767703163, + "xy_threshold": 0.08, + "gripper_dist": 0.21443378598066443, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611096945964143, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564357578866192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09218181984121147, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18565300803025417, + "release_required_pad_clearance": 0.05609090992060574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.430298786547779, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 317, + "max_placed_release_frames": 317 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3afd6c651a0d694221c4554fbdb7f4917ea03e8aaa20508a65d8b0ac211a4264", + "visual_seed": 8338162528996001282, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a85d790b0f19bcd6a2055db58a7503c1efb739b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2198530536058426, + 0.02610521701847564, + 1.0486279692644194 + ], + "current_z": 1.0486279692644194, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1875214612496533, + "gripper_z": 1.054399916437382, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21504901359395912, + 0.021423542625450293, + 1.054399916437382 + ], + "object_minus_gripper": [ + 0.004804040011883476, + 0.004681674393025349, + -0.005771947172962699 + ], + "object_to_gripper_xy": 0.006707971046306525, + "object_to_gripper_z": -0.005771947172962699, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2198530536058426, + 0.0018456712189844724, + 1.0486279692644194 + ], + "finger_b": [ + 0.20834542702882616, + 0.02610521701847564, + 1.0486279692644194 + ], + "finger_midpoint": [ + 0.21409924031733438, + 0.013975444118730057, + 1.0486279692644194 + ], + "object_minus_finger_midpoint": [ + 0.005753813288508214, + 0.012129772899745584, + 0.0 + ], + "finger_gap": 0.026850531313805773, + "fingertip_max_gap": 0.09197890257324748, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013425265656902887, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0486279692644194, + "object_top_z": 1.0993441236998924, + "finger_top_clearance": 0.05071615443547306, + "fingertip_min_top_clearance": 0.015214846330641935, + "object_projection_between_fingers": 0.816318357851234, + "object_to_finger_line_xy": 0.010397179509257266, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848945128662374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7239126093033784, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21985188088581872, + 0.02418635327627476, + 1.2473513149208324 + ], + "held_position": [ + 0.22503084630706174, + 0.028379763262423842, + 1.2414993490241564 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008868589234045344, + "max_held_gripper_dist": 0.00887693969428113, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005851965896676026, + "max_held_gripper_z_dist": 0.005859779356888861, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08645281705741076, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22503084630706174, + 0.002669570331896738, + 1.2414993490241564 + ], + "held_grasp_finger_b": [ + 0.21597452332780254, + 0.0289038205620067, + 1.2414993490241564 + ], + "held_grasp_midpoint": [ + 0.22050268481743213, + 0.01578669544695172, + 1.2414993490241564 + ], + "held_grasp_object_position": [ + 0.22503084630706174, + 0.028379763262423842, + 1.2414993490241564 + ], + "held_grasp_finger_gap": 0.0277534298968737, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025301053386789413, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09089690372298685, + -0.995806812680917, + 0.01032204978904605 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003367337635112506, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03676839148793013, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18222237332352048, + 0.02273679969118427, + 0.7611085372517112 + ], + "target_position": [ + 0.1949476863407946, + 0.023235873600275878, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012735095843940163, + "xy_threshold": 0.08, + "gripper_dist": 0.20865940545560463, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085372517112, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07621950770045947, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0931277342327294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17886014017273394, + "release_required_pad_clearance": 0.0565638671163647, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.509281567785528, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 314, + "max_placed_release_frames": 314 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5bbdc0890a3b2522a1b85802f0f87fdcece60b40408445f0493120eba523dd57", + "visual_seed": 2840134592614495617, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a7608245433b03b118085966acdcd53e8b835a8b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2160186124679758, + 0.025663483937402014, + 1.0483943746430042 + ], + "current_z": 1.0483943746430042, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.18728774741894882, + "gripper_z": 1.0540522422266458, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21098704011251315, + 0.02088145509211932, + 1.0540522422266458 + ], + "object_minus_gripper": [ + 0.0050315723554626435, + 0.004782028845282695, + -0.005657867583641618 + ], + "object_to_gripper_xy": 0.006941507058656041, + "object_to_gripper_z": -0.005657867583641618, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2160186124679758, + 0.0012046259113010214, + 1.0483943746430042 + ], + "finger_b": [ + 0.20443483656783232, + 0.025663483937402014, + 1.0483943746430042 + ], + "finger_midpoint": [ + 0.21022672451790406, + 0.013434054924351518, + 1.0483943746430042 + ], + "object_minus_finger_midpoint": [ + 0.005791887950071739, + 0.012229429013050496, + 0.0 + ], + "finger_gap": 0.027063251837975973, + "fingertip_max_gap": 0.09298619614344764, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013531625918987987, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0483943746430042, + "object_top_z": 1.0992093549758455, + "finger_top_clearance": 0.050814980332841264, + "fingertip_min_top_clearance": 0.015244494099852362, + "object_projection_between_fingers": 0.8167937284906487, + "object_to_finger_line_xy": 0.010469027589293918, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899309807172382, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1592159928077135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21531811654166733, + 0.024421151387254425, + 1.246887831237154 + ], + "held_position": [ + 0.22066220098061173, + 0.02879578162675231, + 1.241167334735374 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008967759388485801, + "max_held_gripper_dist": 0.008975897633847475, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005720496501780081, + "max_held_gripper_z_dist": 0.005727910998496899, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593390005988938, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22066220098061173, + 0.0031743987742815717, + 1.241167334735374 + ], + "held_grasp_finger_b": [ + 0.21105501926439438, + 0.02879578162675231, + 1.241167334735374 + ], + "held_grasp_midpoint": [ + 0.21585861012250307, + 0.01598509020051694, + 1.241167334735374 + ], + "held_grasp_object_position": [ + 0.22066220098061173, + 0.02879578162675231, + 1.241167334735374 + ], + "held_grasp_finger_gap": 0.027363355053817918, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024973929984523694, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.062159663399033775, + -0.9980378230736764, + 0.007528609464957815 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003999183814914992, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663610589613979, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18467994937355797, + 0.026427488332926397, + 0.7611171978153062 + ], + "target_position": [ + 0.1910448000507741, + 0.022588502042617333, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0074329765155312765, + "xy_threshold": 0.08, + "gripper_dist": 0.20903951757577358, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611171978153062, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551228768480285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09138500221441322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1811218173349728, + "release_required_pad_clearance": 0.05569250110720661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.503490626976136, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16b33144bf203302e45ba8606b9b269196c4d63c86793821079818cf3f688f7d", + "visual_seed": 6755780451219130650, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07313d9d3d6d2cd5c4a5e0487ed2d4fff5efacb3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21984242529910847, + 0.02859227934692135, + 1.0459846905905148 + ], + "current_z": 1.0459846905905148, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18487812297110395, + "gripper_z": 1.0522732214010913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21574508419339847, + 0.024392813597241714, + 1.0522732214010913 + ], + "object_minus_gripper": [ + 0.004097341105710001, + 0.004199465749679637, + -0.006288530810576454 + ], + "object_to_gripper_xy": 0.005867172804620059, + "object_to_gripper_z": -0.006288530810576454, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21984242529910847, + 0.004583526717696244, + 1.0459846905905148 + ], + "finger_b": [ + 0.20934239737910715, + 0.02859227934692135, + 1.0459846905905148 + ], + "finger_midpoint": [ + 0.2145924113391078, + 0.016587903032308796, + 1.0459846905905148 + ], + "object_minus_finger_midpoint": [ + 0.00525001396000066, + 0.012004376314612555, + 0.0 + ], + "finger_gap": 0.02620440400261244, + "fingertip_max_gap": 0.09854177927034474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102202001306221, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0459846905905148, + "object_top_z": 1.1001807447390346, + "finger_top_clearance": 0.0541960541485198, + "fingertip_min_top_clearance": 0.01625881624455594, + "object_projection_between_fingers": 0.8394418576328976, + "object_to_finger_line_xy": 0.009620236846681823, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051770889635172374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.820550204015165, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22036417886102871, + 0.027519095124040785, + 1.243531201644245 + ], + "held_position": [ + 0.22469746955975664, + 0.031384245247232254, + 1.2371680704098083 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008614303968467435, + "max_held_gripper_dist": 0.00862306379347911, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00636313123443677, + "max_held_gripper_z_dist": 0.006367981510195797, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08576933697792037, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22469746955975664, + 0.006161987273044484, + 1.2371680704098083 + ], + "held_grasp_finger_b": [ + 0.21627637896158047, + 0.031780751935339586, + 1.2371680704098083 + ], + "held_grasp_midpoint": [ + 0.22048692426066857, + 0.018971369604192035, + 1.2371680704098083 + ], + "held_grasp_object_position": [ + 0.22469746955975664, + 0.031384245247232254, + 1.2371680704098083 + ], + "held_grasp_finger_gap": 0.026967311131900994, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025011512007016713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06278824544821983, + -0.9969355605981286, + 0.0466596640411101 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034725418375348223, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03708104018055591, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19131526705997784, + 0.020112779874909618, + 0.7611063242258298 + ], + "target_position": [ + 0.1956231163114385, + 0.0250396786846723, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0065446082430464176, + "xy_threshold": 0.08, + "gripper_dist": 0.21190841609382194, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063242258298, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07611121946746531, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09336352480819786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18090230109168912, + "release_required_pad_clearance": 0.05668176240409893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.78176477576029, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 300, + "max_placed_release_frames": 300 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dfd7b6552397cbeb9f95524781485e1a656287c1e1d1d8760b08711e33f621f6", + "visual_seed": 5234109142319391963, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f055ddf084311b47ec50bd1ab274fbc0f405d482 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21468204649074418, + 0.02445843285848817, + 1.0474970074663308 + ], + "current_z": 1.0474970074663308, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1863905590562096, + "gripper_z": 1.0534838847149346, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2096454493176945, + 0.019725146452907183, + 1.0534838847149346 + ], + "object_minus_gripper": [ + 0.0050365971730496895, + 0.004733286405580989, + -0.005986877248603806 + ], + "object_to_gripper_xy": 0.0069116793386867935, + "object_to_gripper_z": -0.005986877248603806, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21468204649074418, + -9.299857362470421e-05, + 1.0474970074663308 + ], + "finger_b": [ + 0.20328007353913527, + 0.02445843285848817, + 1.0474970074663308 + ], + "finger_midpoint": [ + 0.2089810600149397, + 0.012182717142431734, + 1.0474970074663308 + ], + "object_minus_finger_midpoint": [ + 0.00570098647580447, + 0.012275715716056438, + 0.0 + ], + "finger_gap": 0.027069868351267637, + "fingertip_max_gap": 0.09544395948561768, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013534934175633825, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474970074663308, + "object_top_z": 1.0994503380200655, + "finger_top_clearance": 0.051953330553734745, + "fingertip_min_top_clearance": 0.01558599916612044, + "object_projection_between_fingers": 0.8225860662558917, + "object_to_finger_line_xy": 0.010341193886859926, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05022197974280884, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9880557644224093, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21404734426090438, + 0.022899145245558347, + 1.2457671640454753 + ], + "held_position": [ + 0.2193685489571976, + 0.027243159304148595, + 1.239711426023001 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009157381752330848, + "max_held_gripper_dist": 0.009165688706755697, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006055738022474166, + "max_held_gripper_z_dist": 0.006063122223209705, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08593890564775661, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2193685489571976, + 0.0015787825587812228, + 1.239711426023001 + ], + "held_grasp_finger_b": [ + 0.20994170638709636, + 0.027243159304148595, + 1.239711426023001 + ], + "held_grasp_midpoint": [ + 0.21465512767214698, + 0.014410970931464909, + 1.239711426023001 + ], + "held_grasp_object_position": [ + 0.2193685489571976, + 0.027243159304148595, + 1.239711426023001 + ], + "held_grasp_finger_gap": 0.027340914296519536, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02514871678927228, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05074451310176289, + -0.9985466461874993, + 0.018154607617964724 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004062994850133521, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036667531139152165, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18459353267951287, + 0.02790260359594915, + 0.7611086120189182 + ], + "target_position": [ + 0.18960841589614152, + 0.023666355280650204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00656466704908154, + "xy_threshold": 0.08, + "gripper_dist": 0.2122005260181013, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086120189182, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576988815050675, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09354690701566297, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18389835117200212, + "release_required_pad_clearance": 0.05677345350783149, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.985574684496601, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 331, + "max_placed_release_frames": 331 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d48251ffdde778147cc23522b52ca2d289c9cfe39e04de43b13a1a4c4f09b61", + "visual_seed": 7740533147063658152, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c83a01712c67e5d1b84037c070909bbf818b5de8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21188369225109507, + 0.025488968651939423, + 1.0470324111506666 + ], + "current_z": 1.0470324111506666, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18592584353125574, + "gripper_z": 1.0526720188997685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20707115362225795, + 0.020783001184368058, + 1.0526720188997685 + ], + "object_minus_gripper": [ + 0.004812538628837126, + 0.0047059674675713654, + -0.0056396077491018826 + ], + "object_to_gripper_xy": 0.00673102205165676, + "object_to_gripper_z": -0.0056396077491018826, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21188369225109507, + 0.0012779655893131283, + 1.0470324111506666 + ], + "finger_b": [ + 0.20031668366103092, + 0.025488968651939423, + 1.0470324111506666 + ], + "finger_midpoint": [ + 0.206100187956063, + 0.013383467120626276, + 1.0470324111506666 + ], + "object_minus_finger_midpoint": [ + 0.005783504295032077, + 0.012105501531313147, + 0.0 + ], + "finger_gap": 0.026832226091420698, + "fingertip_max_gap": 0.09254332709213642, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013416113045710349, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470324111506666, + "object_top_z": 1.097711236374805, + "finger_top_clearance": 0.05067882522413836, + "fingertip_min_top_clearance": 0.01520364756724149, + "object_projection_between_fingers": 0.8141644887336438, + "object_to_finger_line_xy": 0.010437034908893006, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877166354606821, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0049060676947772, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21143556627930243, + 0.02397293306376759, + 1.2441083956088008 + ], + "held_position": [ + 0.2165921469515437, + 0.028238647690175332, + 1.2383941642439367 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008799948044987441, + "max_held_gripper_dist": 0.008808115812158741, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005714231364864153, + "max_held_gripper_z_dist": 0.0057234826878196365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08607128796293564, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2165921469515437, + 0.0026704465076165403, + 1.2383941642439367 + ], + "held_grasp_finger_b": [ + 0.20735690266891083, + 0.028238647690175332, + 1.2383941642439367 + ], + "held_grasp_midpoint": [ + 0.21197452481022727, + 0.015454547098895936, + 1.2383941642439367 + ], + "held_grasp_object_position": [ + 0.2165921469515437, + 0.028238647690175332, + 1.2383941642439367 + ], + "held_grasp_finger_gap": 0.02718497100737288, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02476939431586739, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07802942373107362, + -0.9969420579592747, + 0.004235812097226455 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003606425330918924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03661493212277183, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18856406310861765, + 0.01624253442342532, + 0.7611062965208256 + ], + "target_position": [ + 0.18726914332460326, + 0.021978872974255367, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0058806799961204186, + "xy_threshold": 0.08, + "gripper_dist": 0.2158171046613347, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062965208256, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575779566513788, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09041496026710223, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18467324497271448, + "release_required_pad_clearance": 0.05520748013355112, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.514662292617957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 301, + "max_placed_release_frames": 301 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19ca8356767a1e02ac5214838f242f865bcb8dfb21b067b414b0d078da97c662", + "visual_seed": 5411214008369919482, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..672f5a0430dfd1197b433f2aed84f8ba9a9a69d6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21766984391451216, + 0.026634273714236125, + 1.0498374539754003 + ], + "current_z": 1.0498374539754003, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1887310055652791, + "gripper_z": 1.055565252952183, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21270599583095148, + 0.021802836658759206, + 1.055565252952183 + ], + "object_minus_gripper": [ + 0.004963848083560679, + 0.004831437055476919, + -0.005727798976782772 + ], + "object_to_gripper_xy": 0.006926945345367214, + "object_to_gripper_z": -0.005727798976782772, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21766984391451216, + 0.002389479779863819, + 1.0498374539754003 + ], + "finger_b": [ + 0.2058037731231031, + 0.026634273714236125, + 1.0498374539754003 + ], + "finger_midpoint": [ + 0.21173680851880763, + 0.014511876747049972, + 1.0498374539754003 + ], + "object_minus_finger_midpoint": [ + 0.005933035395704528, + 0.012122396967186153, + 0.0 + ], + "finger_gap": 0.026992844773141407, + "fingertip_max_gap": 0.09173613310497303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013496422386570704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498374539754003, + "object_top_z": 1.0999952781181128, + "finger_top_clearance": 0.050157824142712526, + "fingertip_min_top_clearance": 0.01504734724281374, + "object_projection_between_fingers": 0.8067513113907951, + "object_to_finger_line_xy": 0.010658025990452341, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048368066552486516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.986188944326473, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21728202677064073, + 0.02474274142640394, + 1.2482379792648892 + ], + "held_position": [ + 0.22262367578834802, + 0.029073248609185812, + 1.2424265984518366 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00900325794603349, + "max_held_gripper_dist": 0.009012585750577801, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005811380813052658, + "max_held_gripper_z_dist": 0.005818844818920921, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599748065386119, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22262367578834802, + 0.0033875002757167046, + 1.2424265984518366 + ], + "held_grasp_finger_b": [ + 0.21320891999414876, + 0.029073248609185812, + 1.2424265984518366 + ], + "held_grasp_midpoint": [ + 0.2179162978912484, + 0.01623037444245126, + 1.2424265984518366 + ], + "held_grasp_object_position": [ + 0.22262367578834802, + 0.029073248609185812, + 1.2424265984518366 + ], + "held_grasp_finger_gap": 0.027356814399975733, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024831998415075315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08158015734205941, + -0.9966638052256281, + 0.0024366536922765243 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003644101894169858, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653619360352956, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1772659437446482, + 0.023372396638982686, + 0.7611071490871884 + ], + "target_position": [ + 0.19273226488514825, + 0.024929972323797, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015544553117893194, + "xy_threshold": 0.08, + "gripper_dist": 0.20520051308836926, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071490871884, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07629147940769108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08791847558473144, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17555767647923134, + "release_required_pad_clearance": 0.05395923779236572, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9265286132544763, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 314, + "max_placed_release_frames": 314 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "da30c15310c6e9f5b23c977a1a21435ec43eca62ae0e13b44269cfa8c3d8f098", + "visual_seed": 2123467503070623643, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..45a79f5d430b14425ca2ec3f4667557894c6e9d5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21956881482789023, + 0.025906531310357073, + 1.0488499324501999 + ], + "current_z": 1.0488499324501999, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1877434244354339, + "gripper_z": 1.0543966115566439, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2149466794209092, + 0.021385583213460388, + 1.0543966115566439 + ], + "object_minus_gripper": [ + 0.004622135406981032, + 0.0045209480968966854, + -0.005546679106444019 + ], + "object_to_gripper_xy": 0.006465532260788857, + "object_to_gripper_z": -0.005546679106444019, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21956881482789023, + 0.0016461190031382537, + 1.0488499324501999 + ], + "finger_b": [ + 0.2084576834070982, + 0.025906531310357073, + 1.0488499324501999 + ], + "finger_midpoint": [ + 0.2140132491174942, + 0.013776325156747664, + 1.0488499324501999 + ], + "object_minus_finger_midpoint": [ + 0.005555565710396032, + 0.01213020615360941, + 0.0 + ], + "finger_gap": 0.02668379371015985, + "fingertip_max_gap": 0.0918219652198623, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013341896855079931, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488499324501999, + "object_top_z": 1.0992367874540916, + "finger_top_clearance": 0.05038685500389173, + "fingertip_min_top_clearance": 0.015116056501167534, + "object_projection_between_fingers": 0.8266110487424865, + "object_to_finger_line_xy": 0.010102035430047325, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04841098260993115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7244061674506904, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21961157682097315, + 0.02448895160835171, + 1.248690852020761 + ], + "held_position": [ + 0.22454635155087596, + 0.02859552658309137, + 1.2430770046980704 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008528261336317337, + "max_held_gripper_dist": 0.008537327258837383, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005613847322690546, + "max_held_gripper_z_dist": 0.0056211370746031, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602909396611395, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22454635155087596, + 0.003063600711457439, + 1.2430770046980704 + ], + "held_grasp_finger_b": [ + 0.21553825180760164, + 0.028896627183547064, + 1.2430770046980704 + ], + "held_grasp_midpoint": [ + 0.2200423016792388, + 0.01598011394750225, + 1.2430770046980704 + ], + "held_grasp_object_position": [ + 0.22454635155087596, + 0.02859552658309137, + 1.2430770046980704 + ], + "held_grasp_finger_gap": 0.02735856570970895, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02510631149525091, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07295663376241972, + -0.9973090902435141, + 0.007204728149650563 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003572855536651074, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03681018405451644, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18573383816289604, + 0.013392215363491557, + 0.7611064564437988 + ], + "target_position": [ + 0.19487569600977156, + 0.02163166428184248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012306993270925016, + "xy_threshold": 0.08, + "gripper_dist": 0.207821014111799, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064564437988, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575168295197875, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09564613858267372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17708523323364725, + "release_required_pad_clearance": 0.05782306929133686, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.51326877886326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 303, + "max_placed_release_frames": 303 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "79c3c9c89751bad68febb8bdbfde670e358519be1d1d09206d5a9e3239afa7ea", + "visual_seed": 4474837889856379814, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ea4a0d7c0cb865017a3eca176b39c0b62cd5d53b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21636628710561515, + 0.026276070601488916, + 1.0496471831435659 + ], + "current_z": 1.0496471831435659, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1885406751287999, + "gripper_z": 1.0556194216122572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21173747187470612, + 0.021736187990267317, + 1.0556194216122572 + ], + "object_minus_gripper": [ + 0.0046288152309090225, + 0.0045398826112216, + -0.005972238468691327 + ], + "object_to_gripper_xy": 0.006483553390353749, + "object_to_gripper_z": -0.005972238468691327, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21636628710561515, + 0.0020460071737865683, + 1.0496471831435659 + ], + "finger_b": [ + 0.2051922618558279, + 0.026276070601488916, + 1.0496471831435659 + ], + "finger_midpoint": [ + 0.21077927448072153, + 0.014161038887637742, + 1.0496471831435659 + ], + "object_minus_finger_midpoint": [ + 0.005587012624893611, + 0.012115031713851174, + 0.0 + ], + "finger_gap": 0.02668248140622161, + "fingertip_max_gap": 0.09315235395362617, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0133412407031108, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0496471831435659, + "object_top_z": 1.1008478170707836, + "finger_top_clearance": 0.05120063392721774, + "fingertip_min_top_clearance": 0.015360190178165322, + "object_projection_between_fingers": 0.8246253303878255, + "object_to_finger_line_xy": 0.010147007559872663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04907617697681309, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0745543407894347, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21626175504756734, + 0.024768860313625213, + 1.2474375183301796 + ], + "held_position": [ + 0.22119869471862422, + 0.028913373584497047, + 1.2413973672569387 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008833673559491575, + "max_held_gripper_dist": 0.008842159989052785, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006040151073240851, + "max_held_gripper_z_dist": 0.0060471509974742155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858995147174163, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22119869471862422, + 0.0034169962943505516, + 1.2413973672569387 + ], + "held_grasp_finger_b": [ + 0.2121844419821497, + 0.029060907104869374, + 1.2413973672569387 + ], + "held_grasp_midpoint": [ + 0.21669156835038694, + 0.01623895169960996, + 1.2413973672569387 + ], + "held_grasp_object_position": [ + 0.22119869471862422, + 0.028913373584497047, + 1.2413973672569387 + ], + "held_grasp_finger_gap": 0.027182106505105202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490831070053216, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07366345317583134, + -0.9972087281792877, + 0.012183928318059924 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035646739331165445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036749195449674886, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18115869042606592, + 0.02400933778656515, + 0.76110873983778 + ], + "target_position": [ + 0.1916833194068784, + 0.025414675682542825, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010618040769634915, + "xy_threshold": 0.08, + "gripper_dist": 0.21031319966483428, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110873983778, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07611999187401226, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0933732123550337, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18046255504697806, + "release_required_pad_clearance": 0.05668660617751685, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.77774563406399, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b345f7e8e5b1d13ccf992b7255f2e21c2e60ef891c9f0f429b3e1b199f948f2", + "visual_seed": 2741886240512007017, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6be162d57e066ce700813038cba4a5b7e55ba00f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_4_success.json @@ -0,0 +1,684 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21657622010893307, + 0.0272162594867155, + 1.0472914573664398 + ], + "current_z": 1.0472914573664398, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1861850685609634, + "gripper_z": 1.053449845684355, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2117270930956028, + 0.022566058256334537, + 1.053449845684355 + ], + "object_minus_gripper": [ + 0.004849127013330262, + 0.004650201230380964, + -0.006158388317915264 + ], + "object_to_gripper_xy": 0.006718512058071035, + "object_to_gripper_z": -0.006158388317915264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21657622010893307, + 0.002824244421613367, + 1.0472914573664398 + ], + "finger_b": [ + 0.2052527891694622, + 0.0272162594867155, + 1.0472914573664398 + ], + "finger_midpoint": [ + 0.21091450463919764, + 0.015020251954164433, + 1.0472914573664398 + ], + "object_minus_finger_midpoint": [ + 0.005661715469735429, + 0.012196007532551068, + 0.0 + ], + "finger_gap": 0.026892201233389864, + "fingertip_max_gap": 0.09213124462943934, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013446100616694932, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472914573664398, + "object_top_z": 1.0978860512003306, + "finger_top_clearance": 0.050594593833890755, + "fingertip_min_top_clearance": 0.015178378150167192, + "object_projection_between_fingers": 0.8227021918644787, + "object_to_finger_line_xy": 0.010270683893339298, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04856562231471967, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7144390468617682, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21622237695392574, + 0.025883778396201346, + 1.244595449172518 + ], + "held_position": [ + 0.22135134102154075, + 0.03014841935209832, + 1.2383609844662757 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009130278476748655, + "max_held_gripper_dist": 0.009138577799571983, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0062344647062422265, + "max_held_gripper_z_dist": 0.006241886393923091, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08608064994994036, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22135134102154075, + 0.004596477448453407, + 1.2383609844662757 + ], + "held_grasp_finger_b": [ + 0.21209047141597484, + 0.03014841935209832, + 1.2383609844662757 + ], + "held_grasp_midpoint": [ + 0.21672090621875778, + 0.017372448400275863, + 1.2383609844662757 + ], + "held_grasp_object_position": [ + 0.22135134102154075, + 0.03014841935209832, + 1.2383609844662757 + ], + "held_grasp_finger_gap": 0.02717840026378556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024839011330863865, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07015751391013159, + -0.9975261768813107, + 0.004410178965290945 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037231319470555266, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036651024816490727, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.181951016627363, + 0.02301231649956245, + 0.7611063662297117 + ], + "target_position": [ + 0.1916645127789585, + 0.02508956030143783, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009933123843962197, + "xy_threshold": 0.08, + "gripper_dist": 0.20933405171406866, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063662297117, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07603963850109874, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09251193290836106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1794018381599798, + "release_required_pad_clearance": 0.05625596645418053, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.81100303625043, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 325, + "max_placed_release_frames": 325 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac5fb10b2d36cd4e837477d6665c63c41cfaa0f791b7ef1ccd4320cfa88fd092", + "visual_seed": 3024405240756368841, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6d234eed3318f1055a452354cc05c81616bd66c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21823331097036022, + 0.029993042705221868, + 1.0478935957933158 + ], + "current_z": 1.0478935957933158, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1867870877785497, + "gripper_z": 1.0536563542384803, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2138778975832588, + 0.025536080027397642, + 1.0536563542384803 + ], + "object_minus_gripper": [ + 0.004355413387101409, + 0.004456962677824226, + -0.005762758445164495 + ], + "object_to_gripper_xy": 0.00623170458895961, + "object_to_gripper_z": -0.005762758445164495, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21823331097036022, + 0.006042271995504744, + 1.0478935957933158 + ], + "finger_b": [ + 0.20707237486868849, + 0.029993042705221868, + 1.0478935957933158 + ], + "finger_midpoint": [ + 0.21265284291952435, + 0.018017657350363307, + 1.0478935957933158 + ], + "object_minus_finger_midpoint": [ + 0.005580468050835868, + 0.01197538535485856, + 0.0 + ], + "finger_gap": 0.02642358628678256, + "fingertip_max_gap": 0.09474801036016806, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013211793143391277, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478935957933158, + "object_top_z": 1.0999557316785107, + "finger_top_clearance": 0.05206213588519493, + "fingertip_min_top_clearance": 0.015618640765558444, + "object_projection_between_fingers": 0.8215906046064855, + "object_to_finger_line_xy": 0.010116454995007901, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04987400518008403, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.567141816148034, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21842279619521668, + 0.02886702152718207, + 1.2468614065979517 + ], + "held_position": [ + 0.2231164778210524, + 0.032893473179350236, + 1.2410315102601244 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008498861772129766, + "max_held_gripper_dist": 0.008507252933056635, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005829896337827378, + "max_held_gripper_z_dist": 0.005837951519058526, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08597880209733115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2231164778210524, + 0.007519932496251938, + 1.2410315102601244 + ], + "held_grasp_finger_b": [ + 0.21422092723276126, + 0.03302666896767074, + 1.2410315102601244 + ], + "held_grasp_midpoint": [ + 0.21866870252690684, + 0.020273300731961336, + 1.2410315102601244 + ], + "held_grasp_object_position": [ + 0.2231164778210524, + 0.032893473179350236, + 1.2410315102601244 + ], + "held_grasp_finger_gap": 0.027013411959455485, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024733351762955644, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07738246572703592, + -0.9966665641432852, + 0.025840160928732425 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003473620709999585, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036797966338799434, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1876530237369026, + 0.030575524638690444, + 0.7611063304958174 + ], + "target_position": [ + 0.19383383196726012, + 0.027599045026015283, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006860161897880118, + "xy_threshold": 0.08, + "gripper_dist": 0.21241854227825624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063304958174, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07621324843783352, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08955261356042864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1828605619249206, + "release_required_pad_clearance": 0.05477630678021432, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.604965763870494, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 307, + "max_placed_release_frames": 307 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "83c8c6ea92ed5965233257933d2861f3dc0615b79623455c8ec4a1d6b6fa74b5", + "visual_seed": 3649377642483774242, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7fbd3e77b33c71a375a3be6eca5e23b142b962d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_51_success.json @@ -0,0 +1,684 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21601191359082927, + 0.024949578836884666, + 1.0487287099042746 + ], + "current_z": 1.0487287099042746, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.18762226149415362, + "gripper_z": 1.0544423210470393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21118341815218541, + 0.020280673817054257, + 1.0544423210470393 + ], + "object_minus_gripper": [ + 0.0048284954386438594, + 0.004668905019830409, + -0.005713611142764696 + ], + "object_to_gripper_xy": 0.00671662432217272, + "object_to_gripper_z": -0.005713611142764696, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21601191359082927, + 0.0006426898511475144, + 1.0487287099042746 + ], + "finger_b": [ + 0.20457729577341704, + 0.024949578836884666, + 1.0487287099042746 + ], + "finger_midpoint": [ + 0.21029460468212316, + 0.01279613434401609, + 1.0487287099042746 + ], + "object_minus_finger_midpoint": [ + 0.005717308908706115, + 0.012153444492868575, + 0.0 + ], + "finger_gap": 0.026862154358785733, + "fingertip_max_gap": 0.09223287586692047, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013431077179392866, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0487287099042746, + "object_top_z": 1.0993838939931475, + "finger_top_clearance": 0.05065518408887293, + "fingertip_min_top_clearance": 0.015196555226661844, + "object_projection_between_fingers": 0.8187985675743992, + "object_to_finger_line_xy": 0.01034689854617956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04861643793346024, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8359679225043345, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21564362948483318, + 0.02333620589739044, + 1.2445840350265336 + ], + "held_position": [ + 0.22077085436536176, + 0.027606742982208485, + 1.2387899153729016 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008837292828062324, + "max_held_gripper_dist": 0.008845166692129737, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005794119653631968, + "max_held_gripper_z_dist": 0.0058008291660427425, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08590200746411161, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22077085436536176, + 0.0020652658226681182, + 1.2387899153729016 + ], + "held_grasp_finger_b": [ + 0.21156162680092067, + 0.027606742982208485, + 1.2387899153729016 + ], + "held_grasp_midpoint": [ + 0.2161662405831412, + 0.014836004402438301, + 1.2387899153729016 + ], + "held_grasp_object_position": [ + 0.22077085436536176, + 0.027606742982208485, + 1.2387899153729016 + ], + "held_grasp_finger_gap": 0.027151002335548936, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024782963150565523, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07461520340677587, + -0.9972058929642553, + 0.003602562688954757 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036391853815567333, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03664162010687224, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19369836926625983, + 0.019382492124174568, + 0.7611064273194529 + ], + "target_position": [ + 0.19120958251676462, + 0.02137391992284026, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0031874510446062406, + "xy_threshold": 0.08, + "gripper_dist": 0.21632356512573117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064273194529, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560638755213611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867159643660902, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18610733200249877, + "release_required_pad_clearance": 0.053357982183045105, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7322990590898308, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 290, + "max_placed_release_frames": 290 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87eb63989d8070b5beeac168a5065d8063292d178e37fe8bccdafe7d8298ce7f", + "visual_seed": 2292461946401457455, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e59e5a53a80a0384500258aa8c33b07d7bbcf1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_52_success.json @@ -0,0 +1,684 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21668069873222215, + 0.025372517629244182, + 1.0490648770166286 + ], + "current_z": 1.0490648770166286, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18795842860650758, + "gripper_z": 1.0555227987725686, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21296875147502356, + 0.021356562207577368, + 1.0555227987725686 + ], + "object_minus_gripper": [ + 0.003711947257198589, + 0.004015955421666814, + -0.006457921755939955 + ], + "object_to_gripper_xy": 0.0054686790351088635, + "object_to_gripper_z": -0.006457921755939955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21668069873222215, + 0.0016329109095595368, + 1.0490648770166286 + ], + "finger_b": [ + 0.2064741261825695, + 0.025372517629244182, + 1.0490648770166286 + ], + "finger_midpoint": [ + 0.2115774124573958, + 0.01350271426940186, + 1.0490648770166286 + ], + "object_minus_finger_midpoint": [ + 0.005103286274826341, + 0.011869803359842323, + 0.0 + ], + "finger_gap": 0.025840724649603374, + "fingertip_max_gap": 0.10419538954029042, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012920362324801694, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490648770166286, + "object_top_z": 1.1059008559602104, + "finger_top_clearance": 0.05683597894358172, + "fingertip_min_top_clearance": 0.01705079368307455, + "object_projection_between_fingers": 0.8439907039896162, + "object_to_finger_line_xy": 0.009376672735391027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.054597694770145214, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.72443500681914, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21721189468154237, + 0.025100368483275542, + 1.245477383285214 + ], + "held_position": [ + 0.22113402735412932, + 0.028877850914839395, + 1.2389608613957965 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008492205588503148, + "max_held_gripper_dist": 0.008502302487905738, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006516521889417426, + "max_held_gripper_z_dist": 0.006521832792806048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602883428828524, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22113402735412932, + 0.00401409397863194, + 1.2389608613957965 + ], + "held_grasp_finger_b": [ + 0.21281020673920226, + 0.028877850914839395, + 1.2389608613957965 + ], + "held_grasp_midpoint": [ + 0.2169721170466658, + 0.01644597244673567, + 1.2389608613957965 + ], + "held_grasp_object_position": [ + 0.22113402735412932, + 0.028877850914839395, + 1.2389608613957965 + ], + "held_grasp_finger_gap": 0.026220076251076942, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02445170785578312, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03960099071364046, + -0.9966852339426396, + 0.07106550481917417 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003772649499552517, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03716476459932977, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19131651408115574, + 0.021604684648770994, + 0.7611068748669119 + ], + "target_position": [ + 0.19303316531656362, + 0.021486516658863305, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017207135548562992, + "xy_threshold": 0.08, + "gripper_dist": 0.21516592929133535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068748669119, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565462903209888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09066145319894718, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18536583410399204, + "release_required_pad_clearance": 0.05533072659947359, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.776513045941512, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2eeeaa010f1e0e62e73891f7ea421577035b240fbb0f7975761ad2dff9bede49", + "visual_seed": 8556090890983243602, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c159834abfe1320f7ff9c7f0086566323374d4d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2205348889460216, + 0.026471874858483582, + 1.0505656561023708 + ], + "current_z": 1.0505656561023708, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1894592076922499, + "gripper_z": 1.0562447463868998, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2157911361712141, + 0.02180432354102113, + 1.0562447463868998 + ], + "object_minus_gripper": [ + 0.004743752774807514, + 0.004667551317462451, + -0.005679090284528954 + ], + "object_to_gripper_xy": 0.00665501507809257, + "object_to_gripper_z": -0.005679090284528954, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2205348889460216, + 0.0022839783100656887, + 1.0505656561023708 + ], + "finger_b": [ + 0.20901246391040768, + 0.026471874858483582, + 1.0505656561023708 + ], + "finger_midpoint": [ + 0.21477367642821465, + 0.014377926584274635, + 1.0505656561023708 + ], + "object_minus_finger_midpoint": [ + 0.005761212517806952, + 0.012093948274208947, + 0.0 + ], + "finger_gap": 0.026792174569047377, + "fingertip_max_gap": 0.09218211435861345, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013396087284523683, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505656561023708, + "object_top_z": 1.101150290919703, + "finger_top_clearance": 0.05058463481733222, + "fingertip_min_top_clearance": 0.015175390445199699, + "object_projection_between_fingers": 0.8150425393942063, + "object_to_finger_line_xy": 0.01040241149631476, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859105717930673, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8712662580585082, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22051236554416673, + 0.024717962123253723, + 1.249273045754001 + ], + "held_position": [ + 0.22562383306490022, + 0.028913020993130346, + 1.24351862180229 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00876578656785975, + "max_held_gripper_dist": 0.008774343676199649, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005754423951711107, + "max_held_gripper_z_dist": 0.0057629532308456355, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861277512737573, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22562383306490022, + 0.003293483905430413, + 1.24351862180229 + ], + "held_grasp_finger_b": [ + 0.2164928864732672, + 0.029158940231763433, + 1.24351862180229 + ], + "held_grasp_midpoint": [ + 0.22105835976908372, + 0.016226212068596924, + 1.24351862180229 + ], + "held_grasp_object_position": [ + 0.22562383306490022, + 0.028913020993130346, + 1.24351862180229 + ], + "held_grasp_finger_gap": 0.027429838071499717, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025017972390822183, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08295851301937193, + -0.9965206806068202, + 0.008026097466057203 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034987837562058238, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03669883773003975, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19820046569045632, + 0.02078610353962436, + 0.7611067055039599 + ], + "target_position": [ + 0.195746929020454, + 0.025583154918089858, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005388092809026563, + "xy_threshold": 0.08, + "gripper_dist": 0.21827883058767525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067055039599, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758145178312571, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09020203291243582, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1870776098192581, + "release_required_pad_clearance": 0.05510101645621791, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.287056592758753, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 283, + "max_placed_release_frames": 283 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4a7e4d0f60aced539bde9025ea2499d36e1419bdb775e7996604a64910b9197f", + "visual_seed": 1629794505286208924, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e8758e2eaba2acb36f7aea23ae1529ef9c7e4ac4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21255676923219044, + 0.02369549328124539, + 1.0488555211489412 + ], + "current_z": 1.0488555211489412, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.18774883432024103, + "gripper_z": 1.0544175062058911, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20784590462729818, + 0.019067006813605472, + 1.0544175062058911 + ], + "object_minus_gripper": [ + 0.0047108646048922564, + 0.0046284864676399175, + -0.005561985056949936 + ], + "object_to_gripper_xy": 0.006604175369170061, + "object_to_gripper_z": -0.005561985056949936, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21255676923219044, + -0.0005015661675657135, + 1.0488555211489412 + ], + "finger_b": [ + 0.2011671911147271, + 0.02369549328124539, + 1.0488555211489412 + ], + "finger_midpoint": [ + 0.20686198017345878, + 0.011596963556839838, + 1.0488555211489412 + ], + "object_minus_finger_midpoint": [ + 0.005694789058731664, + 0.012098529724405551, + 0.0 + ], + "finger_gap": 0.02674360064881126, + "fingertip_max_gap": 0.0925439456220766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337180032440563, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488555211489412, + "object_top_z": 1.0997187516092057, + "finger_top_clearance": 0.05086323046026453, + "fingertip_min_top_clearance": 0.015258969138079342, + "object_projection_between_fingers": 0.8186257964919256, + "object_to_finger_line_xy": 0.010305055868286318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487719728110383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8527362254231982, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2122456389043442, + 0.022126759093957685, + 1.2458724331347188 + ], + "held_position": [ + 0.21728501938072853, + 0.026333186212482124, + 1.2402388226724852 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008650257310011641, + "max_held_gripper_dist": 0.00865931926287491, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005633610462233651, + "max_held_gripper_z_dist": 0.005640241102863985, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08653530878434823, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21728501938072853, + 0.0008056369171009392, + 1.2402388226724852 + ], + "held_grasp_finger_b": [ + 0.2082008408161317, + 0.02642593243283117, + 1.2402388226724852 + ], + "held_grasp_midpoint": [ + 0.2127429300984301, + 0.013615784674966054, + 1.2402388226724852 + ], + "held_grasp_object_position": [ + 0.21728501938072853, + 0.026333186212482124, + 1.2402388226724852 + ], + "held_grasp_finger_gap": 0.027183116865194604, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02479627325569268, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08131494400186441, + -0.9966689381587335, + 0.006237595010619824 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003493860051340618, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036675871247919115, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18703768360630857, + 0.019649294039927948, + 0.761106238831236 + ], + "target_position": [ + 0.18797808935124474, + 0.023123233769071584, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035989748827730825, + "xy_threshold": 0.08, + "gripper_dist": 0.21280989120277155, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106238831236, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551894285809566, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648962805294048, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18312662820933504, + "release_required_pad_clearance": 0.053244814026470244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5102213172505188, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 297, + "max_placed_release_frames": 297 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ef907ad37dd3d56d51791d22a7458ccca194fef2193a3eb5e53ee5b4a27e3c19", + "visual_seed": 7170396469835381401, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0af6a5df434c467af19fbed0745ca54ad482cb6a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_55_success.json @@ -0,0 +1,684 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2174518571886958, + 0.02549150673870402, + 1.0464712331603265 + ], + "current_z": 1.0464712331603265, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18536478475020546, + "gripper_z": 1.052186637471981, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21255382746108026, + 0.02067739330031995, + 1.052186637471981 + ], + "object_minus_gripper": [ + 0.004898029727615549, + 0.004814113438384067, + -0.005715404311654515 + ], + "object_to_gripper_xy": 0.006867778637247688, + "object_to_gripper_z": -0.005715404311654515, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2174518571886958, + 0.0013362281751730844, + 1.0464712331603265 + ], + "finger_b": [ + 0.20556646352423139, + 0.02549150673870402, + 1.0464712331603265 + ], + "finger_midpoint": [ + 0.2115091603564636, + 0.013413867456938552, + 1.0464712331603265 + ], + "object_minus_finger_midpoint": [ + 0.005942696832232197, + 0.012077639281765466, + 0.0 + ], + "finger_gap": 0.026920996731938956, + "fingertip_max_gap": 0.09119125334360673, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013460498365969473, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0464712331603265, + "object_top_z": 1.0965446198065687, + "finger_top_clearance": 0.05007338664624217, + "fingertip_min_top_clearance": 0.01502201599387265, + "object_projection_between_fingers": 0.805085175536299, + "object_to_finger_line_xy": 0.010664352351477217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048095626671803365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7774995832927065, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 208, + "max_stable_success_frames": 208, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21711630891035738, + 0.023568324341089616, + 1.2453239888050496 + ], + "held_position": [ + 0.22241629145255482, + 0.027860707918679548, + 1.2395276632960632 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008950517366660271, + "max_held_gripper_dist": 0.008958516869372749, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005796325508986344, + "max_held_gripper_z_dist": 0.005804880974809246, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08601986543089175, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22241629145255482, + 0.00217763730423788, + 1.2395276632960632 + ], + "held_grasp_finger_b": [ + 0.21307617850236366, + 0.02795442205629759, + 1.2395276632960632 + ], + "held_grasp_midpoint": [ + 0.21774623497745924, + 0.015066029680267736, + 1.2395276632960632 + ], + "held_grasp_object_position": [ + 0.22241629145255482, + 0.027860707918679548, + 1.2395276632960632 + ], + "held_grasp_finger_gap": 0.027416789419557254, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482528342299139, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09050755323389138, + -0.9958819317444215, + -0.005249841198907478 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003493541683040515, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036555585804952204, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1884327638162398, + 0.02435816511465977, + 0.7611063139228744 + ], + "target_position": [ + 0.19263423170839092, + 0.023557432292161416, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004277090775492488, + "xy_threshold": 0.08, + "gripper_dist": 0.21454092379310408, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063139228744, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07622867689759519, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0858243319745398, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1844195735875472, + "release_required_pad_clearance": 0.0529121659872699, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.863201488541183, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 316, + "max_placed_release_frames": 316 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd9c227a0e97fdf2f989cdaca87e0a416a4a5f436538488ee06daf0e68ca1aaf", + "visual_seed": 2188532252831099070, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dd36c2a87856efcade24b9e80c35afff4afb615b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21478005628131647, + 0.024058959420333068, + 1.0503227653620786 + ], + "current_z": 1.0503227653620786, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18921625734731273, + "gripper_z": 1.0560007962859121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20968084347885096, + 0.019316977196965082, + 1.0560007962859121 + ], + "object_minus_gripper": [ + 0.005099212802465503, + 0.004741982223367986, + -0.005678030923833566 + ], + "object_to_gripper_xy": 0.006963358859886949, + "object_to_gripper_z": -0.005678030923833566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21478005628131647, + -0.0005786557310229414, + 1.0503227653620786 + ], + "finger_b": [ + 0.20341105371901047, + 0.024058959420333068, + 1.0503227653620786 + ], + "finger_midpoint": [ + 0.20909555500016347, + 0.011740151844655064, + 1.0503227653620786 + ], + "object_minus_finger_midpoint": [ + 0.005684501281152998, + 0.012318807575678005, + 0.0 + ], + "finger_gap": 0.027134227455522804, + "fingertip_max_gap": 0.09231814291350515, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013567113727761402, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503227653620786, + "object_top_z": 1.1009709943701196, + "finger_top_clearance": 0.050648229008041, + "fingertip_min_top_clearance": 0.015194468702412284, + "object_projection_between_fingers": 0.824446373098254, + "object_to_finger_line_xy": 0.010322943973400797, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865907145675258, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8689263305275031, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21428471816369624, + 0.02212540216383832, + 1.2487345207914455 + ], + "held_position": [ + 0.21969830485690028, + 0.026448479111937644, + 1.24299010992155 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008999676184519018, + "max_held_gripper_dist": 0.00900835242451859, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005744410869895633, + "max_held_gripper_z_dist": 0.005753006571166175, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08631783168866529, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21969830485690028, + 0.0006492557724226273, + 1.24299010992155 + ], + "held_grasp_finger_b": [ + 0.2103717536324925, + 0.026782939386003842, + 1.24299010992155 + ], + "held_grasp_midpoint": [ + 0.2150350292446964, + 0.013716097579213235, + 1.24299010992155 + ], + "held_grasp_object_position": [ + 0.21969830485690028, + 0.026448479111937644, + 1.24299010992155 + ], + "held_grasp_finger_gap": 0.027748044560946376, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02542345367705737, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06934953659169114, + -0.9975725606825849, + 0.006295073288537399 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003769937485109811, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03669537961820184, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19215555347668906, + 0.0272220941807952, + 0.761106461363919 + ], + "target_position": [ + 0.1895755218672551, + 0.021998818006720537, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00582573403927217, + "xy_threshold": 0.08, + "gripper_dist": 0.2167641372358012, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106461363919, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549677233685806, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09176747942178422, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18843045839838238, + "release_required_pad_clearance": 0.05588373971089211, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.981303220519257, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 343, + "max_placed_release_frames": 343 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17f57dfec726acaa730e8c77bf09247a12c41647659d02f16c0455490dbe4d0d", + "visual_seed": 7161602843508343215, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f807ba1f2a735a3f39916162ade2bc6d5fcb6b0c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21448597085937077, + 0.023898133210567246, + 1.0473228053744383 + ], + "current_z": 1.0473228053744383, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18621635696431715, + "gripper_z": 1.0534507145667682, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21056342895358776, + 0.01971514862743219, + 1.0534507145667682 + ], + "object_minus_gripper": [ + 0.003922541905783006, + 0.004182984583135055, + -0.006127909192329861 + ], + "object_to_gripper_xy": 0.005734430662704827, + "object_to_gripper_z": -0.006127909192329861, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21448597085937077, + 0.00017088477071139737, + 1.0473228053744383 + ], + "finger_b": [ + 0.20384304994907215, + 0.023898133210567246, + 1.0473228053744383 + ], + "finger_midpoint": [ + 0.20916451040422146, + 0.012034508990639322, + 1.0473228053744383 + ], + "object_minus_finger_midpoint": [ + 0.005321460455149307, + 0.011863624219927925, + 0.0 + ], + "finger_gap": 0.02600488577228351, + "fingertip_max_gap": 0.10037028128939318, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013002442886141755, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0473228053744383, + "object_top_z": 1.102290200469329, + "finger_top_clearance": 0.05496739509489057, + "fingertip_min_top_clearance": 0.016490218528467153, + "object_projection_between_fingers": 0.8325011734821138, + "object_to_finger_line_xy": 0.009710760922993186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05268514064469659, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.469029253330202, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2150668509280872, + 0.0224824703918257, + 1.244929779508368 + ], + "held_position": [ + 0.21928885256220165, + 0.026295271287262452, + 1.2387337990042124 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008411475665695329, + "max_held_gripper_dist": 0.008420474270363302, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006195980504155596, + "max_held_gripper_z_dist": 0.006200383467646731, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08579238274340936, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21928885256220165, + 0.0011084602661087933, + 1.2387337990042124 + ], + "held_grasp_finger_b": [ + 0.211063361423885, + 0.026883807217755545, + 1.2387337990042124 + ], + "held_grasp_midpoint": [ + 0.21517610699304332, + 0.01399613374193217, + 1.2387337990042124 + ], + "held_grasp_object_position": [ + 0.21928885256220165, + 0.026295271287262452, + 1.2387337990042124 + ], + "held_grasp_finger_gap": 0.027056001458905406, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025105176692692778, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0695469899155023, + -0.9961935678347429, + 0.0525508477417691 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00331258509517922, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037181899282898966, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19535302951194253, + 0.017179570536747374, + 0.761106440890956 + ], + "target_position": [ + 0.19062278115749853, + 0.02216027162674695, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006868961554896278, + "xy_threshold": 0.08, + "gripper_dist": 0.21854418821619373, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106440890956, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571852119951314, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09437820352639002, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18717249960336144, + "release_required_pad_clearance": 0.05718910176319501, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.971089870010697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "561144a920cae4ed5adf5ada26f559b55436bd1bc008e19b18da4c93aa4a9c2c", + "visual_seed": 1050441288011231015, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3ebf8b33b822d3910a22295c6fa54cc509bef80a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21795435180718434, + 0.02539338844005083, + 1.0474916300856774 + ], + "current_z": 1.0474916300856774, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.18638482404768753, + "gripper_z": 1.0531492537455074, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21327064953418678, + 0.020876843949423768, + 1.0531492537455074 + ], + "object_minus_gripper": [ + 0.004683702272997553, + 0.004516544490627061, + -0.0056576236598300245 + ], + "object_to_gripper_xy": 0.00650663055028454, + "object_to_gripper_z": -0.0056576236598300245, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21795435180718434, + 0.0010329168537130315, + 1.0474916300856774 + ], + "finger_b": [ + 0.20693090821337348, + 0.02539338844005083, + 1.0474916300856774 + ], + "finger_midpoint": [ + 0.2124426300102789, + 0.01321315264688193, + 1.0474916300856774 + ], + "object_minus_finger_midpoint": [ + 0.005511721796905428, + 0.012180235793168898, + 0.0 + ], + "finger_gap": 0.026738528092898096, + "fingertip_max_gap": 0.09402224740520129, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013369264046449048, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0474916300856774, + "object_top_z": 1.099105935512428, + "finger_top_clearance": 0.051614305426750606, + "fingertip_min_top_clearance": 0.015484291628025164, + "object_projection_between_fingers": 0.8300349699290521, + "object_to_finger_line_xy": 0.010043046629853617, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04951112370260065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2628966809534656, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21777068342821906, + 0.02418137323743952, + 1.2462508141413924 + ], + "held_position": [ + 0.2227252165651264, + 0.028330233567242905, + 1.2405306419042854 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00863022659396023, + "max_held_gripper_dist": 0.008639670078757395, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0057201722371069685, + "max_held_gripper_z_dist": 0.005728666064333199, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0858015907978126, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2227252165651264, + 0.0028475300669947076, + 1.2405306419042854 + ], + "held_grasp_finger_b": [ + 0.21359902124242255, + 0.028361073333437712, + 1.2405306419042854 + ], + "held_grasp_midpoint": [ + 0.21816211890377446, + 0.015604301700216209, + 1.2405306419042854 + ], + "held_grasp_object_position": [ + 0.2227252165651264, + 0.028330233567242905, + 1.2405306419042854 + ], + "held_grasp_finger_gap": 0.027096647967540206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02488961669557584, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0624493962719671, + -0.9978834306885439, + 0.01813095867649805 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037666967617090586, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03673629082583634, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19283212042654807, + 0.0232021552279696, + 0.7611212752018754 + ], + "target_position": [ + 0.19317964372255023, + 0.022554579127062126, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.000734933498849201, + "xy_threshold": 0.08, + "gripper_dist": 0.21666686697818846, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611212752018754, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075774650469236, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856984613180675, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18677359520617723, + "release_required_pad_clearance": 0.052849230659033755, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6842350772123355, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 288, + "max_placed_release_frames": 288 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "395db21d7f4ac11f6204aef5aebc075251f133e0aa8a82dd76bbdb407886fcda", + "visual_seed": 1415924277047034975, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..560d26957bf97c47e4c88469f79bda5b4ff7d21e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_59_success.json @@ -0,0 +1,684 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2144022770790936, + 0.027576022815346195, + 1.049310150028509 + ], + "current_z": 1.049310150028509, + "required_z": 0.8611068060379897, + "initial_z": 0.7611068060379897, + "lift_margin": 0.1882033439905192, + "gripper_z": 1.0545810872972154, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2095639778623708, + 0.0227766445177902, + 1.0545810872972154 + ], + "object_minus_gripper": [ + 0.004838299216722797, + 0.004799378297555997, + -0.0052709372687065326 + ], + "object_to_gripper_xy": 0.006814922696083348, + "object_to_gripper_z": -0.0052709372687065326, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2144022770790936, + 0.003478790038725744, + 1.049310150028509 + ], + "finger_b": [ + 0.20252357576616511, + 0.027576022815346195, + 1.049310150028509 + ], + "finger_midpoint": [ + 0.20846292642262937, + 0.01552740642703597, + 1.049310150028509 + ], + "object_minus_finger_midpoint": [ + 0.005939350656464226, + 0.012048616388310226, + 0.0 + ], + "finger_gap": 0.02686596680509376, + "fingertip_max_gap": 0.09144402528851836, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013432983402546873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049310150028509, + "object_top_z": 1.0995965832266894, + "finger_top_clearance": 0.05028643319818049, + "fingertip_min_top_clearance": 0.01508592995945413, + "object_projection_between_fingers": 0.8045062052370054, + "object_to_finger_line_xy": 0.010654514415885937, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04822201264425918, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7491267043578183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21410349229136819, + 0.025785880737768108, + 1.2479396379399859 + ], + "held_position": [ + 0.21935331369875774, + 0.0300597403752779, + 1.2425886495611467 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008628996328721723, + "max_held_gripper_dist": 0.008637995638570137, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005350988378839183, + "max_held_gripper_z_dist": 0.005359340785293432, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0859309870429664, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21935331369875774, + 0.0044076722121741425, + 1.2425886495611467 + ], + "held_grasp_finger_b": [ + 0.21003903816496422, + 0.03013929165731575, + 1.2425886495611467 + ], + "held_grasp_midpoint": [ + 0.21469617593186097, + 0.017273481934744945, + 1.2425886495611467 + ], + "held_grasp_object_position": [ + 0.21935331369875774, + 0.0300597403752779, + 1.2425886495611467 + ], + "held_grasp_finger_gap": 0.027365525172907138, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024746876031040282, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09353902141678254, + -0.9955892711803093, + -0.007242553627794024 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034419935960226127, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036554764238843115, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18457900176901282, + 0.02971831059480902, + 0.7611096939213565 + ], + "target_position": [ + 0.189698112599414, + 0.026982993053040204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005804072514040361, + "xy_threshold": 0.08, + "gripper_dist": 0.21112553441081444, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611096939213565, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557037795891598, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602806378607784, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829505161019667, + "release_required_pad_clearance": 0.053014031893038924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0459953090916287, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 347, + "max_placed_release_frames": 347 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04ac326da06b25341409e868a17cc0f673a089981d105df985d8275d587f103e", + "visual_seed": 3203241329400210978, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b50eedfa7cc988ac6ab02e18673ba4b5f8194305 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_5_success.json @@ -0,0 +1,684 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2176454873118573, + 0.02908025166371496, + 1.048638715722226 + ], + "current_z": 1.048638715722226, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1875322673121046, + "gripper_z": 1.0544589295673348, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21322826865991854, + 0.024701294761287157, + 1.0544589295673348 + ], + "object_minus_gripper": [ + 0.0044172186519387535, + 0.0043789569024278024, + -0.00582021384510889 + ], + "object_to_gripper_xy": 0.006219894225174228, + "object_to_gripper_z": -0.00582021384510889, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2176454873118573, + 0.004895444674594452, + 1.048638715722226 + ], + "finger_b": [ + 0.20681863923525678, + 0.02908025166371496, + 1.048638715722226 + ], + "finger_midpoint": [ + 0.21223206327355704, + 0.016987848169154704, + 1.048638715722226 + ], + "object_minus_finger_midpoint": [ + 0.005413424038300252, + 0.012092403494560255, + 0.0 + ], + "finger_gap": 0.026497651374693572, + "fingertip_max_gap": 0.09467842501969159, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013248825687346788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048638715722226, + "object_top_z": 1.1008713940707744, + "finger_top_clearance": 0.0522326783485485, + "fingertip_min_top_clearance": 0.015669803504564515, + "object_projection_between_fingers": 0.8330488857952267, + "object_to_finger_line_xy": 0.009881827914876557, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0498392125098458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5766236207219098, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21796930726509206, + 0.02745632175331758, + 1.2452235073980404 + ], + "held_position": [ + 0.2226685798506652, + 0.03145339668203053, + 1.239323109791906 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008536654071106693, + "max_held_gripper_dist": 0.00854525051366267, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005900397606134478, + "max_held_gripper_z_dist": 0.00590595072913036, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0861638243507254, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2226685798506652, + 0.005990051725497924, + 1.239323109791906 + ], + "held_grasp_finger_b": [ + 0.214072660586189, + 0.03206445544808789, + 1.239323109791906 + ], + "held_grasp_midpoint": [ + 0.21837062021842713, + 0.019027253586792907, + 1.239323109791906 + ], + "held_grasp_object_position": [ + 0.2226685798506652, + 0.03145339668203053, + 1.239323109791906 + ], + "held_grasp_finger_gap": 0.02745476930316492, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02533148265172456, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07658474693419295, + -0.9967552558352294, + 0.024773705856660055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003348243176898903, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03700526847938798, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19295924184707564, + 0.03191495075010955, + 0.7611066101819054 + ], + "target_position": [ + 0.19308781907609981, + 0.024783122623380237, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007132987069456305, + "xy_threshold": 0.08, + "gripper_dist": 0.21532103148237364, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066101819054, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586914262065551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0906285471937253, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18659426900035544, + "release_required_pad_clearance": 0.055314273596862654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.742661772261021, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4e6c1c57f1bf21bf5211f0dc05803c2f14dabbbd7fdc070a4b49212de21e3446", + "visual_seed": 436774373757688644, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3970947cadea287a110a511f5ff8e07218f1f25a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2159589971497754, + 0.029723027174596007, + 1.050406636733892 + ], + "current_z": 1.050406636733892, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18930012871912616, + "gripper_z": 1.0560678648210817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21148903458755916, + 0.025180506410485526, + 1.0560678648210817 + ], + "object_minus_gripper": [ + 0.00446996256221624, + 0.004542520764110481, + -0.005661228087189718 + ], + "object_to_gripper_xy": 0.006372994602225051, + "object_to_gripper_z": -0.005661228087189718, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2159589971497754, + 0.005766467306673966, + 1.050406636733892 + ], + "finger_b": [ + 0.2045853171423311, + 0.029723027174596007, + 1.050406636733892 + ], + "finger_midpoint": [ + 0.21027215714605324, + 0.017744747240634986, + 1.050406636733892 + ], + "object_minus_finger_midpoint": [ + 0.00568684000372216, + 0.011978279933961021, + 0.0 + ], + "finger_gap": 0.02651937702166231, + "fingertip_max_gap": 0.09391174527626422, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325968851083116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050406636733892, + "object_top_z": 1.1018397224066683, + "finger_top_clearance": 0.05143308567277627, + "fingertip_min_top_clearance": 0.015429925701832863, + "object_projection_between_fingers": 0.8160603416125138, + "object_to_finger_line_xy": 0.010274534194161375, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049455872638132115, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3627264309209968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21607429254652574, + 0.02825130087454253, + 1.2495840620849434 + ], + "held_position": [ + 0.22089919979578435, + 0.03233185267950737, + 1.2438466461393514 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008535137651478399, + "max_held_gripper_dist": 0.008543571852187296, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005737415945592073, + "max_held_gripper_z_dist": 0.005745362146608812, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08599806354251555, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22089919979578435, + 0.006882684395208088, + 1.2438466461393514 + ], + "held_grasp_finger_b": [ + 0.21196041679149222, + 0.03252699075944179, + 1.2438466461393514 + ], + "held_grasp_midpoint": [ + 0.21642980829363828, + 0.01970483757732494, + 1.2438466461393514 + ], + "held_grasp_object_position": [ + 0.22089919979578435, + 0.03233185267950737, + 1.2438466461393514 + ], + "held_grasp_finger_gap": 0.02715754573779632, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484049665488086, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08022583857414432, + -0.9966195869847311, + 0.017697843469171245 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003449425560213812, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036777358812932225, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17760322098254994, + 0.022821564871902303, + 0.761108535419683 + ], + "target_position": [ + 0.19148349899960385, + 0.025910668811069248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014219869232088133, + "xy_threshold": 0.08, + "gripper_dist": 0.20760087250098916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761108535419683, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592070302244588, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08843993281992814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1783887435449867, + "release_required_pad_clearance": 0.05421996640996407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4479322719557484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 324, + "max_placed_release_frames": 324 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa7a9c07bf173b0452707c0a6ef46780e0960cfcca3617ace010547c08dc2663", + "visual_seed": 3461948853591097056, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e90dee25d606cdcde1f9b2950b21851c719c71c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21121386191811659, + 0.02847728801872586, + 1.049442056701468 + ], + "current_z": 1.049442056701468, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18833560829134655, + "gripper_z": 1.0550076316911459, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20658858513323164, + 0.023859424675986743, + 1.0550076316911459 + ], + "object_minus_gripper": [ + 0.004625276784884946, + 0.004617863342739118, + -0.005565574989677913 + ], + "object_to_gripper_xy": 0.006535889165906146, + "object_to_gripper_z": -0.005565574989677913, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21121386191811659, + 0.004413885335590576, + 1.049442056701468 + ], + "finger_b": [ + 0.19974019506447482, + 0.02847728801872586, + 1.049442056701468 + ], + "finger_midpoint": [ + 0.2054770284912957, + 0.01644558667715822, + 1.049442056701468 + ], + "object_minus_finger_midpoint": [ + 0.005736833426820881, + 0.012031701341567641, + 0.0 + ], + "finger_gap": 0.026658814297696738, + "fingertip_max_gap": 0.09283039056369266, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013329407148848369, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049442056701468, + "object_top_z": 1.100408356246913, + "finger_top_clearance": 0.05096629954544496, + "fingertip_min_top_clearance": 0.015289889863633487, + "object_projection_between_fingers": 0.8147651011637631, + "object_to_finger_line_xy": 0.01035662961856401, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04891519528184633, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0614663889198455, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21113402299896647, + 0.02663149608185293, + 1.2450205449000018 + ], + "held_position": [ + 0.216109099192727, + 0.030793553865327616, + 1.2393681649049788 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00860369151788005, + "max_held_gripper_dist": 0.008612049315441999, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005652379995022994, + "max_held_gripper_z_dist": 0.005658355460862019, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587624691813674, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.216109099192727, + 0.005263642060948634, + 1.2393681649049788 + ], + "held_grasp_finger_b": [ + 0.20719693483287616, + 0.03107748161954718, + 1.2393681649049788 + ], + "held_grasp_midpoint": [ + 0.2116530170128016, + 0.018170561840247908, + 1.2393681649049788 + ], + "held_grasp_object_position": [ + 0.216109099192727, + 0.030793553865327616, + 1.2393681649049788 + ], + "held_grasp_finger_gap": 0.02730899094316857, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024944065275629156, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08661400527089744, + -0.9962091640064614, + 0.008081809233116632 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003347610625462407, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03675915061211056, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17187632877170894, + 0.028639585282846002, + 0.7611088501365706 + ], + "target_position": [ + 0.18665057896542905, + 0.02796778772150509, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01478951590654888, + "xy_threshold": 0.08, + "gripper_dist": 0.2050840865998808, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088501365706, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07630423924439346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08852683446567185, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17622955598934212, + "release_required_pad_clearance": 0.054263417232835925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5395747582843367, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b55ecc08d32a83743b401769aee1ad3b68d57ebc36b9b462df5d461dc031d7c7", + "visual_seed": 2167985023448861993, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bce7998efac608f449778c6c5d3604cb4540a817 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21670754872628628, + 0.031782035479157325, + 1.0470795040713263 + ], + "current_z": 1.0470795040713263, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.18597275763798138, + "gripper_z": 1.0528782102750451, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21272114402886264, + 0.02755447301834406, + 1.0528782102750451 + ], + "object_minus_gripper": [ + 0.0039864046974236456, + 0.004227562460813267, + -0.005798706203718806 + ], + "object_to_gripper_xy": 0.005810654590639408, + "object_to_gripper_z": -0.005798706203718806, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21670754872628628, + 0.008038557317323874, + 1.0470795040713263 + ], + "finger_b": [ + 0.20593363307346507, + 0.031782035479157325, + 1.0470795040713263 + ], + "finger_midpoint": [ + 0.21132059089987568, + 0.0199102963982406, + 1.0470795040713263 + ], + "object_minus_finger_midpoint": [ + 0.005386957826410604, + 0.011871739080916724, + 0.0 + ], + "finger_gap": 0.026073550078874335, + "fingertip_max_gap": 0.09665824416671961, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013036775039437166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470795040713263, + "object_top_z": 1.1000553702604279, + "finger_top_clearance": 0.05297586618910155, + "fingertip_min_top_clearance": 0.01589275985673048, + "object_projection_between_fingers": 0.8292554665839289, + "object_to_finger_line_xy": 0.009811100914388414, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05082912208335981, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2840852111511576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21749865558977952, + 0.030407987392426228, + 1.245702760723209 + ], + "held_position": [ + 0.22182379330611116, + 0.034203443884700244, + 1.239831644864637 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008220845922090709, + "max_held_gripper_dist": 0.008230331094064375, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005871115858572029, + "max_held_gripper_z_dist": 0.0058770588227556875, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08611011631603828, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22182379330611116, + 0.008890192577696942, + 1.239831644864637 + ], + "held_grasp_finger_b": [ + 0.21354325042050853, + 0.03505143363414579, + 1.239831644864637 + ], + "held_grasp_midpoint": [ + 0.21768352186330986, + 0.021970813105921368, + 1.239831644864637 + ], + "held_grasp_object_position": [ + 0.22182379330611116, + 0.034203443884700244, + 1.239831644864637 + ], + "held_grasp_finger_gap": 0.027440443219706363, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025419674679335827, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07780405398059916, + -0.9962805062939114, + 0.037036225009191896 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0032089687446869722, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03721098858167671, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19212322511547447, + 0.03301517666237848, + 0.7611070693625079 + ], + "target_position": [ + 0.19258573626280295, + 0.028125999671815404, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004911004806193383, + "xy_threshold": 0.08, + "gripper_dist": 0.21564245794291217, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070693625079, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755763068947511, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09208046340633182, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18731408720845272, + "release_required_pad_clearance": 0.05604023170316591, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.328089331663506, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 353, + "max_placed_release_frames": 353 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6890b529738237482ad92c11d745092e56a1a75eaaf4babca97b75590b5a4ea1", + "visual_seed": 5761490021181358745, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ded3a28d462a0b19d4f61f2bcbd7d7ce804992a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_63_success.json @@ -0,0 +1,684 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21202107115321628, + 0.02425359005421329, + 1.0490315683186293 + ], + "current_z": 1.0490315683186293, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18792506030386325, + "gripper_z": 1.054589378938278, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20704497316553525, + 0.019535662108913873, + 1.054589378938278 + ], + "object_minus_gripper": [ + 0.004976097987681033, + 0.004717927945299415, + -0.005557810619648773 + ], + "object_to_gripper_xy": 0.006857141917740976, + "object_to_gripper_z": -0.005557810619648773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21202107115321628, + -0.00019847050974274044, + 1.0490315683186293 + ], + "finger_b": [ + 0.2005791386477192, + 0.02425359005421329, + 1.0490315683186293 + ], + "finger_midpoint": [ + 0.20630010490046774, + 0.012027559772235274, + 1.0490315683186293 + ], + "object_minus_finger_midpoint": [ + 0.005720966252748538, + 0.012226030281978014, + 0.0 + ], + "finger_gap": 0.02699668656120088, + "fingertip_max_gap": 0.09246880819135242, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01349834328060044, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0490315683186293, + "object_top_z": 1.099766075158466, + "finger_top_clearance": 0.0507345068398366, + "fingertip_min_top_clearance": 0.015220352051951012, + "object_projection_between_fingers": 0.8203704282109437, + "object_to_finger_line_xy": 0.010363450564900227, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873440409567621, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.935903414185702, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21141440037773146, + 0.022683443785957796, + 1.2455631035003472 + ], + "held_position": [ + 0.21668988210705145, + 0.02700753283239884, + 1.2399348389655345 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008843405183059903, + "max_held_gripper_dist": 0.008852016626773838, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005628264534812688, + "max_held_gripper_z_dist": 0.00563540167600074, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08653114964940996, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21668988210705145, + 0.0013892215610198451, + 1.2399348389655345 + ], + "held_grasp_finger_b": [ + 0.20736653558527418, + 0.02700753283239884, + 1.2399348389655345 + ], + "held_grasp_midpoint": [ + 0.2120282088461628, + 0.014198377196709343, + 1.2399348389655345 + ], + "held_grasp_object_position": [ + 0.21668988210705145, + 0.02700753283239884, + 1.2399348389655345 + ], + "held_grasp_finger_gap": 0.0272621103871729, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024900710131430134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07017714931434932, + -0.997528515509474, + 0.0034682069685659793 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037515398637243485, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036615609123411816, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18971956583294516, + 0.018645486501898637, + 0.7611086974530843 + ], + "target_position": [ + 0.18709965722132166, + 0.022942578421476064, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005032784527332422, + "xy_threshold": 0.08, + "gripper_dist": 0.2166856439481257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611086974530843, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571732403379021, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872996883673785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18616172494570543, + "release_required_pad_clearance": 0.05436498441836893, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7442020348477163, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 292, + "max_placed_release_frames": 292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "094548aeecb5ac1971df412d30a3d2c8e67155d2fdb368dc0f8e85451c6bad18", + "visual_seed": 2481190747362496803, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fc38f399ccffcb7c83afbd1f0b15413c8051f494 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2174185080931401, + 0.020711174013309783, + 1.0472064665584098 + ], + "current_z": 1.0472064665584098, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18609989893899914, + "gripper_z": 1.0530436927810545, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21250979396450123, + 0.015983637734376874, + 1.0530436927810545 + ], + "object_minus_gripper": [ + 0.004908714128638858, + 0.004727536278932909, + -0.005837226222644709 + ], + "object_to_gripper_xy": 0.006815062264229546, + "object_to_gripper_z": -0.005837226222644709, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2174185080931401, + -0.003664481845636829, + 1.0472064665584098 + ], + "finger_b": [ + 0.20592833745731193, + 0.020711174013309783, + 1.0472064665584098 + ], + "finger_midpoint": [ + 0.211673422775226, + 0.008523346083836477, + 1.0472064665584098 + ], + "object_minus_finger_midpoint": [ + 0.005745085317914095, + 0.012187827929473306, + 0.0 + ], + "finger_gap": 0.02694803554610699, + "fingertip_max_gap": 0.09179074477979449, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013474017773053503, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0472064665584098, + "object_top_z": 1.0974264909584999, + "finger_top_clearance": 0.0502200244000901, + "fingertip_min_top_clearance": 0.015066007320027046, + "object_projection_between_fingers": 0.8181979678205411, + "object_to_finger_line_xy": 0.010393352966316029, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048395372389897245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8301926293661681, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21675458053606736, + 0.019238465788768963, + 1.2453186738031081 + ], + "held_position": [ + 0.22196121101015273, + 0.023568773429914244, + 1.239416480321264 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008983120452145766, + "max_held_gripper_dist": 0.008992530110041797, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005902193481844176, + "max_held_gripper_z_dist": 0.005908640216316874, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08601070009450157, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22196121101015273, + -0.001986053902675071, + 1.239416480321264 + ], + "held_grasp_finger_b": [ + 0.2125204930449887, + 0.023568773429914244, + 1.239416480321264 + ], + "held_grasp_midpoint": [ + 0.2172408520275707, + 0.010791359763619586, + 1.239416480321264 + ], + "held_grasp_object_position": [ + 0.22196121101015273, + 0.023568773429914244, + 1.239416480321264 + ], + "held_grasp_finger_gap": 0.02724291386207108, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024856955041843515, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06770942673555773, + -0.997705064151317, + -0.0001962089664511168 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038443756360548942, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665254694777997, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18960340307197554, + 0.017600463417381706, + 0.7611072934392245 + ], + "target_position": [ + 0.1926271642798241, + 0.01992423875745916, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038135368981094, + "xy_threshold": 0.08, + "gripper_dist": 0.21547271639960386, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072934392245, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570022842665573, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09103564722348588, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18538347823638376, + "release_required_pad_clearance": 0.05551782361174294, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.1785423104560335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 330, + "max_placed_release_frames": 330 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d55effc8f7376459c0ce3fefff140f61ecf39c482b47b22a678e4a541c94aa03", + "visual_seed": 2720602541404124922, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9008f2067d29d5b820642114d79d90c89062392d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_65_success.json @@ -0,0 +1,684 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2131182758100063, + 0.031180575008358795, + 1.0498324042625424 + ], + "current_z": 1.0498324042625424, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18872589624777647, + "gripper_z": 1.055497712307268, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.208428695965628, + 0.026480839837192863, + 1.055497712307268 + ], + "object_minus_gripper": [ + 0.0046895798443783165, + 0.004699735171165932, + -0.005665308044725537 + ], + "object_to_gripper_xy": 0.006639252201558051, + "object_to_gripper_z": -0.005665308044725537, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2131182758100063, + 0.007120586241244122, + 1.0498324042625424 + ], + "finger_b": [ + 0.20146908547486733, + 0.031180575008358795, + 1.0498324042625424 + ], + "finger_midpoint": [ + 0.2072936806424368, + 0.019150580624801457, + 1.0498324042625424 + ], + "object_minus_finger_midpoint": [ + 0.005824595167569502, + 0.012029994383557337, + 0.0 + ], + "finger_gap": 0.02673175443060144, + "fingertip_max_gap": 0.09270443271512344, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013365877215300725, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498324042625424, + "object_top_z": 1.1006199534418941, + "finger_top_clearance": 0.05078754917935169, + "fingertip_min_top_clearance": 0.015236264753805523, + "object_projection_between_fingers": 0.8100949312020519, + "object_to_finger_line_xy": 0.010484885656759292, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04885221635756172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0403872476269187, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2128665089772508, + 0.029975820307247505, + 1.247335911388433 + ], + "held_position": [ + 0.21792414894514717, + 0.03421195349569263, + 1.2415957964916962 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008744910832184033, + "max_held_gripper_dist": 0.008753000517452324, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00574011489673687, + "max_held_gripper_z_dist": 0.005747674122058788, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08565423429312707, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21792414894514717, + 0.008707657568198465, + 1.2415957964916962 + ], + "held_grasp_finger_b": [ + 0.2086551963191014, + 0.03421195349569263, + 1.2415957964916962 + ], + "held_grasp_midpoint": [ + 0.21328967263212428, + 0.02145980553194555, + 1.2415957964916962 + ], + "held_grasp_object_position": [ + 0.21792414894514717, + 0.03421195349569263, + 1.2415957964916962 + ], + "held_grasp_finger_gap": 0.027136370308887593, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024670045695134316, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08089047453506219, + -0.9966876068158806, + 0.008399139784822762 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035894073522062873, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663545724616405, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17637330982457958, + 0.03795952396226587, + 0.761106443131349 + ], + "target_position": [ + 0.18849932292411178, + 0.02863363476871846, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01529746393819417, + "xy_threshold": 0.08, + "gripper_dist": 0.20724644379031712, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106443131349, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550029687599183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09068582675396365, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18173902833025238, + "release_required_pad_clearance": 0.05534291337698183, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.804504492287924, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 357, + "max_placed_release_frames": 357 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13a342493e6fb2432267a8d55bd1d5c2c706ed778be11fb82b26977edaa8b755", + "visual_seed": 3231805593425842698, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e10743887b4f136044f87422d5978d9eadbd81a9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21353158231307942, + 0.03160311695686301, + 1.046945213753621 + ], + "current_z": 1.046945213753621, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18583870573885497, + "gripper_z": 1.0526817391700969, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20850985976609912, + 0.02675352581876883, + 1.0526817391700969 + ], + "object_minus_gripper": [ + 0.005021722546980301, + 0.004849591138094182, + -0.005736525416475846 + ], + "object_to_gripper_xy": 0.00698113397275342, + "object_to_gripper_z": -0.005736525416475846, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21353158231307942, + 0.007290355726548313, + 1.046945213753621 + ], + "finger_b": [ + 0.20168186578477287, + 0.03160311695686301, + 1.046945213753621 + ], + "finger_midpoint": [ + 0.20760672404892616, + 0.019446736341705663, + 1.046945213753621 + ], + "object_minus_finger_midpoint": [ + 0.00592485826415326, + 0.01215638061515735, + 0.0 + ], + "finger_gap": 0.02704673992265084, + "fingertip_max_gap": 0.091460843307136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013523369961325415, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.046945213753621, + "object_top_z": 1.0970761874516521, + "finger_top_clearance": 0.0501309736980311, + "fingertip_min_top_clearance": 0.015039292109409312, + "object_projection_between_fingers": 0.8080509033947999, + "object_to_finger_line_xy": 0.01065190590154477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048230421653568, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6990654401162623, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21281702099894553, + 0.03052918575333692, + 1.2428241080917017 + ], + "held_position": [ + 0.21814642068038378, + 0.03495203200497552, + 1.236998918262056 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009049690960555284, + "max_held_gripper_dist": 0.009058083943958442, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005825189829645749, + "max_held_gripper_z_dist": 0.00583145026577081, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08625223712538294, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21814642068038378, + 0.009399851907752952, + 1.236998918262056 + ], + "held_grasp_finger_b": [ + 0.20851244641719816, + 0.03495203200497552, + 1.236998918262056 + ], + "held_grasp_midpoint": [ + 0.21332943354879097, + 0.022175941956364235, + 1.236998918262056 + ], + "held_grasp_object_position": [ + 0.21814642068038378, + 0.03495203200497552, + 1.236998918262056 + ], + "held_grasp_finger_gap": 0.027308009224852336, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024762886312939707, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07454650366241539, + -0.9972168837915943, + -0.0011425728384701903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038511996513249463, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03662062781593102, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17117845877758148, + 0.030134360547455708, + 0.7611072951859025 + ], + "target_position": [ + 0.18855698539476995, + 0.027355133514863527, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0175993548257605, + "xy_threshold": 0.08, + "gripper_dist": 0.20638229682423234, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072951859025, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574443031136688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747074265715542, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17933276612093807, + "release_required_pad_clearance": 0.05373537132857771, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.474341042593617, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 345, + "max_placed_release_frames": 345 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1fc7f327db2e05c21f4b841cc2aa6eaa90d947742e46b35d72b8c23ca4c1bf03", + "visual_seed": 1182863906654466443, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc4f6638ea35e8775c0d8d078304a84911747e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21206401329835023, + 0.02229190414731173, + 1.0498608690868148 + ], + "current_z": 1.0498608690868148, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18875436107204868, + "gripper_z": 1.055336797933187, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20754865634445133, + 0.017890409858076467, + 1.055336797933187 + ], + "object_minus_gripper": [ + 0.0045153569538989025, + 0.004401494289235263, + -0.005475928846372158 + ], + "object_to_gripper_xy": 0.006305680010854802, + "object_to_gripper_z": -0.005475928846372158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21206401329835023, + -0.0019968170813255467, + 1.0498608690868148 + ], + "finger_b": [ + 0.2012816329076591, + 0.02229190414731173, + 1.0498608690868148 + ], + "finger_midpoint": [ + 0.20667282310300467, + 0.010147543532993093, + 1.0498608690868148 + ], + "object_minus_finger_midpoint": [ + 0.005391190195345563, + 0.012144360614318638, + 0.0 + ], + "finger_gap": 0.02657445588929368, + "fingertip_max_gap": 0.09463402140537922, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328722794464684, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498608690868148, + "object_top_z": 1.1018275211327988, + "finger_top_clearance": 0.05196665204598405, + "fingertip_min_top_clearance": 0.015589995613795248, + "object_projection_between_fingers": 0.8353732001314256, + "object_to_finger_line_xy": 0.009854961192117274, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04981701070268961, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5245992085516868, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2119273138477444, + 0.020873286438318595, + 1.2482151918288489 + ], + "held_position": [ + 0.2167168418185002, + 0.02492972926157814, + 1.2426862862970802 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008364394953626238, + "max_held_gripper_dist": 0.008372850801491518, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0055289055317686575, + "max_held_gripper_z_dist": 0.005535187838385358, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08591407134339171, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2167168418185002, + -0.0005030851571635543, + 1.2426862862970802 + ], + "held_grasp_finger_b": [ + 0.20790428344577377, + 0.025294024156183363, + 1.2426862862970802 + ], + "held_grasp_midpoint": [ + 0.212310562632137, + 0.012395469499509905, + 1.2426862862970802 + ], + "held_grasp_object_position": [ + 0.2167168418185002, + 0.02492972926157814, + 1.2426862862970802 + ], + "held_grasp_finger_gap": 0.027260814991439286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025176515020604327, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06393045122289572, + -0.9977825631991843, + 0.01851631664512732 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036035948579602206, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03693208882029597, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1810132773275695, + 0.02636063129225233, + 0.7611159555302831 + ], + "target_position": [ + 0.18754003775364086, + 0.021233609495549425, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008299696028361397, + "xy_threshold": 0.08, + "gripper_dist": 0.21191281033848075, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611159555302831, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07613687169528942, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867782648406069, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18337204753342234, + "release_required_pad_clearance": 0.05338913242030345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7518602694318908, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 322, + "max_placed_release_frames": 322 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "721834651301a256ff68bf6bc459163a238d685a5b46166911bbab9027828ba6", + "visual_seed": 4333045760660607941, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e20e9e72e55b43cafd7e38764f09fb5a3561b511 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2111251287602991, + 0.02440927431716083, + 1.0482443898573415 + ], + "current_z": 1.0482443898573415, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.18713800105186484, + "gripper_z": 1.0540003148658614, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2064826600507888, + 0.019739422516539304, + 1.0540003148658614 + ], + "object_minus_gripper": [ + 0.0046424687095102946, + 0.004669851800621527, + -0.005755925008519958 + ], + "object_to_gripper_xy": 0.006584833449568052, + "object_to_gripper_z": -0.005755925008519958, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2111251287602991, + 0.00041196204470815036, + 1.0482443898573415 + ], + "finger_b": [ + 0.19951621794970598, + 0.02440927431716083, + 1.0482443898573415 + ], + "finger_midpoint": [ + 0.20532067335500254, + 0.01241061818093449, + 1.0482443898573415 + ], + "object_minus_finger_midpoint": [ + 0.00580445540529656, + 0.011998656136226341, + 0.0 + ], + "finger_gap": 0.02665779072822641, + "fingertip_max_gap": 0.09337670609578697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013328895364113205, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0482443898573415, + "object_top_z": 1.0993803994687252, + "finger_top_clearance": 0.05113600961138376, + "fingertip_min_top_clearance": 0.01534080288341511, + "object_projection_between_fingers": 0.8103579503176549, + "object_to_finger_line_xy": 0.010450328037494858, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049188353047893485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1929164728250399, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2107516075449981, + 0.023058492413701365, + 1.2454260824873455 + ], + "held_position": [ + 0.21574911551447518, + 0.0272750594542861, + 1.2395925030791286 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008762714888931681, + "max_held_gripper_dist": 0.008770809022321965, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005833579408216938, + "max_held_gripper_z_dist": 0.005839553881524351, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08563599860266066, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21574911551447518, + 0.0018149229215777397, + 1.2395925030791286 + ], + "held_grasp_finger_b": [ + 0.2066008740701807, + 0.0272750594542861, + 1.2395925030791286 + ], + "held_grasp_midpoint": [ + 0.21117499479232793, + 0.01454499118793192, + 1.2395925030791286 + ], + "held_grasp_object_position": [ + 0.21574911551447518, + 0.0272750594542861, + 1.2395925030791286 + ], + "held_grasp_finger_gap": 0.02705381440365217, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024614713421232216, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08275526745905207, + -0.9965295573391739, + 0.008966998225212852 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035068646163415496, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03665582819197638, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17477081711148815, + 0.018012262329863478, + 0.7611104844905731 + ], + "target_position": [ + 0.18695340949208103, + 0.022437593670369245, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01296144724114334, + "xy_threshold": 0.08, + "gripper_dist": 0.2078602067971696, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611104844905731, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075841886305015, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09031666338853366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17811060697262407, + "release_required_pad_clearance": 0.05515833169426683, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.390582151288496, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8e47109bc2eeece32858d372d89aea683fcc2609ac043ecb6167b6af99584cf", + "visual_seed": 7286557995728370096, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d0857ab2ca2d7b39c8eb9d342fd2873831ab7be --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21637519547849846, + 0.02980523163282302, + 1.048503288767788 + ], + "current_z": 1.048503288767788, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.1873968999623118, + "gripper_z": 1.0542909890161558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2114428045510372, + 0.02496705660066431, + 1.0542909890161558 + ], + "object_minus_gripper": [ + 0.004932390927461255, + 0.00483817503215871, + -0.005787700248367722 + ], + "object_to_gripper_xy": 0.0069091546446078365, + "object_to_gripper_z": -0.005787700248367722, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21637519547849846, + 0.0056347273824112675, + 1.048503288767788 + ], + "finger_b": [ + 0.20443356820260003, + 0.02980523163282302, + 1.048503288767788 + ], + "finger_midpoint": [ + 0.21040438184054924, + 0.017719979507617143, + 1.048503288767788 + ], + "object_minus_finger_midpoint": [ + 0.005970813637949213, + 0.012085252125205878, + 0.0 + ], + "finger_gap": 0.026959520353961305, + "fingertip_max_gap": 0.09111379974647335, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013479760176980653, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048503288767788, + "object_top_z": 1.0985118971036294, + "finger_top_clearance": 0.05000860833584131, + "fingertip_min_top_clearance": 0.015002582500752409, + "object_projection_between_fingers": 0.8037983293473064, + "object_to_finger_line_xy": 0.01070624213781775, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805689987323668, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8034363188807667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21607980193565704, + 0.028185891790265177, + 1.2446996659921654 + ], + "held_position": [ + 0.22138448414570766, + 0.03253104173251227, + 1.2388151686572324 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009035889012989878, + "max_held_gripper_dist": 0.009043793934171974, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005884497334933014, + "max_held_gripper_z_dist": 0.005893864328802234, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655062715463802, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22138448414570766, + 0.006887946202615079, + 1.2388151686572324 + ], + "held_grasp_finger_b": [ + 0.21203332030810088, + 0.03253104173251227, + 1.2388151686572324 + ], + "held_grasp_midpoint": [ + 0.21670890222690425, + 0.019709493967563673, + 1.2388151686572324 + ], + "held_grasp_object_position": [ + 0.22138448414570766, + 0.03253104173251227, + 1.2388151686572324 + ], + "held_grasp_finger_gap": 0.027294919187885465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024718925050635145, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08808160581771451, + -0.9960806232592349, + -0.008063664431708249 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003529630026272267, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036537122017696544, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19298963738717978, + 0.027391816139082318, + 0.761106394962115 + ], + "target_position": [ + 0.19146394065647965, + 0.02737401637870118, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00152580055889972, + "xy_threshold": 0.08, + "gripper_dist": 0.2178200838060713, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106394962115, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559629749750772, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08657897650817749, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18840613613781176, + "release_required_pad_clearance": 0.053289488254088746, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5978579831974393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 306, + "max_placed_release_frames": 306 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a2da6ca27b6182450ab673ac8661f6a16d72c542ec2ede06e83070999b89bf3a", + "visual_seed": 8127696155313717738, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a2a9dccc6bdf25cc8b7945a1073565917acdac42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2143478962657213, + 0.021147764533407405, + 1.05033014722038 + ], + "current_z": 1.05033014722038, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1892237584149037, + "gripper_z": 1.0561241549335987, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21032285150324379, + 0.01689335716395156, + 1.0561241549335987 + ], + "object_minus_gripper": [ + 0.004025044762477503, + 0.004254407369455846, + -0.005794007713218585 + ], + "object_to_gripper_xy": 0.005856702775899405, + "object_to_gripper_z": -0.005794007713218585, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2143478962657213, + -0.002608968074997473, + 1.05033014722038 + ], + "finger_b": [ + 0.20355592096504133, + 0.021147764533407405, + 1.05033014722038 + ], + "finger_midpoint": [ + 0.20895190861538132, + 0.009269398229204966, + 1.05033014722038 + ], + "object_minus_finger_midpoint": [ + 0.005395987650339967, + 0.011878366304202439, + 0.0 + ], + "finger_gap": 0.02609308481413675, + "fingertip_max_gap": 0.09845955519221308, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01304654240706837, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.05033014722038, + "object_top_z": 1.1042908090737646, + "finger_top_clearance": 0.05396066185338455, + "fingertip_min_top_clearance": 0.016188198556015332, + "object_projection_between_fingers": 0.8289389893489293, + "object_to_finger_line_xy": 0.009825671183035472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051729777596106544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.828058324860905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2147907122422472, + 0.01957215462145899, + 1.249195137027086 + ], + "held_position": [ + 0.21915677475292078, + 0.02342276235629287, + 1.2433433943013557 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00825424585912059, + "max_held_gripper_dist": 0.008262651080384788, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005851742725730302, + "max_held_gripper_z_dist": 0.005857900367552071, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08617241085787225, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21915677475292078, + -0.0018561832064303316, + 1.2433433943013557 + ], + "held_grasp_finger_b": [ + 0.21080188672902897, + 0.024096724030450035, + 1.2433433943013557 + ], + "held_grasp_midpoint": [ + 0.21497933074097486, + 0.011120270412009851, + 1.2433433943013557 + ], + "held_grasp_object_position": [ + 0.21915677475292078, + 0.02342276235629287, + 1.2433433943013557 + ], + "held_grasp_finger_gap": 0.027264584132861595, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025219654535924337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07597863453446514, + -0.9962062162703508, + 0.04243137705271128 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003273621840030687, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03714703462771258, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18771548996358245, + 0.022896330921136746, + 0.7611072474900346 + ], + "target_position": [ + 0.1905032637627027, + 0.02028088356231652, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038225969761173, + "xy_threshold": 0.08, + "gripper_dist": 0.21358013106305865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072474900346, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550244402646729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08894525996039214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18524250271300402, + "release_required_pad_clearance": 0.05447262998019607, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.974037617269022, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 309, + "max_placed_release_frames": 309 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b4a86be61d187638830960252f89bf102e06b64c8a24689f9486e2a4721122df", + "visual_seed": 5448049053844299649, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..467897549c2723e10898d533e344c19b1ccd432e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2208938643037564, + 0.02612988825029256, + 1.0465775710771732 + ], + "current_z": 1.0465775710771732, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18547100345776235, + "gripper_z": 1.052604824747218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21570725326336232, + 0.021374009431188265, + 1.052604824747218 + ], + "object_minus_gripper": [ + 0.005186611040394085, + 0.004755878819104296, + -0.006027253670044752 + ], + "object_to_gripper_xy": 0.007036996335535686, + "object_to_gripper_z": -0.006027253670044752, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2208938643037564, + 0.0014036245170442536, + 1.0465775710771732 + ], + "finger_b": [ + 0.20950702125168608, + 0.02612988825029256, + 1.0465775710771732 + ], + "finger_midpoint": [ + 0.21520044277772124, + 0.013766756383668408, + 1.0465775710771732 + ], + "object_minus_finger_midpoint": [ + 0.005693421526035164, + 0.012363131866624154, + 0.0 + ], + "finger_gap": 0.02722220257250748, + "fingertip_max_gap": 0.09047979537789047, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01361110128625374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0465775710771732, + "object_top_z": 1.096332883502643, + "finger_top_clearance": 0.04975531242546971, + "fingertip_min_top_clearance": 0.01492659372764088, + "object_projection_between_fingers": 0.8250313880544272, + "object_to_finger_line_xy": 0.01034281056592192, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773989768894524, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.48685811770500503, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22067662877545524, + 0.023495688835436013, + 1.2429575697962723 + ], + "held_position": [ + 0.22617218344514245, + 0.027803982757283532, + 1.2368351955829928 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00928687157507727, + "max_held_gripper_dist": 0.009295264250330042, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006122374213279436, + "max_held_gripper_z_dist": 0.0061309344216078365, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08579748993618995, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22617218344514245, + 0.0018734677730811806, + 1.2368351955829928 + ], + "held_grasp_finger_b": [ + 0.21702428013855288, + 0.028569331398662873, + 1.2368351955829928 + ], + "held_grasp_midpoint": [ + 0.22159823179184768, + 0.015221399585872026, + 1.2368351955829928 + ], + "held_grasp_object_position": [ + 0.22617218344514245, + 0.027803982757283532, + 1.2368351955829928 + ], + "held_grasp_finger_gap": 0.028219731919746655, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025906293580671456, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07752624560030316, + -0.9969895168943425, + -0.0012587477536898373 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035847410284392286, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036820945253509374, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1987612464918141, + 0.03141443617158972, + 0.7611067019857121 + ], + "target_position": [ + 0.19546654544457517, + 0.02409652909380862, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008025385909083495, + "xy_threshold": 0.08, + "gripper_dist": 0.21875521687398566, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067019857121, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548667959262652, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09140420816983953, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19044289865571734, + "release_required_pad_clearance": 0.05570210408491977, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.581856548844533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b838091b86a5a76bc18ced980230f94d39f65f5299cadc74003e81c67be49f2", + "visual_seed": 6751799433527279242, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..227788d40d21f70464a650d9159cb33145e7f061 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2207329026129678, + 0.027433812228160277, + 1.0468252890326815 + ], + "current_z": 1.0468252890326815, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18571878101791528, + "gripper_z": 1.0524430059834209, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21647755950889952, + 0.022980015136686294, + 1.0524430059834209 + ], + "object_minus_gripper": [ + 0.0042553431040682765, + 0.0044537970914739836, + -0.0056177169507394265 + ], + "object_to_gripper_xy": 0.006159890702387791, + "object_to_gripper_z": -0.0056177169507394265, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2207329026129678, + 0.0036927449679503913, + 1.0468252890326815 + ], + "finger_b": [ + 0.20939294677221124, + 0.027433812228160277, + 1.0468252890326815 + ], + "finger_midpoint": [ + 0.21506292469258953, + 0.015563278598055334, + 1.0468252890326815 + ], + "object_minus_finger_midpoint": [ + 0.005669977920378266, + 0.011870533630104943, + 0.0 + ], + "finger_gap": 0.026310318757554393, + "fingertip_max_gap": 0.0943674562036731, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01315515937877719, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0468252890326815, + "object_top_z": 1.0986065000432395, + "finger_top_clearance": 0.05178121101055799, + "fingertip_min_top_clearance": 0.015534363303167431, + "object_projection_between_fingers": 0.814232170324492, + "object_to_finger_line_xy": 0.010232588089261004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04968372810183655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5970978923510373, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2213348486189991, + 0.025770477178482368, + 1.2433031690191967 + ], + "held_position": [ + 0.22596051664537023, + 0.029747524102027467, + 1.237590682946649 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00835740414550614, + "max_held_gripper_dist": 0.008366066294113244, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005712486072547707, + "max_held_gripper_z_dist": 0.0057182234031520895, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08491657667995095, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22596051664537023, + 0.004337662337718772, + 1.237590682946649 + ], + "held_grasp_finger_b": [ + 0.21742510077635843, + 0.030302721797713063, + 1.237590682946649 + ], + "held_grasp_midpoint": [ + 0.22169280871086433, + 0.017320192067715918, + 1.237590682946649 + ], + "held_grasp_object_position": [ + 0.22596051664537023, + 0.029747524102027467, + 1.237590682946649 + ], + "held_grasp_finger_gap": 0.02733198925834008, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02507316524278665, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09117306504154774, + -0.9956212620579304, + 0.02063430999824512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003127756333926886, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03695823405298981, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18576842532875928, + 0.02033154919089443, + 0.7611092591310052 + ], + "target_position": [ + 0.19643450757612355, + 0.025509555821918255, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011856519859489366, + "xy_threshold": 0.08, + "gripper_dist": 0.2100503428184492, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611092591310052, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587714284685476, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09365535700881718, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17980804272968734, + "release_required_pad_clearance": 0.05682767850440859, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.104589585057564, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 318, + "max_placed_release_frames": 318 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3bbfc5bbdb48fbfb9cc1f23f8df401d7d99a19bbcf7ee2734b3efd6ae13c8e6b", + "visual_seed": 596527869886655344, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b660e49de506e7c26e63a716d8133a925ae40b22 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21263097457335442, + 0.0246990877074095, + 1.047309037614287 + ], + "current_z": 1.047309037614287, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18620258920416577, + "gripper_z": 1.0526237106631504, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20780554469090232, + 0.019902610386733008, + 1.0526237106631504 + ], + "object_minus_gripper": [ + 0.004825429882452104, + 0.004796477320676493, + -0.00531467304886335 + ], + "object_to_gripper_xy": 0.006803746632424348, + "object_to_gripper_z": -0.00531467304886335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21263097457335442, + 0.0006367918151775761, + 1.047309037614287 + ], + "finger_b": [ + 0.20074704492442164, + 0.0246990877074095, + 1.047309037614287 + ], + "finger_midpoint": [ + 0.20668900974888804, + 0.012667939761293538, + 1.047309037614287 + ], + "object_minus_finger_midpoint": [ + 0.005941964824466378, + 0.012031147946115962, + 0.0 + ], + "finger_gap": 0.02683694966843484, + "fingertip_max_gap": 0.09093205321254141, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013418474834217415, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047309037614287, + "object_top_z": 1.0971759058805337, + "finger_top_clearance": 0.049866868266246644, + "fingertip_min_top_clearance": 0.014960060479873959, + "object_projection_between_fingers": 0.803910724913408, + "object_to_finger_line_xy": 0.01065525833256018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04796602660627071, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7760979164113866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21231648644934, + 0.022694965901154662, + 1.2436100257187261 + ], + "held_position": [ + 0.21754713579246682, + 0.0269731903343758, + 1.2382012245075322 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008655520053351849, + "max_held_gripper_dist": 0.008663437981829286, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005408801211193914, + "max_held_gripper_z_dist": 0.005417486141728656, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602029101961114, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21754713579246682, + 0.0013333205964579074, + 1.2382012245075322 + ], + "held_grasp_finger_b": [ + 0.20839600380905104, + 0.027156723421466404, + 1.2382012245075322 + ], + "held_grasp_midpoint": [ + 0.21297156980075893, + 0.014245022008962155, + 1.2382012245075322 + ], + "held_grasp_object_position": [ + 0.21754713579246682, + 0.0269731903343758, + 1.2382012245075322 + ], + "held_grasp_finger_gap": 0.027396922273141413, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482897976191459, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09565399791567106, + -0.9953886517499971, + -0.007193375429646487 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003338384370837927, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036613104581580715, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17401025919254465, + 0.03135812246700675, + 0.7611066010530481 + ], + "target_position": [ + 0.1881384126791012, + 0.02377432477010397, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016034921529188968, + "xy_threshold": 0.08, + "gripper_dist": 0.20690921110733498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066010530481, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07602702154818146, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08885670238704575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17981168624140031, + "release_required_pad_clearance": 0.05442835119352288, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8837773428421936, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f343c4577abd072f071cc6ef64d9068790eaf4fac912396244bef37775e2ee63", + "visual_seed": 1070805505810825133, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d7b474556e9d425e6dde65ea559379489140a0bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21485836585362733, + 0.03316753057238933, + 1.0477088959711822 + ], + "current_z": 1.0477088959711822, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18660238795641626, + "gripper_z": 1.053323595768673, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21008062007349784, + 0.028458618739089475, + 1.053323595768673 + ], + "object_minus_gripper": [ + 0.004777745780129489, + 0.004708911833299856, + -0.005614699797490852 + ], + "object_to_gripper_xy": 0.006708256509208376, + "object_to_gripper_z": -0.005614699797490852, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21485836585362733, + 0.009003185073299756, + 1.0477088959711822 + ], + "finger_b": [ + 0.20322377571518627, + 0.03316753057238933, + 1.0477088959711822 + ], + "finger_midpoint": [ + 0.2090410707844068, + 0.02108535782284454, + 1.0477088959711822 + ], + "object_minus_finger_midpoint": [ + 0.005817295069220518, + 0.01208217274954479, + 0.0 + ], + "finger_gap": 0.026819382563528203, + "fingertip_max_gap": 0.09203802403261244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013409691281764098, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477088959711822, + "object_top_z": 1.0981197077261404, + "finger_top_clearance": 0.05041081175495821, + "fingertip_min_top_clearance": 0.015123243526487494, + "object_projection_between_fingers": 0.8118064967969191, + "object_to_finger_line_xy": 0.0104828012046749, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851901201630622, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.899426213389271, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21466839235525323, + 0.03164377328321327, + 1.2471804717381225 + ], + "held_position": [ + 0.21981118638311326, + 0.03586276298895026, + 1.241486178003198 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00875632261224468, + "max_held_gripper_dist": 0.008765317544483165, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0056942937349244716, + "max_held_gripper_z_dist": 0.005702278543243899, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08602595374418281, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21981118638311326, + 0.010256282668167709, + 1.241486178003198 + ], + "held_grasp_finger_b": [ + 0.21054931234403063, + 0.035941605167578265, + 1.241486178003198 + ], + "held_grasp_midpoint": [ + 0.21518024936357194, + 0.023098943917872986, + 1.241486178003198 + ], + "held_grasp_object_position": [ + 0.21981118638311326, + 0.03586276298895026, + 1.241486178003198 + ], + "held_grasp_finger_gap": 0.027304177383956452, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024847947217135853, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08116452582644043, + -0.9966658130288102, + 0.008341276100810256 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035813185894349986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036623120150944016, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18984454845321116, + 0.024432832208276196, + 0.7611071352417722 + ], + "target_position": [ + 0.19002358292648588, + 0.029483246651754415, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005053586784998766, + "xy_threshold": 0.08, + "gripper_dist": 0.21613873156711852, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071352417722, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07616876999623111, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795683962935104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18499083451305057, + "release_required_pad_clearance": 0.05397841981467552, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.965586651424991, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 286, + "max_placed_release_frames": 286 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "47a3d7d24755f6403bcdbed595fbb63abe2ab7982c3e3fd54a8577292bedcc6b", + "visual_seed": 1208786457555928590, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c97b12ca511cd93794558c01a2c343eaea9d00d9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21284960653127527, + 0.02349547071232287, + 1.0484634393829428 + ], + "current_z": 1.0484634393829428, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18735693136817688, + "gripper_z": 1.0547853678136885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20772621097007143, + 0.018770316647658283, + 1.0547853678136885 + ], + "object_minus_gripper": [ + 0.005123395561203836, + 0.004725154064664585, + -0.006321928430745638 + ], + "object_to_gripper_xy": 0.006969667352993213, + "object_to_gripper_z": -0.006321928430745638, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21284960653127527, + -0.0011235397910074462, + 1.0484634393829428 + ], + "finger_b": [ + 0.20143733309809622, + 0.02349547071232287, + 1.0484634393829428 + ], + "finger_midpoint": [ + 0.20714346981468573, + 0.01118596546065771, + 1.0484634393829428 + ], + "object_minus_finger_midpoint": [ + 0.005706136716589538, + 0.012309505251665158, + 0.0 + ], + "finger_gap": 0.027135505579899053, + "fingertip_max_gap": 0.09159995601301016, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013567752789949534, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484634393829428, + "object_top_z": 1.0984962061269234, + "finger_top_clearance": 0.050032766743980606, + "fingertip_min_top_clearance": 0.015009830023194164, + "object_projection_between_fingers": 0.8231241654526895, + "object_to_finger_line_xy": 0.010353920942841623, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829997800650508, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8807634604112122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21284216302916772, + 0.020194576858766106, + 1.2447688637010046 + ], + "held_position": [ + 0.21833337043178064, + 0.024398344483162724, + 1.2383531647337804 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009433250458695412, + "max_held_gripper_dist": 0.009442050020180158, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006415698967224159, + "max_held_gripper_z_dist": 0.006420673563616752, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08635218835062025, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21833337043178064, + -0.0016505625675697023, + 1.2383531647337804 + ], + "held_grasp_finger_b": [ + 0.20961410612272544, + 0.02605472645987646, + 1.2383531647337804 + ], + "held_grasp_midpoint": [ + 0.21397373827725302, + 0.01220208194615338, + 1.2383531647337804 + ], + "held_grasp_object_position": [ + 0.21833337043178064, + 0.024398344483162724, + 1.2383531647337804 + ], + "held_grasp_finger_gap": 0.029044941215046253, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02681974686529962, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08892767389956711, + -0.9960239263731333, + -0.005311017516404171 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00325843885177566, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03718478882434557, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1880329005895797, + 0.023245158126548128, + 0.7611075546711832 + ], + "target_position": [ + 0.18749576993828657, + 0.020815780032065304, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0024880488866803993, + "xy_threshold": 0.08, + "gripper_dist": 0.21463312882162128, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611075546711832, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07604919302451335, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09153211647751235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18463748480226824, + "release_required_pad_clearance": 0.055766058238756175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.721487925159902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 329, + "max_placed_release_frames": 329 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "54bcc5c92f7dbd026d545b2a5c0dd0cf6e0407badb54bf781d1a96531d32ee93", + "visual_seed": 3251784636252461470, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..92f26864e68afdd1bd43b7c03244453631475012 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2162711654478559, + 0.022686333661943236, + 1.0485635048142647 + ], + "current_z": 1.0485635048142647, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1874569967994988, + "gripper_z": 1.0541898606086393, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2119293651509359, + 0.018343209436710098, + 1.0541898606086393 + ], + "object_minus_gripper": [ + 0.004341800296919995, + 0.004343124225233138, + -0.005626355794374538 + ], + "object_to_gripper_xy": 0.006141169095061746, + "object_to_gripper_z": -0.005626355794374538, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2162711654478559, + -0.0014238861697225876, + 1.0485635048142647 + ], + "finger_b": [ + 0.20548493532270778, + 0.022686333661943236, + 1.0485635048142647 + ], + "finger_midpoint": [ + 0.21087805038528185, + 0.010631223746110325, + 1.0485635048142647 + ], + "object_minus_finger_midpoint": [ + 0.005393115062574061, + 0.01205510991583291, + 0.0 + ], + "finger_gap": 0.026412979018730635, + "fingertip_max_gap": 0.0943211750501789, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013206489509365317, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0485635048142647, + "object_top_z": 1.1003092930405503, + "finger_top_clearance": 0.051745788226285505, + "fingertip_min_top_clearance": 0.015523736467885617, + "object_projection_between_fingers": 0.8332351217403864, + "object_to_finger_line_xy": 0.009845855679052284, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04966058752508945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.524556714012618, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21660866583002028, + 0.021011631756801298, + 1.2456965429614981 + ], + "held_position": [ + 0.22124767670182238, + 0.024974965437619633, + 1.240001156673253 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00834660773647224, + "max_held_gripper_dist": 0.008354953466059554, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0056953862882451745, + "max_held_gripper_z_dist": 0.005700813632693702, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08505220087493082, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22124767670182238, + -0.00045032466015876505, + 1.240001156673253 + ], + "held_grasp_finger_b": [ + 0.21272595561621538, + 0.025661956335572732, + 1.240001156673253 + ], + "held_grasp_midpoint": [ + 0.21698681615901888, + 0.012605815837706983, + 1.240001156673253 + ], + "held_grasp_object_position": [ + 0.22124767670182238, + 0.024974965437619633, + 1.240001156673253 + ], + "held_grasp_finger_gap": 0.027467634573456072, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025431496700285983, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07155371804394385, + -0.997280074167076, + 0.017678209847134196 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003372152846026973, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03707986322580619, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1941518756679293, + 0.01883573215394146, + 0.7611067733594445 + ], + "target_position": [ + 0.19184668068933336, + 0.02066931879042214, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002945498912378759, + "xy_threshold": 0.08, + "gripper_dist": 0.21699694991045823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067733594445, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579969003526386, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08646093617008212, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18619089787470106, + "release_required_pad_clearance": 0.05323046808504106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4814420827342578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 285, + "max_placed_release_frames": 285 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87ef2cf97f4e485db180aa742c92d1096263e59a1022a00e3be0977dfa70d93f", + "visual_seed": 5911190384694936898, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b1da91d50a4fdb3c19c4147a8b091d8639a253f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21326526649075986, + 0.024454307630985144, + 1.0491569045749953 + ], + "current_z": 1.0491569045749953, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.18805033695558449, + "gripper_z": 1.0549305646719216, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20892464927102986, + 0.020002103241934147, + 1.0549305646719216 + ], + "object_minus_gripper": [ + 0.004340617219730003, + 0.0044522043890509976, + -0.005773660096926259 + ], + "object_to_gripper_xy": 0.0062179644394368795, + "object_to_gripper_z": -0.005773660096926259, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21326526649075986, + 0.0005461518856994652, + 1.0491569045749953 + ], + "finger_b": [ + 0.20210300431486317, + 0.024454307630985144, + 1.0491569045749953 + ], + "finger_midpoint": [ + 0.2076841354028115, + 0.012500229758342305, + 1.0491569045749953 + ], + "object_minus_finger_midpoint": [ + 0.00558113108794836, + 0.011954077872642839, + 0.0 + ], + "finger_gap": 0.026385526487532715, + "fingertip_max_gap": 0.09599401673303357, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013192763243766364, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0491569045749953, + "object_top_z": 1.1016566869965838, + "finger_top_clearance": 0.05249978242158848, + "fingertip_min_top_clearance": 0.01574993472647651, + "object_projection_between_fingers": 0.8210330202308388, + "object_to_finger_line_xy": 0.010114223140370028, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050497008366516785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0589730083339783, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2132206203013644, + 0.023236871394794856, + 1.2479325137109554 + ], + "held_position": [ + 0.21790474994940537, + 0.027274367587426813, + 1.242099663839817 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008500857820503369, + "max_held_gripper_dist": 0.008509069142583281, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0058328498711384125, + "max_held_gripper_z_dist": 0.00583919664459942, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08592690327666393, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21790474994940537, + 0.0019366022988008512, + 1.242099663839817 + ], + "held_grasp_finger_b": [ + 0.20904171727039117, + 0.027383469600357542, + 1.242099663839817 + ], + "held_grasp_midpoint": [ + 0.21347323360989828, + 0.014660035949579197, + 1.242099663839817 + ], + "held_grasp_object_position": [ + 0.21790474994940537, + 0.027274367587426813, + 1.242099663839817 + ], + "held_grasp_finger_gap": 0.02694617605027305, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024742932690020668, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0711701356335066, + -0.997125328914577, + 0.02599788897017008 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035381291609932657, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036826788867723885, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17212177823088917, + 0.03399734971400849, + 0.7611141967867207 + ], + "target_position": [ + 0.18915446624952906, + 0.0214863316339604, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02113381258882573, + "xy_threshold": 0.08, + "gripper_dist": 0.2059129982950548, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611141967867207, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590151238981699, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548176979518003, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18053773486471342, + "release_required_pad_clearance": 0.05274088489759002, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.49836042600181957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a14833fd6e5be7a91c1ca296e95894bb6b49ffc385c2ae923b89a57c32fe23f3", + "visual_seed": 7437459381441295591, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78f59ed0a432b3120273222935698c2ae78d7644 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2205436880625692, + 0.029148056942390636, + 1.049778612545822 + ], + "current_z": 1.049778612545822, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18867210453105598, + "gripper_z": 1.0556712643104187, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2161817419242051, + 0.02482869377256189, + 1.0556712643104187 + ], + "object_minus_gripper": [ + 0.004361946138364076, + 0.004319363169828748, + -0.005892651764596746 + ], + "object_to_gripper_xy": 0.006138686529450931, + "object_to_gripper_z": -0.005892651764596746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2205436880625692, + 0.004936585421514185, + 1.049778612545822 + ], + "finger_b": [ + 0.20988768167517277, + 0.029148056942390636, + 1.049778612545822 + ], + "finger_midpoint": [ + 0.215215684868871, + 0.01704232118195241, + 1.049778612545822 + ], + "object_minus_finger_midpoint": [ + 0.005328003193698194, + 0.012105735760438226, + 0.0 + ], + "finger_gap": 0.02645270922484963, + "fingertip_max_gap": 0.09726936057458191, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322635461242481, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049778612545822, + "object_top_z": 1.103139206540179, + "finger_top_clearance": 0.05336059399435711, + "fingertip_min_top_clearance": 0.016008178198307115, + "object_projection_between_fingers": 0.8377261170883562, + "object_to_finger_line_xy": 0.009753163389871746, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05113468028729096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.352335050093589, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22084549572478887, + 0.027833393852605193, + 1.2476176875267053 + ], + "held_position": [ + 0.22545567345315615, + 0.031805528318538556, + 1.2416525304790975 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008521425321224992, + "max_held_gripper_dist": 0.008530463867291468, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005965157047607805, + "max_held_gripper_z_dist": 0.005971794690532883, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08586869338634846, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22545567345315615, + 0.006441725223914341, + 1.2416525304790975 + ], + "held_grasp_finger_b": [ + 0.21676200563056439, + 0.032153911086851006, + 1.2416525304790975 + ], + "held_grasp_midpoint": [ + 0.22110883954186028, + 0.019297818155382673, + 1.2416525304790975 + ], + "held_grasp_object_position": [ + 0.22545567345315615, + 0.031805528318538556, + 1.2416525304790975 + ], + "held_grasp_finger_gap": 0.02714215102123941, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025152496474368152, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05737507526540069, + -0.9976318799483054, + 0.03793063206828373 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003653596660898587, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036992759743350534, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19655227356117685, + 0.025434966567225967, + 0.7611129465323114 + ], + "target_position": [ + 0.19602421893087746, + 0.02810131113032838, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002718130795559042, + "xy_threshold": 0.08, + "gripper_dist": 0.21718175856088048, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611129465323114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0760797791201546, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09583193594210325, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1861299962053498, + "release_required_pad_clearance": 0.05791596797105163, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.713759521487844, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 316, + "max_placed_release_frames": 316 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8eac57b9838a04abedceaf1858fa3c00db0ec6b94f91efdf0a535fd08d56eb9", + "visual_seed": 5049114883908253301, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4237e4d49504818c9515858bef452c7fe84b3b34 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21934318603467795, + 0.028054052652615152, + 1.0478151058678682 + ], + "current_z": 1.0478151058678682, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18670859785310223, + "gripper_z": 1.0535884473934944, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21480287267039475, + 0.02356624098703229, + 1.0535884473934944 + ], + "object_minus_gripper": [ + 0.004540313364283205, + 0.004487811665582861, + -0.005773341525626252 + ], + "object_to_gripper_xy": 0.0063839563745087015, + "object_to_gripper_z": -0.005773341525626252, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21934318603467795, + 0.0038689169873971333, + 1.0478151058678682 + ], + "finger_b": [ + 0.20825608390602401, + 0.028054052652615152, + 1.0478151058678682 + ], + "finger_midpoint": [ + 0.21379963497035098, + 0.015961484820006144, + 1.0478151058678682 + ], + "object_minus_finger_midpoint": [ + 0.005543551064326968, + 0.012092567832609008, + 0.0 + ], + "finger_gap": 0.026605349476302755, + "fingertip_max_gap": 0.09374628555783898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013302674738151377, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478151058678682, + "object_top_z": 1.0993524330592443, + "finger_top_clearance": 0.05153732719137616, + "fingertip_min_top_clearance": 0.015461198157412863, + "object_projection_between_fingers": 0.826340654422321, + "object_to_finger_line_xy": 0.010078539631830684, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04937314277891949, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2307644761943177, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21944978162592965, + 0.026576429372359392, + 1.2466907490497912 + ], + "held_position": [ + 0.22430906995936678, + 0.03064903626084454, + 1.2408490746721568 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008621135047656136, + "max_held_gripper_dist": 0.00862948466574575, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005841674377634387, + "max_held_gripper_z_dist": 0.005851515662498308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0859238277346313, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22430906995936678, + 0.0051521635778596815, + 1.2408490746721568 + ], + "held_grasp_finger_b": [ + 0.21536773161078576, + 0.030968439592226473, + 1.2408490746721568 + ], + "held_grasp_midpoint": [ + 0.21983840078507627, + 0.018060301585043077, + 1.2408490746721568 + ], + "held_grasp_object_position": [ + 0.22430906995936678, + 0.03064903626084454, + 1.2408490746721568 + ], + "held_grasp_finger_gap": 0.027320827928775798, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0250773993747437, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07413193900081505, + -0.9970546530205162, + 0.01965895495995995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003534045843425704, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03683717421142516, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1979395612535888, + 0.028701361041172973, + 0.761106410441579 + ], + "target_position": [ + 0.19467405304822863, + 0.025704770347151473, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00443205365793002, + "xy_threshold": 0.08, + "gripper_dist": 0.21757681854669594, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106410441579, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0760219658530098, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08704785097082492, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18752475830791177, + "release_required_pad_clearance": 0.05352392548541246, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0596724942011786, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 322, + "max_placed_release_frames": 322 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7a6968ea4dfc9726c9c4bc9586ab0ffc048b3af482fa524b6b2eee5cb434c4a", + "visual_seed": 7014398836865171187, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..415355c68e44b253aaf1bb747b1fccfd13ae10bb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21708636355466418, + 0.030022127649876253, + 1.0476185999360799 + ], + "current_z": 1.0476185999360799, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18651215152595868, + "gripper_z": 1.053689760551813, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21217758765832703, + 0.025350186860365817, + 1.053689760551813 + ], + "object_minus_gripper": [ + 0.0049087758963371475, + 0.004671940789510436, + -0.0060711606157330955 + ], + "object_to_gripper_xy": 0.00677665932013348, + "object_to_gripper_z": -0.0060711606157330955, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21708636355466418, + 0.00557135987050064, + 1.0476185999360799 + ], + "finger_b": [ + 0.2057472611767493, + 0.030022127649876253, + 1.0476185999360799 + ], + "finger_midpoint": [ + 0.21141681236570675, + 0.017796743760188447, + 1.0476185999360799 + ], + "object_minus_finger_midpoint": [ + 0.005669551188957428, + 0.012225383889687805, + 0.0 + ], + "finger_gap": 0.026952092455647808, + "fingertip_max_gap": 0.09233770309607761, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013476046227823897, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0476185999360799, + "object_top_z": 1.0981559665992444, + "finger_top_clearance": 0.05053736666316455, + "fingertip_min_top_clearance": 0.015161209998949331, + "object_projection_between_fingers": 0.8230003623172004, + "object_to_finger_line_xy": 0.010286761947155049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866885154803881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9195307589436469, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21667566257903784, + 0.02856876347813228, + 1.2444181136239143 + ], + "held_position": [ + 0.22184630649556833, + 0.032861371550670725, + 1.238263832256827 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.009112476157513674, + "max_held_gripper_dist": 0.009121113224869394, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0061542813670874, + "max_held_gripper_z_dist": 0.006160459191980383, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08566344451702906, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22184630649556833, + 0.0072960119721272925, + 1.238263832256827 + ], + "held_grasp_finger_b": [ + 0.21252293248899976, + 0.032861371550670725, + 1.238263832256827 + ], + "held_grasp_midpoint": [ + 0.21718461949228404, + 0.02007869176139901, + 1.238263832256827 + ], + "held_grasp_object_position": [ + 0.22184630649556833, + 0.032861371550670725, + 1.238263832256827 + ], + "held_grasp_finger_gap": 0.027212366917388514, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024929925879621336, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06273042786057331, + -0.9980217583785386, + 0.004178902181165789 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038510218608795734, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0366704278897482, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1945580240417281, + 0.032682230489714005, + 0.7611064614500632 + ], + "target_position": [ + 0.19204977990645442, + 0.02754393423959227, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005717812256112461, + "xy_threshold": 0.08, + "gripper_dist": 0.21714835791394857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064614500632, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562954377172765, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0901507200540511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886210733169542, + "release_required_pad_clearance": 0.05507536002702555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.2337721481175015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 341, + "max_placed_release_frames": 341 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9de1801f21151050847719cc0061e5de2b8d071d6941c26ae6e76ff9f1c5352", + "visual_seed": 8700653323211027366, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb087970bda0d81feb1472f0a8b676ed07d24142 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21406646250121802, + 0.02589852613120144, + 1.0498862085965883 + ], + "current_z": 1.0498862085965883, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18877970058182247, + "gripper_z": 1.0554428524606068, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20940214987640218, + 0.021248020678425503, + 1.0554428524606068 + ], + "object_minus_gripper": [ + 0.004664312624815842, + 0.0046505054527759375, + -0.00555664386401844 + ], + "object_to_gripper_xy": 0.0065865782640393165, + "object_to_gripper_z": -0.00555664386401844, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21406646250121802, + 0.0018288695203138104, + 1.0498862085965883 + ], + "finger_b": [ + 0.20251693890469102, + 0.02589852613120144, + 1.0498862085965883 + ], + "finger_midpoint": [ + 0.20829170070295452, + 0.013863697825757625, + 1.0498862085965883 + ], + "object_minus_finger_midpoint": [ + 0.0057747617982635, + 0.012034828305443815, + 0.0 + ], + "finger_gap": 0.026697188328975406, + "fingertip_max_gap": 0.09205007497326759, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348594164487703, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498862085965883, + "object_top_z": 1.1005185031005034, + "finger_top_clearance": 0.05063229450391504, + "fingertip_min_top_clearance": 0.015189688351174496, + "object_projection_between_fingers": 0.8128468717433475, + "object_to_finger_line_xy": 0.010412821888289762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048525037486633796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8191908781990224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21404223933211367, + 0.023850284927108188, + 1.2479158602041422 + ], + "held_position": [ + 0.2190912494813132, + 0.02799951453400446, + 1.2422737035638995 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00863380225453996, + "max_held_gripper_dist": 0.008643368369557381, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0056421566402427015, + "max_held_gripper_z_dist": 0.005652256446942783, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08614969731707935, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2190912494813132, + 0.002376096731507364, + 1.2422737035638995 + ], + "held_grasp_finger_b": [ + 0.21017610381184798, + 0.028532563344552075, + 1.2422737035638995 + ], + "held_grasp_midpoint": [ + 0.2146336766465806, + 0.015454330038029719, + 1.2422737035638995 + ], + "held_grasp_object_position": [ + 0.2190912494813132, + 0.02799951453400446, + 1.2422737035638995 + ], + "held_grasp_finger_gap": 0.02763404726034728, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02519724472918484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09440086186666265, + -0.99550304516525, + 0.0078844369200064 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0032549441569853835, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036810681984760146, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17652063693983783, + 0.015998594527475183, + 0.7611085261839702 + ], + "target_position": [ + 0.18950316616428317, + 0.02369764443896595, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01509375482122336, + "xy_threshold": 0.08, + "gripper_dist": 0.20806120098313818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085261839702, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07615044473759902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09117627157802523, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17726107493782264, + "release_required_pad_clearance": 0.055588135789012616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.332019960328035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 321, + "max_placed_release_frames": 321 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1226329e78645edb22f67b190ee0593477d8412c02242a34ea81aad335019b18", + "visual_seed": 5653490719596458186, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b387a2165767b31b7eaef7c42b7305a8c56f8112 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_81_success.json @@ -0,0 +1,684 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.22061403486043957, + 0.02887486462288186, + 1.0477160296507952 + ], + "current_z": 1.0477160296507952, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18660952163602929, + "gripper_z": 1.0534504913860412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21602859844439604, + 0.024269277957651714, + 1.0534504913860412 + ], + "object_minus_gripper": [ + 0.004585436416043531, + 0.004605586665230147, + -0.005734461735245944 + ], + "object_to_gripper_xy": 0.006499050365747591, + "object_to_gripper_z": -0.005734461735245944, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22061403486043957, + 0.0048461116346733505, + 1.0477160296507952 + ], + "finger_b": [ + 0.20912128143971298, + 0.02887486462288186, + 1.0477160296507952 + ], + "finger_midpoint": [ + 0.21486765815007627, + 0.016860488128777606, + 1.0477160296507952 + ], + "object_minus_finger_midpoint": [ + 0.0057463767103632934, + 0.012014376494104254, + 0.0 + ], + "finger_gap": 0.02663577202481584, + "fingertip_max_gap": 0.09284192238755118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331788601240792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0477160296507952, + "object_top_z": 1.0985110201268828, + "finger_top_clearance": 0.0507949904760876, + "fingertip_min_top_clearance": 0.015238497142826296, + "object_projection_between_fingers": 0.813826613082382, + "object_to_finger_line_xy": 0.01036788169097333, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892096119377559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.225109531110851, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22074105552099751, + 0.027419872122265612, + 1.2436003873060237 + ], + "held_position": [ + 0.22566551730323847, + 0.031582300869853364, + 1.2377717022835837 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008691933387590686, + "max_held_gripper_dist": 0.008700173731525745, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00582868502244005, + "max_held_gripper_z_dist": 0.005835375933662013, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0859522387517585, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22566551730323847, + 0.006102036508355867, + 1.2377717022835837 + ], + "held_grasp_finger_b": [ + 0.2167083119548526, + 0.03165327042840073, + 1.2377717022835837 + ], + "held_grasp_midpoint": [ + 0.22118691462904555, + 0.0188776534683783, + 1.2377717022835837 + ], + "held_grasp_object_position": [ + 0.22566551730323847, + 0.031582300869853364, + 1.2377717022835837 + ], + "held_grasp_finger_gap": 0.027075765593792607, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024762914230226064, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07901809103794932, + -0.9968479634914518, + 0.0070907666485133785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003461906980420547, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036701757547225496, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18560049771560352, + 0.033870641380642684, + 0.7611064684290136 + ], + "target_position": [ + 0.19596106140385544, + 0.025962668542336604, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013033699181341838, + "xy_threshold": 0.08, + "gripper_dist": 0.209567045619829, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064684290136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552304296176103, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09235721221784386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182632753075203, + "release_required_pad_clearance": 0.05617860610892193, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.637089423155336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 338, + "max_placed_release_frames": 338 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f04a9c384fdb24d8b71c2dd9dcbdfb668617eb049b22d29b5ce891b35ff15207", + "visual_seed": 1537032217144977255, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..67fa39906e006ff41578b893b16bbdef00d144e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21609345558635246, + 0.024140448135637715, + 1.0497440570083292 + ], + "current_z": 1.0497440570083292, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.18863766820285266, + "gripper_z": 1.0554555098105705, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2112121413646622, + 0.019502306400213762, + 1.0554555098105705 + ], + "object_minus_gripper": [ + 0.004881314221690247, + 0.004638141735423953, + -0.005711452802241279 + ], + "object_to_gripper_xy": 0.006733467701619796, + "object_to_gripper_z": -0.005711452802241279, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21609345558635246, + -0.0003120866572057928, + 1.0497440570083292 + ], + "finger_b": [ + 0.20484255252515737, + 0.024140448135637715, + 1.0497440570083292 + ], + "finger_midpoint": [ + 0.21046800405575491, + 0.011914180739215961, + 1.0497440570083292 + ], + "object_minus_finger_midpoint": [ + 0.005625451530597542, + 0.012226267396421754, + 0.0 + ], + "finger_gap": 0.02691671000489531, + "fingertip_max_gap": 0.09306142558600392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013458355002447655, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497440570083292, + "object_top_z": 1.1007355276192237, + "finger_top_clearance": 0.050991470610894485, + "fingertip_min_top_clearance": 0.015297441183268378, + "object_projection_between_fingers": 0.825284749794567, + "object_to_finger_line_xy": 0.010220903613582348, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903071279300196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0486500818602298, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21562364888225616, + 0.022740779275080655, + 1.2463557530058615 + ], + "held_position": [ + 0.22076402918575383, + 0.027025773103665614, + 1.240573613848139 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00884408361645611, + "max_held_gripper_dist": 0.00885186595346335, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005782139157722632, + "max_held_gripper_z_dist": 0.00579032980748706, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08587275687807167, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22076402918575383, + 0.0015001150634705801, + 1.240573613848139 + ], + "held_grasp_finger_b": [ + 0.21147186662371797, + 0.027025773103665614, + 1.240573613848139 + ], + "held_grasp_midpoint": [ + 0.2161179479047359, + 0.014262944083568097, + 1.240573613848139 + ], + "held_grasp_object_position": [ + 0.22076402918575383, + 0.027025773103665614, + 1.240573613848139 + ], + "held_grasp_finger_gap": 0.027164379313068688, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490722811437965, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.061327143375953956, + -0.9980972815656992, + 0.006387332503226983 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003855509413210174, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036696774227190594, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18522229901979217, + 0.023978481187220152, + 0.7611099500779475 + ], + "target_position": [ + 0.19119221340664566, + 0.019796479174484124, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0072889655384621235, + "xy_threshold": 0.08, + "gripper_dist": 0.2110953247308011, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611099500779475, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556182459559846, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0854907626116259, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18296409729079594, + "release_required_pad_clearance": 0.05274538130581295, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5292735310269422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 330, + "max_placed_release_frames": 330 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f523fda11644e9be419611ec8ac50fb11392e3e0d5475788a55f18005393c5b", + "visual_seed": 4760767972225085630, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0bce58c99d70a9cda15b8f6812800172e660d3e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_83_success.json @@ -0,0 +1,684 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21522741120178646, + 0.028315855651948114, + 1.0497768143421664 + ], + "current_z": 1.0497768143421664, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18867030632740045, + "gripper_z": 1.0554669199035214, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21069976079759145, + 0.023846111682923485, + 1.0554669199035214 + ], + "object_minus_gripper": [ + 0.004527650404195005, + 0.00446974396902463, + -0.005690105561354963 + ], + "object_to_gripper_xy": 0.006362250335474017, + "object_to_gripper_z": -0.005690105561354963, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21522741120178646, + 0.004129976290086133, + 1.0497768143421664 + ], + "finger_b": [ + 0.20418015997483027, + 0.028315855651948114, + 1.0497768143421664 + ], + "finger_midpoint": [ + 0.20970378558830838, + 0.016222915971017125, + 1.0497768143421664 + ], + "object_minus_finger_midpoint": [ + 0.005523625613478078, + 0.01209293968093099, + 0.0 + ], + "finger_gap": 0.02658944377338545, + "fingertip_max_gap": 0.09357678773849348, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013294721886692718, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497768143421664, + "object_top_z": 1.1012641948185677, + "finger_top_clearance": 0.051487380476401334, + "fingertip_min_top_clearance": 0.0154462141429204, + "object_projection_between_fingers": 0.8273804595223847, + "object_to_finger_line_xy": 0.010048630115489066, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049288393869246744, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2169884135899889, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21541837854660797, + 0.02678395150659773, + 1.2487395521173612 + ], + "held_position": [ + 0.22028280054645755, + 0.030826859321404082, + 1.2429857944247336 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008550639308093555, + "max_held_gripper_dist": 0.008559254426915972, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005753757692627648, + "max_held_gripper_z_dist": 0.0057618741616107805, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0853138177877567, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22028280054645755, + 0.005281664048734728, + 1.2429857944247336 + ], + "held_grasp_finger_b": [ + 0.2114595622998287, + 0.031423977714978256, + 1.2429857944247336 + ], + "held_grasp_midpoint": [ + 0.21587118142314313, + 0.018352820881856493, + 1.2429857944247336 + ], + "held_grasp_object_position": [ + 0.22028280054645755, + 0.030826859321404082, + 1.2429857944247336 + ], + "held_grasp_finger_gap": 0.02759112351791853, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025366417247895557, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07830869977231056, + -0.9967500924150088, + 0.018894465079531294 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034295797851397252, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03694128294525022, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1949784832228244, + 0.022296066517032226, + 0.761106463915157 + ], + "target_position": [ + 0.19057455541618393, + 0.027575634061815377, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0068752028032654285, + "xy_threshold": 0.08, + "gripper_dist": 0.21977745432179316, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106463915157, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07619433262327932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09115624051846886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1876597037129413, + "release_required_pad_clearance": 0.055578120259234434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.31195377360354, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 293, + "max_placed_release_frames": 293 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2e37657e50d65711abb6783b873c34922e0a981ac8843b43c6d84f6cf0b67950", + "visual_seed": 6291008261740921386, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa2fd3889edb300cc4695fd17fd8581593750b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21963810689814575, + 0.031164198769815, + 1.0484805222633007 + ], + "current_z": 1.0484805222633007, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.18737407385317972, + "gripper_z": 1.0541646988404594, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2149199944073804, + 0.02654494188911155, + 1.0541646988404594 + ], + "object_minus_gripper": [ + 0.0047181124907653416, + 0.00461925688070345, + -0.005684176577158695 + ], + "object_to_gripper_xy": 0.006602887217380144, + "object_to_gripper_z": -0.005684176577158695, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21963810689814575, + 0.006931621898642041, + 1.0484805222633007 + ], + "finger_b": [ + 0.20826140114115477, + 0.031164198769815, + 1.0484805222633007 + ], + "finger_midpoint": [ + 0.21394975401965027, + 0.01904791033422852, + 1.0484805222633007 + ], + "object_minus_finger_midpoint": [ + 0.0056883528784954784, + 0.01211628843558648, + 0.0 + ], + "finger_gap": 0.026770267381900737, + "fingertip_max_gap": 0.09331372533147761, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385133690950362, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0484805222633007, + "object_top_z": 1.0995659080515745, + "finger_top_clearance": 0.05108538578827382, + "fingertip_min_top_clearance": 0.01532561573648216, + "object_projection_between_fingers": 0.8193958881776895, + "object_to_finger_line_xy": 0.010298249653770401, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915686266573881, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.183035548946436, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21946984510057202, + 0.029932442960872482, + 1.248074076363655 + ], + "held_position": [ + 0.22451648672277782, + 0.03412625703493735, + 1.2423208360509626 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008726765852616596, + "max_held_gripper_dist": 0.008735029844522691, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005753240312692531, + "max_held_gripper_z_dist": 0.005762203123572451, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08606553919089267, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22451648672277782, + 0.00860181453566715, + 1.2423208360509626 + ], + "held_grasp_finger_b": [ + 0.21525153750439446, + 0.03412625703493735, + 1.2423208360509626 + ], + "held_grasp_midpoint": [ + 0.21988401211358616, + 0.02136403578530225, + 1.2423208360509626 + ], + "held_grasp_object_position": [ + 0.22451648672277782, + 0.03412625703493735, + 1.2423208360509626 + ], + "held_grasp_finger_gap": 0.027153939841536318, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024825950745622122, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0686245200834548, + -0.997543959679404, + 0.01402582441252542 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003750133757633811, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03667147200357486, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19274618245167266, + 0.028192641467048588, + 0.7611063508100996 + ], + "target_position": [ + 0.19485848888435445, + 0.028964486706786873, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022489071878704797, + "xy_threshold": 0.08, + "gripper_dist": 0.21575733097609978, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063508100996, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577429249163956, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520845757114219, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18600317311168876, + "release_required_pad_clearance": 0.0526042287855711, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2712418364621776, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "00d931c1c89b5e08d246e392e07f52c229993dfe18d304e0fd72cb0dfb303159", + "visual_seed": 3895040577095784326, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eec715b2e3f7d8255654d0eeb24957caddce805f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21906222796600805, + 0.028004756307532876, + 1.0478196561742763 + ], + "current_z": 1.0478196561742763, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.18671326736879978, + "gripper_z": 1.0537136731622636, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2145946769484209, + 0.023419168108081895, + 1.0537136731622636 + ], + "object_minus_gripper": [ + 0.00446755101758714, + 0.004585588199450982, + -0.005894016987987305 + ], + "object_to_gripper_xy": 0.006402080226745678, + "object_to_gripper_z": -0.005894016987987305, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21906222796600805, + 0.0041220803105555546, + 1.0478196561742763 + ], + "finger_b": [ + 0.20753983442879997, + 0.028004756307532876, + 1.0478196561742763 + ], + "finger_midpoint": [ + 0.213301031197404, + 0.016063418309044217, + 1.0478196561742763 + ], + "object_minus_finger_midpoint": [ + 0.005761196768604038, + 0.01194133799848866, + 0.0 + ], + "finger_gap": 0.026516933563345727, + "fingertip_max_gap": 0.09521093657507929, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258466781672862, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0478196561742763, + "object_top_z": 1.1000000658962192, + "finger_top_clearance": 0.05218040972194293, + "fingertip_min_top_clearance": 0.01565412291658286, + "object_projection_between_fingers": 0.8111839938615762, + "object_to_finger_line_xy": 0.010377730550986246, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050105468287539645, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8352052991092327, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21917834709376827, + 0.0266727727188361, + 1.2435166105633655 + ], + "held_position": [ + 0.2239893919873755, + 0.030807270583073258, + 1.2375333265411115 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008720086768412683, + "max_held_gripper_dist": 0.008728890288500815, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00598328402225401, + "max_held_gripper_z_dist": 0.005989436016633487, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08580723405174173, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2239893919873755, + 0.005414000556989136, + 1.2375333265411115 + ], + "held_grasp_finger_b": [ + 0.2150420393910587, + 0.030807270583073258, + 1.2375333265411115 + ], + "held_grasp_midpoint": [ + 0.2195157156892171, + 0.018110635570031196, + 1.2375333265411115 + ], + "held_grasp_object_position": [ + 0.2239893919873755, + 0.030807270583073258, + 1.2375333265411115 + ], + "held_grasp_finger_gap": 0.02692347082195086, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024582768500475846, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08061794634293615, + -0.9964878751734034, + 0.022642026407614587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003447886521153203, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670754862833594, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18123522280225998, + 0.033215876313778654, + 0.7611082474560718 + ], + "target_position": [ + 0.19465274508837324, + 0.02431460323286813, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016101632425294284, + "xy_threshold": 0.08, + "gripper_dist": 0.20876589635132334, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611082474560718, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0761266649768203, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08833045325330972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18147943925453633, + "release_required_pad_clearance": 0.054165226626654864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.33835176628848, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 314, + "max_placed_release_frames": 314 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0cd1da34016e1b4ad047c175e93930629eeeb4e44e688c14b5daeaaa55d00dc3", + "visual_seed": 5119954500342372890, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a8f0dcde222d557786d5193d5610ba69fd9a2e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_89_success.json @@ -0,0 +1,684 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21674992041382074, + 0.02601921769139671, + 1.0467442774578828 + ], + "current_z": 1.0467442774578828, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18563770983847216, + "gripper_z": 1.052280512242946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21208530172256168, + 0.02153058982487685, + 1.052280512242946 + ], + "object_minus_gripper": [ + 0.004664618691259059, + 0.004488627866519861, + -0.005536234785063154 + ], + "object_to_gripper_xy": 0.0064735189548607965, + "object_to_gripper_z": -0.005536234785063154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21674992041382074, + 0.0016413194349818576, + 1.0467442774578828 + ], + "finger_b": [ + 0.20579996492492908, + 0.02601921769139671, + 1.0467442774578828 + ], + "finger_midpoint": [ + 0.2112749426693749, + 0.013830268563189285, + 1.0467442774578828 + ], + "object_minus_finger_midpoint": [ + 0.00547497774444583, + 0.012188949128207427, + 0.0 + ], + "finger_gap": 0.026724210907131063, + "fingertip_max_gap": 0.09277258728729854, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362105453565531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0467442774578828, + "object_top_z": 1.0978777830870443, + "finger_top_clearance": 0.051133505629161524, + "fingertip_min_top_clearance": 0.015340051688748456, + "object_projection_between_fingers": 0.8321138281175964, + "object_to_finger_line_xy": 0.009988579335348788, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888629364364927, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9019602973009938, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2166191136880081, + 0.024742649818928278, + 1.2434454745357357 + ], + "held_position": [ + 0.2215364174305394, + 0.028884591650779758, + 1.237837961677553 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008531105361524856, + "max_held_gripper_dist": 0.008539120660402182, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005607512858182728, + "max_held_gripper_z_dist": 0.005612794948995248, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08651020171076607, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2215364174305394, + 0.0034137533173931485, + 1.237837961677553 + ], + "held_grasp_finger_b": [ + 0.21254522431656514, + 0.02899586992359949, + 1.237837961677553 + ], + "held_grasp_midpoint": [ + 0.21704082087355225, + 0.01620481162049632, + 1.237837961677553 + ], + "held_grasp_object_position": [ + 0.2215364174305394, + 0.028884591650779758, + 1.237837961677553 + ], + "held_grasp_finger_gap": 0.027116162037912304, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490783653959716, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06819943303283547, + -0.9976121681060363, + 0.010899512868630891 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036230764880729733, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03676415008664549, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19105651605313706, + 0.034618421607770525, + 0.7611071922843893 + ], + "target_position": [ + 0.1919666404921949, + 0.02481608619109722, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009844496234726191, + "xy_threshold": 0.08, + "gripper_dist": 0.21301156549680442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071922843893, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755116661068862, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505760818362014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18586298224085626, + "release_required_pad_clearance": 0.05252880409181007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1251048546500502, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 340, + "max_placed_release_frames": 340 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bb0be13835e222d146a9fa8d6b1c008fbf966a04fe8b6d3f9318359fdbb19cf4", + "visual_seed": 8170997360611407195, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7bdf64b45dd7cf7baaf8a1122729fa42691f328c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21609389924201158, + 0.024437180773186705, + 1.0470450898422485 + ], + "current_z": 1.0470450898422485, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.1859382838042587, + "gripper_z": 1.0530377560445605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2116621976305457, + 0.019930140612002573, + 1.0530377560445605 + ], + "object_minus_gripper": [ + 0.004431701611465888, + 0.004507040161184132, + -0.00599266620231198 + ], + "object_to_gripper_xy": 0.006320869417065665, + "object_to_gripper_z": -0.00599266620231198, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21609389924201158, + 0.0004874945201545447, + 1.0470450898422485 + ], + "finger_b": [ + 0.20480188828827406, + 0.024437180773186705, + 1.0470450898422485 + ], + "finger_midpoint": [ + 0.21044789376514283, + 0.012462337646670625, + 1.0470450898422485 + ], + "object_minus_finger_midpoint": [ + 0.005646005476868748, + 0.01197484312651608, + 0.0 + ], + "finger_gap": 0.026478236025045284, + "fingertip_max_gap": 0.09577456102738394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013239118012522635, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0470450898422485, + "object_top_z": 1.099662467201313, + "finger_top_clearance": 0.05261737735906458, + "fingertip_min_top_clearance": 0.015785213207719407, + "object_projection_between_fingers": 0.8181285692685816, + "object_to_finger_line_xy": 0.010213675837469377, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05038728051369197, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9766242503253282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21627757416215831, + 0.02280266688355513, + 1.244318421869077 + ], + "held_position": [ + 0.22105856592359127, + 0.026861614431268745, + 1.238247215274054 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008728830788681337, + "max_held_gripper_dist": 0.00873746098718859, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0060712065950230265, + "max_held_gripper_z_dist": 0.006077138959034167, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08600365784389317, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22105856592359127, + 0.0014028027477692479, + 1.238247215274054 + ], + "held_grasp_finger_b": [ + 0.21230331136270075, + 0.02726624179181795, + 1.238247215274054 + ], + "held_grasp_midpoint": [ + 0.21668093864314603, + 0.0143345222697936, + 1.238247215274054 + ], + "held_grasp_object_position": [ + 0.22105856592359127, + 0.026861614431268745, + 1.238247215274054 + ], + "held_grasp_finger_gap": 0.027305163643736273, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02503202817875063, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08348269270293192, + -0.9961142584679421, + 0.028053949738490958 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033356604142254402, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03687637883788629, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18279799644458217, + 0.020324524512949305, + 0.7611064512548256 + ], + "target_position": [ + 0.19171475730280974, + 0.023858794927309, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00959164696830724, + "xy_threshold": 0.08, + "gripper_dist": 0.21029604059858323, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064512548256, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07624027314190131, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0926511702425372, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17996294365647103, + "release_required_pad_clearance": 0.056325585121268604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.967971224766263, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 309, + "max_placed_release_frames": 309 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "63fff910b9362028dfe7335ac36326b5ec5b5933337370c0fd2f2b9dc9d3877f", + "visual_seed": 8733934077855583437, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..77241119a520b8780081e7875577ae0131942dfd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21849850532136467, + 0.029367684085518896, + 1.0471522805012925 + ], + "current_z": 1.0471522805012925, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.18604553406794766, + "gripper_z": 1.0527086969460042, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21357018112581444, + 0.024534212721790266, + 1.0527086969460042 + ], + "object_minus_gripper": [ + 0.004928324195550227, + 0.0048334713637286295, + -0.00555641644471172 + ], + "object_to_gripper_xy": 0.006902957684965951, + "object_to_gripper_z": -0.00555641644471172, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21849850532136467, + 0.005190722029050429, + 1.0471522805012925 + ], + "finger_b": [ + 0.20656600256338004, + 0.029367684085518896, + 1.0471522805012925 + ], + "finger_midpoint": [ + 0.21253225394237235, + 0.017279203057284663, + 1.0471522805012925 + ], + "object_minus_finger_midpoint": [ + 0.0059662513789923155, + 0.012088481028234233, + 0.0 + ], + "finger_gap": 0.02696127067386155, + "fingertip_max_gap": 0.09064771828745893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013480635336930774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0471522805012925, + "object_top_z": 1.0969326792768097, + "finger_top_clearance": 0.04978039877551721, + "fingertip_min_top_clearance": 0.014934119632655146, + "object_projection_between_fingers": 0.8041234825779952, + "object_to_finger_line_xy": 0.010700225145478285, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04782385914372947, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6103756357618939, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21837080397498362, + 0.027504496683649127, + 1.2451162697645526 + ], + "held_position": [ + 0.22371106976277025, + 0.03179114280210718, + 1.239465643047926 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00887825185043482, + "max_held_gripper_dist": 0.008886078234387005, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005650626716626528, + "max_held_gripper_z_dist": 0.005660198407320571, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08616589889211299, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22371106976277025, + 0.006046048499034074, + 1.239465643047926 + ], + "held_grasp_finger_b": [ + 0.214424567814209, + 0.03205895901646251, + 1.239465643047926 + ], + "held_grasp_midpoint": [ + 0.21906781878848963, + 0.019052503757748293, + 1.239465643047926 + ], + "held_grasp_object_position": [ + 0.22371106976277025, + 0.03179114280210718, + 1.239465643047926 + ], + "held_grasp_finger_gap": 0.027620836917594857, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025008444190802195, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0953905882348263, + -0.9954399011587094, + -0.00019712268422877877 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003406932067481497, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03659677803712341, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18420079136873713, + 0.025722454197701458, + 0.7611085724132033 + ], + "target_position": [ + 0.19353385432231734, + 0.024753050813442888, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009383272724210006, + "xy_threshold": 0.08, + "gripper_dist": 0.20961399271480313, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085724132033, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549372009764989, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08740143680554154, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18133588975040482, + "release_required_pad_clearance": 0.05370071840277077, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4037365235768653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 342, + "max_placed_release_frames": 342 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8664fb9c9647519d85705b50b51d9d1156dba0f36e84bcee44ff0f3af30b52c", + "visual_seed": 2510159867118710192, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..327a09136975f203254e76a25e839665be55aa16 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_91_success.json @@ -0,0 +1,684 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21157274259370573, + 0.024241303318572032, + 1.0497830408401336 + ], + "current_z": 1.0497830408401336, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1886764732207229, + "gripper_z": 1.055358176078725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20669486474882715, + 0.019433706436396983, + 1.055358176078725 + ], + "object_minus_gripper": [ + 0.0048778778448785864, + 0.004807596882175049, + -0.005575135238591322 + ], + "object_to_gripper_xy": 0.006848845161854414, + "object_to_gripper_z": -0.005575135238591322, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21157274259370573, + 0.00011424116624482047, + 1.0497830408401336 + ], + "finger_b": [ + 0.1997123467570606, + 0.024241303318572032, + 1.0497830408401336 + ], + "finger_midpoint": [ + 0.20564254467538318, + 0.012177772242408427, + 1.0497830408401336 + ], + "object_minus_finger_midpoint": [ + 0.005930197918322555, + 0.012063531076163606, + 0.0 + ], + "finger_gap": 0.026884644641582477, + "fingertip_max_gap": 0.09131169480611834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013442322320791233, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497830408401336, + "object_top_z": 1.0999262046910778, + "finger_top_clearance": 0.050143163850944195, + "fingertip_min_top_clearance": 0.015042949155283224, + "object_projection_between_fingers": 0.8053789700199135, + "object_to_finger_line_xy": 0.010643864232422915, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815584740305917, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8041158905393523, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2110537411016303, + 0.022363412325660012, + 1.2487319376496693 + ], + "held_position": [ + 0.21634527845037982, + 0.026643587495071792, + 1.2430846477232815 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008843763367862162, + "max_held_gripper_dist": 0.008852461900723075, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005647289926387744, + "max_held_gripper_z_dist": 0.005654833983869345, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08596062619349046, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21634527845037982, + 0.0009707766837401245, + 1.2430846477232815 + ], + "held_grasp_finger_b": [ + 0.2070025531289852, + 0.026786638418158076, + 1.2430846477232815 + ], + "held_grasp_midpoint": [ + 0.2116739157896825, + 0.0138787075509491, + 1.2430846477232815 + ], + "held_grasp_object_position": [ + 0.21634527845037982, + 0.026643587495071792, + 1.2430846477232815 + ], + "held_grasp_finger_gap": 0.0274544210196029, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024850501436248142, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09164570459267594, + -0.9957723800042956, + -0.006199358861431746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003482787068033956, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036581224865219385, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1758212665100063, + 0.02645625868387232, + 0.76110882692352 + ], + "target_position": [ + 0.1871143588174505, + 0.023387808116307612, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011702534885658058, + "xy_threshold": 0.08, + "gripper_dist": 0.2082747376646119, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110882692352, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07596266083476415, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08862529678192603, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18000310307442532, + "release_required_pad_clearance": 0.05431264839096302, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.6353630717181065, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 336, + "max_placed_release_frames": 336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93a92cc741156de83f5219eeb95ccf23b5e943f1b2bf4d2910d27ff02c49ef52", + "visual_seed": 6434236422001212668, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31b6c17bf4805849c59ecfde28bb668098cae697 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2153656358409243, + 0.02513990013622093, + 1.048745829613691 + ], + "current_z": 1.048745829613691, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.18763944080821426, + "gripper_z": 1.0545174028565623, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21077055637537692, + 0.020634375727843476, + 1.0545174028565623 + ], + "object_minus_gripper": [ + 0.00459507946554738, + 0.004505524408377454, + -0.005771573242871364 + ], + "object_to_gripper_xy": 0.006435410281340282, + "object_to_gripper_z": -0.005771573242871364, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2153656358409243, + 0.0009131019258988394, + 1.048745829613691 + ], + "finger_b": [ + 0.20427349057549005, + 0.02513990013622093, + 1.048745829613691 + ], + "finger_midpoint": [ + 0.20981956320820716, + 0.013026501031059885, + 1.048745829613691 + ], + "object_minus_finger_midpoint": [ + 0.005546072632717142, + 0.012113399105161045, + 0.0 + ], + "finger_gap": 0.026645326759361786, + "fingertip_max_gap": 0.09611898201926852, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013322663379680898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048745829613691, + "object_top_z": 1.1012947184828012, + "finger_top_clearance": 0.052548888869110355, + "fingertip_min_top_clearance": 0.01576466666073312, + "object_projection_between_fingers": 0.8267038173759323, + "object_to_finger_line_xy": 0.010085339447782843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050559491009634264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0988672664639307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2151956822887535, + 0.023894298842894, + 1.2443007810499302 + ], + "held_position": [ + 0.2200452050033212, + 0.028053165996425516, + 1.2384513280397904 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008661994405312524, + "max_held_gripper_dist": 0.008670185929860207, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005849453010139838, + "max_held_gripper_z_dist": 0.005853912036258402, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08580681902292955, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2200452050033212, + 0.0026701344148106986, + 1.2384513280397904 + ], + "held_grasp_finger_b": [ + 0.21107217454147179, + 0.028053165996425516, + 1.2384513280397904 + ], + "held_grasp_midpoint": [ + 0.2155586897723965, + 0.015361650205618107, + 1.2384513280397904 + ], + "held_grasp_object_position": [ + 0.2200452050033212, + 0.028053165996425516, + 1.2384513280397904 + ], + "held_grasp_finger_gap": 0.02692236185668956, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482278115784957, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05710412374488752, + -0.9981147491484108, + 0.022495923713720997 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037655153058354057, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03679646244931018, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.19470050843614212, + 0.031355708928174006, + 0.7611116906632976 + ], + "target_position": [ + 0.19074646327768296, + 0.023508202049662884, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008787368054395676, + "xy_threshold": 0.08, + "gripper_dist": 0.21603877431685525, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116906632976, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592904443526148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09121668530517409, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1873010696107585, + "release_required_pad_clearance": 0.055608342652587045, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.35780314564404, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 321, + "max_placed_release_frames": 321 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d5e683f802fd6a9aba31d08cf2a65afa6655bc38625c672b5bfc457da4560979", + "visual_seed": 6323862477327489303, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..75e89d0067499541a34bda29c44cfcb6f49949a4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2196658658541574, + 0.0248612892326004, + 1.0481663205528242 + ], + "current_z": 1.0481663205528242, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.18705957411947927, + "gripper_z": 1.0540563099057878, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2149608892209943, + 0.020359991471855354, + 1.0540563099057878 + ], + "object_minus_gripper": [ + 0.004704976633163105, + 0.004501297760745045, + -0.005889989352963587 + ], + "object_to_gripper_xy": 0.0065114120319251165, + "object_to_gripper_z": -0.005889989352963587, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2196658658541574, + 0.00045876320289906766, + 1.0481663205528242 + ], + "finger_b": [ + 0.2086776297561507, + 0.0248612892326004, + 1.0481663205528242 + ], + "finger_midpoint": [ + 0.21417174780515405, + 0.012660026217749733, + 1.0481663205528242 + ], + "object_minus_finger_midpoint": [ + 0.005494118049003349, + 0.012201263014850666, + 0.0 + ], + "finger_gap": 0.026762373010923164, + "fingertip_max_gap": 0.09295586685863574, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381186505461582, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0481663205528242, + "object_top_z": 1.0993808012816686, + "finger_top_clearance": 0.05121448072884438, + "fingertip_min_top_clearance": 0.015364344218653297, + "object_projection_between_fingers": 0.8314197376092909, + "object_to_finger_line_xy": 0.010019317692518124, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048977933429317874, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.045404016200751, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21979427692828882, + 0.023040576971636237, + 1.2440444881447352 + ], + "held_position": [ + 0.22475768794886283, + 0.027156534432424103, + 1.2380673678980847 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008792185235826793, + "max_held_gripper_dist": 0.008801000820360361, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005977120246650536, + "max_held_gripper_z_dist": 0.005982864918019137, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08523752804560912, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22475768794886283, + 0.0015690234499657802, + 1.2380673678980847 + ], + "held_grasp_finger_b": [ + 0.21596487176518553, + 0.027721784128489267, + 1.2380673678980847 + ], + "held_grasp_midpoint": [ + 0.2203612798570242, + 0.014645403789227523, + 1.2380673678980847 + ], + "held_grasp_object_position": [ + 0.22475768794886283, + 0.027156534432424103, + 1.2380673678980847 + ], + "held_grasp_finger_gap": 0.02759131217517684, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025435464829095467, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.073323480549249, + -0.9972249215330207, + 0.012888874023937347 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034710588315274298, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036921478852935494, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1955379870972909, + 0.019390283768328045, + 0.7611062749523804 + ], + "target_position": [ + 0.1948132970466912, + 0.021098275293271358, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0018553734714920251, + "xy_threshold": 0.08, + "gripper_dist": 0.21598926024543005, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062749523804, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556706015860372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670251127402319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18621686187470626, + "release_required_pad_clearance": 0.053351255637011596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7191459390676915, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 276, + "max_placed_release_frames": 276 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b401a12f7ee14d3b2eedb82078ba8e7c16c52aaa569fde7832acbc007ddc856f", + "visual_seed": 384611555423583208, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2225e11c3f55d29405f34ff37d1bfa4b4a1902 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21509390486218127, + 0.02602755073750844, + 1.0494070716299944 + ], + "current_z": 1.0494070716299944, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.18830050401058362, + "gripper_z": 1.0551934692772829, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2103828419696881, + 0.021459321815118865, + 1.0551934692772829 + ], + "object_minus_gripper": [ + 0.0047110628924931786, + 0.004568228922389575, + -0.005786397647288499 + ], + "object_to_gripper_xy": 0.006562227446864579, + "object_to_gripper_z": -0.005786397647288499, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21509390486218127, + 0.0016985554270298314, + 1.0494070716299944 + ], + "finger_b": [ + 0.20394279571735582, + 0.02602755073750844, + 1.0494070716299944 + ], + "finger_midpoint": [ + 0.20951835028976856, + 0.013863053082269136, + 1.0494070716299944 + ], + "object_minus_finger_midpoint": [ + 0.005575554572412711, + 0.012164497655239304, + 0.0 + ], + "finger_gap": 0.02676279596710889, + "fingertip_max_gap": 0.09523435854740891, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381397983554439, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0494070716299944, + "object_top_z": 1.101527769893253, + "finger_top_clearance": 0.05212069826325871, + "fingertip_min_top_clearance": 0.015636209478977647, + "object_projection_between_fingers": 0.826390627662439, + "object_to_finger_line_xy": 0.010137030616102723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05011717927370446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6765575169468925, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21467607254462115, + 0.024794139162468018, + 1.2489891948163787 + ], + "held_position": [ + 0.21967228821891122, + 0.02899038346184302, + 1.2431470984780364 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00875789511872183, + "max_held_gripper_dist": 0.00876611499269198, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0058420963383423175, + "max_held_gripper_z_dist": 0.0058494529383301685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.085860009228858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.21967228821891122, + 0.0035146084196297023, + 1.2431470984780364 + ], + "held_grasp_finger_b": [ + 0.21041087816829307, + 0.02899038346184302, + 1.2431470984780364 + ], + "held_grasp_midpoint": [ + 0.21504158319360214, + 0.016252495940736363, + 1.2431470984780364 + ], + "held_grasp_object_position": [ + 0.21967228821891122, + 0.02899038346184302, + 1.2431470984780364 + ], + "held_grasp_finger_gap": 0.02710698858462795, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024887356558591516, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05816323371130483, + -0.998047363573079, + 0.022770557943770142 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038930384436063016, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03673789823352897, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17209585821910203, + 0.023035474038532816, + 0.7611070087346701 + ], + "target_position": [ + 0.19038846573346663, + 0.02412346537552638, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01832493423791641, + "xy_threshold": 0.08, + "gripper_dist": 0.20518470777637804, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070087346701, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07599153782129672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08671938132847538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1768132786572471, + "release_required_pad_clearance": 0.053359690664237694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7345565905962517, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e8d5595a128bfbbdac7c6a7e40d95e5e4283e884fb2ff862fa740aefc333c9fc", + "visual_seed": 6967762623961686052, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2f02c3d616ffe0d17a60a6d57446ee85ba27585a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_97_success.json @@ -0,0 +1,684 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21948816844205882, + 0.021065483120420118, + 1.048546676374347 + ], + "current_z": 1.048546676374347, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.18743987033635712, + "gripper_z": 1.0543051567453328, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21443846642229614, + 0.01636573370377377, + 1.0543051567453328 + ], + "object_minus_gripper": [ + 0.005049702019762681, + 0.004699749416646349, + -0.005758480370985808 + ], + "object_to_gripper_xy": 0.006898342921866308, + "object_to_gripper_z": -0.005758480370985808, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21948816844205882, + -0.0035601011914766084, + 1.048546676374347 + ], + "finger_b": [ + 0.20819728139275656, + 0.021065483120420118, + 1.048546676374347 + ], + "finger_midpoint": [ + 0.2138427249174077, + 0.008752690964471755, + 1.048546676374347 + ], + "object_minus_finger_midpoint": [ + 0.005645443524651128, + 0.012312792155948363, + 0.0 + ], + "finger_gap": 0.02709065397996947, + "fingertip_max_gap": 0.09232187335167949, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013545326989984735, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.048546676374347, + "object_top_z": 1.0991821555159622, + "finger_top_clearance": 0.05063547914161526, + "fingertip_min_top_clearance": 0.015190643742484577, + "object_projection_between_fingers": 0.8262930690248415, + "object_to_finger_line_xy": 0.010263491283535583, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866093667583975, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9394206536643608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21914924679670933, + 0.01872064352369158, + 1.2455304704317267 + ], + "held_position": [ + 0.2244986336775467, + 0.02301380322351082, + 1.2396965385351453 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00900455004889068, + "max_held_gripper_dist": 0.009012643107365204, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005833931896581435, + "max_held_gripper_z_dist": 0.005843123100942815, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08544100401692203, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2244986336775467, + -0.002769169665313071, + 1.2396965385351453 + ], + "held_grasp_finger_b": [ + 0.21531808677348213, + 0.023455184922173637, + 1.2396965385351453 + ], + "held_grasp_midpoint": [ + 0.2199083602255144, + 0.010343007628430283, + 1.2396965385351453 + ], + "held_grasp_object_position": [ + 0.2244986336775467, + 0.02301380322351082, + 1.2396965385351453 + ], + "held_grasp_finger_gap": 0.027784873852295323, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025533270254137118, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06852389368404778, + -0.9976358802987038, + 0.005208294827303894 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037118329498535174, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036764866342504185, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.18670996856983088, + 0.023974056127085225, + 0.7611114641186911 + ], + "target_position": [ + 0.19432357473381723, + 0.020184209687068244, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008504700750714295, + "xy_threshold": 0.08, + "gripper_dist": 0.20959406851471027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611114641186911, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07618308815689995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09531659415914244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1802466987351314, + "release_required_pad_clearance": 0.05765829707957122, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.097202379167442, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 309, + "max_placed_release_frames": 309 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb51ef01f9c0e2d68b606063421fa1dbf6948335dfbb3527dc79d278e9c90dce", + "visual_seed": 822148595466758541, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a5157533374fc7d58e1f19dbdfb75c8ea02db53d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.21761771504117458, + 0.028304674337791907, + 1.047632177691756 + ], + "current_z": 1.047632177691756, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18652566967699014, + "gripper_z": 1.0532127191564784, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21284844007828133, + 0.023629341516210364, + 1.0532127191564784 + ], + "object_minus_gripper": [ + 0.004769274962893255, + 0.004675332821581543, + -0.005580541464722311 + ], + "object_to_gripper_xy": 0.006678676565326254, + "object_to_gripper_z": -0.005580541464722311, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.21761771504117458, + 0.004081800529723458, + 1.047632177691756 + ], + "finger_b": [ + 0.206117022152923, + 0.028304674337791907, + 1.047632177691756 + ], + "finger_midpoint": [ + 0.2118673685970488, + 0.016193237433757682, + 1.047632177691756 + ], + "object_minus_finger_midpoint": [ + 0.005750346444125781, + 0.012111436904034226, + 0.0 + ], + "finger_gap": 0.026814428064597787, + "fingertip_max_gap": 0.09193428641221749, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013407214032298886, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047632177691756, + "object_top_z": 1.0980914030814706, + "finger_top_clearance": 0.05045922538971448, + "fingertip_min_top_clearance": 0.015137767616914327, + "object_projection_between_fingers": 0.8160452797272085, + "object_to_finger_line_xy": 0.010389176747173228, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048467143206108745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7476093469728088, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 209, + "max_stable_success_frames": 209, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21731475909335773, + 0.026892201328434492, + 1.2462271592060037 + ], + "held_position": [ + 0.22242072529934231, + 0.03113510336323398, + 1.2405743823844562 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008719345982800952, + "max_held_gripper_dist": 0.008727474827197181, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.005652776821547523, + "max_held_gripper_z_dist": 0.005660561238202577, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08597056962124376, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.22242072529934231, + 0.005596938373621345, + 1.2405743823844562 + ], + "held_grasp_finger_b": [ + 0.2131303218481409, + 0.03113510336323398, + 1.2405743823844562 + ], + "held_grasp_midpoint": [ + 0.2177755235737416, + 0.01836602086842766, + 1.2405743823844562 + ], + "held_grasp_object_position": [ + 0.22242072529934231, + 0.03113510336323398, + 1.2405743823844562 + ], + "held_grasp_finger_gap": 0.02717553067233042, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024745356203596653, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0771139970540735, + -0.9970088437567871, + 0.005176575035588216 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036473105067874457, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036631151823929634, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.1910797946077557, + 0.020483823573253727, + 0.7611064798207414 + ], + "target_position": [ + 0.19283125914089805, + 0.0260460246201023, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005831441373830221, + "xy_threshold": 0.08, + "gripper_dist": 0.21373544350213908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064798207414, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589932416776307, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660386902967306, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18257085683900964, + "release_required_pad_clearance": 0.05330193451483653, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.62216549865083, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 287, + "max_placed_release_frames": 287 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8deb89e9326b34e687285fbe6a2e96320c6284700316eeacf5702d8fbf77d485", + "visual_seed": 5394837463069702324, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c46eab53da3e80e0703872b2a6932271acfc3db1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.2155534935855417, + 0.032832109031240064, + 1.047571777487081 + ], + "current_z": 1.047571777487081, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18646526947231512, + "gripper_z": 1.0538319835411747, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21154884440060517, + 0.028573010235478397, + 1.0538319835411747 + ], + "object_minus_gripper": [ + 0.004004649184936537, + 0.004259098795761668, + -0.00626020605409372 + ], + "object_to_gripper_xy": 0.0058461215901203555, + "object_to_gripper_z": -0.00626020605409372, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2155534935855417, + 0.009116245834322108, + 1.047571777487081 + ], + "finger_b": [ + 0.20469001790624297, + 0.032832109031240064, + 1.047571777487081 + ], + "finger_midpoint": [ + 0.21012175574589234, + 0.020974177432781085, + 1.047571777487081 + ], + "object_minus_finger_midpoint": [ + 0.00543173783964937, + 0.011857931598458979, + 0.0 + ], + "finger_gap": 0.026085575918688146, + "fingertip_max_gap": 0.09930760644492143, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013042787959344073, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.047571777487081, + "object_top_z": 1.1023854537708728, + "finger_top_clearance": 0.05481367628379186, + "fingertip_min_top_clearance": 0.016444102885137556, + "object_projection_between_fingers": 0.8265650043541929, + "object_to_finger_line_xy": 0.009876596317304972, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052153803222460715, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.240629236186464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.21610865898708845, + 0.03207247460289708, + 1.2467643874829295 + ], + "held_position": [ + 0.2204228238672168, + 0.03592392884735901, + 1.2404363120122897 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008572645890985485, + "max_held_gripper_dist": 0.008581853299004417, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.006328075470639849, + "max_held_gripper_z_dist": 0.006333799299202969, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08577257190735818, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.2204228238672168, + 0.010728386162343617, + 1.2404363120122897 + ], + "held_grasp_finger_b": [ + 0.21190571019826676, + 0.03622522291470336, + 1.2404363120122897 + ], + "held_grasp_midpoint": [ + 0.21616426703274177, + 0.02347680453852349, + 1.2404363120122897 + ], + "held_grasp_object_position": [ + 0.2204228238672168, + 0.03592392884735901, + 1.2404363120122897 + ], + "held_grasp_finger_gap": 0.02688177653404436, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024684358992424868, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08057858533987161, + -0.9950511198491977, + 0.05814086748134151 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033237150335443783, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03699157660237467, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.17941829355722427, + 0.037914223002662194, + 0.7611062923775768 + ], + "target_position": [ + 0.19150003172163996, + 0.02944568816188368, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01475413431628498, + "xy_threshold": 0.08, + "gripper_dist": 0.20845100801360336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062923775768, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754878824476589, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08894218581968068, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18253022976474156, + "release_required_pad_clearance": 0.05447109290984034, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9716730976388095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 358, + "max_placed_release_frames": 358 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6428506004157355875, + "physical_seed": 4650221932225994587, + "layout_id": "layout_00014", + "step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "workflow_spec_digest": "5e7cd699d2cff6a82744d59d9385ebb37f9a900b87935fdb3eb97fa9a481362f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30174dad7ee60d3bd7bb6da037eb896637cddc0222b62152e677767cbc22d4bd", + "visual_seed": 5605755692151676520, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 4947227672382490837, + 8216466612410408910, + 5552583258780378057 + ], + "runtime_workflow_digest": "11488b8e7cc5ae51ed71afb2ca29ae372e58c204ae75615df9d7a73aacd45a94" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..523c4227e6b29b41eb1b926ef07f894d67d1654e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00014/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_lbk_00014", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b50c593e373ee108e30cdbc49946942a9226848a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4b6047ceda33f079cec5eb9ba5940a1f39af06f2c68afb80e61f4b7f6e165f9 +size 4052357 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..230396bf36b1f414c4c92eca5f42086978dbe1d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:575fee1642ca88277a74b6a09401b4fca76395bf106b5e118b7e9d9a7d5fcf18 +size 4551387 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b064468c1482346548f25a90e1d6e7e01ea9e41d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a9eec0fe8f2e7c1904e938d8c894f58f9334d930de66b9349230b74f019e56 +size 5911658 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..322d9df72996177a62991b18a10ea5be4bdcd38a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20c9f553c8c1cf0606c7dafd9d4d45f8e090fe6d11de5111d840ab6069161887 +size 4959991 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..84c1cd793c0bd7da7f868cec28b9b621cb2c4d21 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:941120ac20326bc6b852e0a48bd581917829e4fa3f60ee0bc1daed6ebb34067c +size 6087353 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ba8d00f197d00c438ee86511cb3cb252ed71604 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b21519502a2e73bfbdd99b0ab61c0a9c6a006c9a84fc8773e15fa1cf80384062 +size 4606657 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8be8723572376f1532033d3e221b317fb3cc1cfb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b16e3808a53d3867e4994a5aecb5de0db78a274ef2e023bd86e35c353c7e893 +size 4323589 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca2c526f22d42cdcea6f62ddd9c4b5ed6085c5b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd568f8ba9c47f3192675583a50f7a68470a059eeb5f6eb58419f8520c6e9e07 +size 4434463 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41a9268f30e8352a1716a5fc4a989c584c8b6b66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ff7638dc8de6bbe02a0d4e9d86f6c426078b6f250b5b4802434e15d85b7863a +size 5289433 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ea9ef8a948e0fd10c04b56ce60e254fb461a65cd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3136c21c7d8d7f48e5c22d73d12bab003d76c70124f3d37c9fc57d51e27cd6dc +size 5779377 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d06da720339f51ffc85c36b8c6cca34658e01ca4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90d3ca37e5149d06fc85a440b811c662c5b52f40dd7b74ec38ce2f252867191d +size 4649883 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d7187b6ade9de6fade36bf60c876c215d1d280db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb7c5bfe55e9d4f9d2afd4e59bd9dc8fde73b4b8f9eba5347f7d59677e451278 +size 4247359 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3beb9e88fd0424c36c90394d0ababa497f777e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db8ffd5b99a5b54bfe8ddf58ab19a5148866c8b28a365300db0001c7c44d6fdb +size 5463890 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4f00f2e3d7b5d4fcce2fb758521e3469fe00ae51 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:952e3c9bfb51e90b908220ed24f158f31b8053e0f693ca2dfcfc460538ff6a23 +size 3705680 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e527d7a501c6d82cb05eaa7c87763933279bd85f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51e4bfdb741d213d61d651295742731a1e7e42300a13b77fdd0d2e1151d2321a +size 5302613 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..057b7418ccf39e4c2dec1b435a9e2e9f7988fa37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff68776e7790feed95bc86990f46336fa1057f9b46fd61e0ac89ecabf9168be4 +size 5162850 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d41b47663c567336ade41c67361682682cbb4228 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aeb9efc49533457c7421d3790a1d4bcc3161fe3b672c572bf88131b7f457bc82 +size 5074048 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..55a891d9b2e7e6c19406d5d3b9b1f8977605bf0e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:032bc6a01d4597e47aa0edc7b2b3027ba450e073294d5eef9cc2cbaabb80d32d +size 4159756 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..49a2c7b6127986b515a3f04e401afd73af6d2c78 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:654fa913bba6c343dcb5aea5d103d3997379c10359c61e5234d813701c2a9810 +size 4882318 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..de558be32e7b44aefb5b02a79af4899cb2ba3cd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fbce49acebc285ba8caf26ea8679b04a81be2931164fceaab598bd931bae18f +size 6292961 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92c3c13dd19fbddedef64508541ebf93a72b0def --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f05bcaf40598f1740cdc50257fca34000b89db9d5dadbc538f52a39bfb83dc79 +size 5733522 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d1156fa20e8d44c40b898ee6cb5059111910c702 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbcba8f781367bf9defe47cf20a0f32573cef4b5de99f1423ec546af43f3e8c6 +size 5289750 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f18f47bc952570245c24828f0e7c52894700f3e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:283a338bc5e27ea99c91f4c26a41af4e26c7ec57e4101c041e2b16667f0d5a91 +size 4613039 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c87391cbc02c28df0639a538444a52b8c10af36e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:add2feefe6801d56e75f73ee14e9880ac385068e71a3c30e6086cb6e816b2be7 +size 4463147 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f82e2f6d2653f9fed4e02357764a0e97bdb6b60 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c8d6796df8212ea4165c8333494fa2abfa8b3c00d8cced29c9e524b550e554 +size 4542269 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..77728e74d7243ea730213d20503490899df40de0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f2036446ece907af8a02cb2bf7562a5ecdb3affc794f985258b2e1371a00c74 +size 5541876 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cfd72a6666135c605943d6c17934292f8037eb5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5a7141b58b43cc9e4d5457f5cf8ec530b20050d3f6ef866562b37ec4748caaa +size 3895750 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cea54c3a0672a0f667f7f3f464411324b0051824 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89931d470963792dd152615c8e7b40ffd5928a8c1dad03115f766b6e5ac09c1f +size 5043225 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d174a41725c7aac0353c2cb764f5ed5580cc31ae --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ce65aa0c87472e6109579b5e055ec6f7247676a5df74c705eb2c3555f96bd09 +size 4258843 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eda00e37f92c82bb526149d66363e414bc1ba65b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24a83f41bcb7b6d695b12c26eaea19328897ab30720c3e31808ad0262d287489 +size 4524439 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0aa3e8b712d059708984c33e2a841fb12e5c1cc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9369686b5ef9cc9dbb20b55b78f4a139119ed5568a819246a67bab45bf66f433 +size 4993423 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..790edf221a9c189c8a35e24bbe5ffd070d6838ec --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eacd9099b27bbf096c1a9568c58c3593ea48cc817eebc34315a4ea89a02d243 +size 4723882 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f3b47336fb7f93bfd8246583b230649bc8f4d04 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce597a0eb32a56b2a4fb673e1f4f0ce1a587efcf9f00fce536b423ecd171df8d +size 4721897 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e7d8d45a7852585b1afde2fb3f40e58880a4d7d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30a325d062eb84d7e1fb0e41ad48894b2e033cb402a9a60cb18fe4fcec058025 +size 4597487 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a696e8740d8e3944589eb28a1a33106ee71a45b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe5bdf9d1865b14e11fffd17cf79d160de7b7a92aa197b6cfdb9e1fa599980e2 +size 5741280 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b2380a11b417beff198524446e31ec670f44cec4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1f12789d891b174a44b6df0e48293bf4505e06da3f3eaa3fec6364c36ce4003 +size 4403599 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41c93e3300d13c96d750c93952fba568c500d097 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e60f3867b985cc37b0c4fa041da570713ff839699a2fc01a79cd09c14f99af79 +size 5039874 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a2db45ac34c84a15ef635ca1e38cbe943a010b52 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ca9ed65e7e72b08a073637ec46e5318b03dfa4e68b61254c9aae3ca38a0c691 +size 4720023 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb6336d25f1793e931f77f18b5b081775a9ef678 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e8d9173569fa87e76dc2f6aa926077b87f66f469d039b0300b022eca4aa9b74 +size 5771914 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3315d49a094a09e6c308bd6fc32a927efcbf702f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:058ee1d760e47f9a7b350ba609d44ed0168cbe2f33812e1ed79758a3a938534f +size 4732742 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ce44a3631c6460bf9df8532a02b519416ab029f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f78ad0e1e9ec1988968967b27b2455e797cbe88c68a7aa9ca663edeeba6714c +size 4225275 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4d1458640d78484f95d329bad8cb62f90b85fe5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37fb131fa580fab7f8b6c23420c701deb972afb8310aabe35d82a3a7ea1fd263 +size 5511276 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d6c1166d145ceff4974bde13bf388ca1628672c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de1b4989f65f6df92f645c719f75ade7985e032f89a451506d1d4ca65d164509 +size 4718466 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..508a54ac26740baa532b3ef99c3f55ce9742216a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75e21ac22b98aaa43defcb4d230b0c10bba9789e9cae89321c1e87a1146c20fd +size 5304615 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3d2417096b95e7ccb301416b3c9ab45853c07dc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40874939523dd11930302236f27b02d73bd3371fb6f5528784e5c76a94d7ea7b +size 5738226 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d7f13f139eac08d0f501e39bf94ed5671ba7b84b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a6666601858bde7121258407fce8d70fa444f7367555c1d01c79c4cf342730 +size 4139567 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0107.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0107.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a00b888519c7f763700dcd1951ac2993db072bed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0107.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9b8f0c6d65ef9b6b58980a2c633bece8f2eaecd5943b2a337bc34337d0c771d +size 4665292 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4cf58816c80cbe57f0713ddf88b3ff9d3db8c530 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e23ee556d93f4482ae1006af9ac8bb401ef6e4e9cd06771e0a5de46ca81b8a4 +size 5166443 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1c751063be817e61f1df8428c26b2d7b4bfcca2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b02aa634249b6bb4319748ee596a8ba26fd66c3f7e5fee137c1bbcdf7b31814 +size 5089097 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e3ef96e403350d1d55f94ff3ae451c359f25600 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3377d1166dd5476416f1f9e415909b0d318ccdd209c076615cf45c83a785db24 +size 4750920 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f2884de83faef201868f97122df5fc1c7845734e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:681a277337f3ce121a4bbf00e90afa138c40caba16e0b68e9945c1c19b1a641f +size 3607680 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0121.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0121.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4a31ee74d54c298ef7fa3391cedaca038fe8bd27 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0121.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dfa4e76aa1b46ec3f9fa5a1ca3046a0828a0a71b8f1fbf90db85b2535856e16 +size 4752236 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0123.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0123.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7bd7f107252366cb8e14c0f2e9b6887ecdb51004 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0123.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dcd969ced3e1111f61598db873f759df12b0fb175446ab1c2cc493a7907cac0 +size 3707073 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..002a2a27dcdab122e492f3debc9f9d3a3ae7c632 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6540eed6a9c0d320ba6bc0a55d2406f4ff1dc9a2fa791282ee73208b475698b +size 4139636 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0125.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0125.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44963eed0a38406f3d041e6256e9587b098858cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0125.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:717b05d36c8a69c64ee37c8d709ba0a45129269c09f42dab8c54dc99527eaa2b +size 4047493 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0126.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0126.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15c1a870adff83de0726b209b47da844fae362f7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0126.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:788a789ce3bf64e357caf61de145f53e40d94f215100f9b148911415bb18a3b4 +size 3816711 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0127.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0127.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dedd6ecfa5dfa7a5ea37df35edd68287cdda3761 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0127.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bfe9246d201aba5f8fad51d6e0a638f390d848c86c93bf2907d114e57943792 +size 5635236 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0128.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0128.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e0e88b9725cf046fc0a4bf3f261c80201236539b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0128.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640b6d265194067ea3a7950553f91cfdbf654482ea6819d72d6f87883e285e86 +size 4474462 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0130.h5 new file mode 100644 index 0000000000000000000000000000000000000000..baf45b0359256eef54c021b285ffaba54a5fdc55 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0130.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5234dff6f66d7142c6aca0bc90a4141263d3bc93ae58615d3380b574261d816 +size 4413756 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0133.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0133.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0cb9f91a389e60691d471c8b80ba2ff525dc8956 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0133.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9dee9839bb9e72befc7476150a3386113466858acf8be963bf2172cdad11678 +size 3557354 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0139.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0139.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bbe0661e8e70a41f3e81cd6c7442bb5efb56d40 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0139.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7afec7deef471284cae957383d4ecd8b644d9328dc905a836d4cc6b2486864b2 +size 6184298 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0141.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0141.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32666ed5ad51e313edb47f2bae4ccc2314081e62 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0141.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:365b21bb81fc4585aadecd3a1fdcf1d797788660f949b825e11a2c1d5e7be9c8 +size 4267039 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0142.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0142.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a9d59cc39e05c36467bf0a5072ac33e4fa13def4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0142.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9a5b84b843c61fa169a724274c27f8995d21c88c2057d0d7babb4b7d2be35b1 +size 4425771 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0144.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0144.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c6b79e9e8f61679756f9545ed66816298221058 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0144.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74a941f66e919df3bc22de6b9376ea213ebf7450c15dd24736211e8d9f5937f3 +size 4760130 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0151.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0151.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed16705bf1892a3d0e3d586e9fb39ce96a607b05 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0151.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:244e52f44ba080c6740025d71b09043157ab001ce4d7b1a261bcfcafbf6f44cb +size 5352275 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0152.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0152.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2dfee7bd27ff5c1171b4cbbebab3ffc1908c5753 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0152.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dbfa129f6a33d54eeb1f13ff07cfa2633205e720d4e8c2be8a95993bd58fb40 +size 6029764 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0153.h5 new file mode 100644 index 0000000000000000000000000000000000000000..780d0123e880471c066680eeb641d6d7d916e1b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0153.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8459470b348b395afd4363a742785238a8af3164be5595e14b3b9f0e53180f24 +size 4468697 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0155.h5 new file mode 100644 index 0000000000000000000000000000000000000000..617a3836555f8d25bf55a45b4e734779a5aa639c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0155.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:993eb92e8f32ce660c88ce1d4b633ae02b9be4342b76bb71904742a38502ffb9 +size 4945958 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0156.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0156.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9f202ae5116fa5c9cf842681363d717efefe3da3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0156.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:628c83462cb2c0d66c407b869c897144700b823675a35a25c63fd981dc587cad +size 4857514 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0160.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0160.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fbadb85dee8eec99cec584cfe5d0c585ded5aa7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0160.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc4e5a3da7b01deba5f56657f5dca25484ddc113526250f361045ce038d15d8f +size 5696301 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0162.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0162.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1cdad6c7698ba7390933e06f3bdbb9b2693ba291 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0162.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63a554749d54bcb4f54bb6b384de3ab959eb243a5d7633cd7b8680f51085bbca +size 5825501 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0163.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0163.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ebc430fe23d2d98f8ad6d748270649745f0bfb4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0163.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db0df0daf3a6a88b985d416281b05c83bc074928306c2d60c3c4497fe811fb05 +size 3993601 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0164.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0164.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf5465c75422cb7b70beed1ff2aba370a2c8eee0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0164.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbb5910fd32dda2dc1a9a3aa26a4f1e455707ba7b6f489994d9580b9741a139d +size 4239390 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0169.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0169.h5 new file mode 100644 index 0000000000000000000000000000000000000000..db5de79ae62e2949e8ac6d4e6aaf74a277b74660 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0169.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c858292446e8c1d27918fb10c229453b4927cc9a1c8b7670a2351de0dd18c28 +size 6040957 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0172.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0172.h5 new file mode 100644 index 0000000000000000000000000000000000000000..42980564303fce155e0fd8c8de733685ee524374 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0172.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88bfe47499914ba28c4d0ce7915b7ed42edda3c65cffa08d7920d02cdda0071b +size 4907572 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0175.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0175.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe1164058e32351e55c3ce0e77eaf26ea754b897 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0175.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:533ad3cd4d6d158a1a21eecc13a0f05aceaeb76777cda6b637150745cc4293da +size 5424419 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0177.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0177.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9209d2b94d79aaef3d75eeacf0158e3d968f7d23 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0177.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bc0d892ea0161808b550a671cd984ff93fe726272632fc3d08941c718666738 +size 4584461 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0179.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0179.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf5cf1229c52f5043bc9174bb294ea971968b1f0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0179.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3052e3588ff571b3ea220080abc190df59bfe34820ae8f91e0ba229c162eec16 +size 4245070 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0180.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0180.h5 new file mode 100644 index 0000000000000000000000000000000000000000..98e5422bf4b6acf79696d63fe728597461d3af5f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0180.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4e7ab04a4fc720c0a66b4cd7df658d9baf39f6af9b7d0f728e10c62651faabd +size 6004340 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0185.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0185.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0530cdac951d1bc4c46b4ab9b8085c4d26d70f1a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0185.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de120792677390ec816d85f0ccf90cc052d7d9bddfc17c89781211958a8dd1e2 +size 4938436 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0186.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0186.h5 new file mode 100644 index 0000000000000000000000000000000000000000..440775aa677bb1ec81474d880aebc3bf2fe9f6a0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0186.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6647958348f3c8acaab69a590beafbb4880779a6a3375c07dfe33d969cf8aa09 +size 5204626 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0189.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0189.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9abb8d489d9d8ff278d3101ad7587b137e7bfdff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0189.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1059938b124682b20d6f7c69db959b1ab3262bc9579b646ac4a692f818bcebf5 +size 3910390 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0191.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0191.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bb0b9c8a444eb2caa3fa6a72b80b1e158beccf7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0191.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d540e47a9b83dea37c67f8c034c1a7f456d523c9db7897fee70388b64e917adf +size 4408620 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0192.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0192.h5 new file mode 100644 index 0000000000000000000000000000000000000000..736b62498cffa4af50dd7643da1f500534e0dca5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0192.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bedf50d9b3b254b35647daf0150efa78b9cf889d664a65d2aea0e452a2adc164 +size 4130048 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0195.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0195.h5 new file mode 100644 index 0000000000000000000000000000000000000000..736a3d3c728ba048c067450b4e26991774f30be1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0195.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6cd7e18cdfa819173afe719c52c1c489f25a66f7dd54efc9f78a3afa3906914 +size 6185423 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0197.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0197.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2b926d96939c1a92777b0c747eeb262481a80cd5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0197.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1eed52d8f42a8ff2b5a2f08acf5e1e7b1d9936e630e7bc18ae40c217b5eedf8 +size 5407829 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0198.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0198.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d05059d18d42e63561d3f2751dad96154d03a37 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0198.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ed0b0e36590327d631327069160887ca60b51156dbbe290c0480551c9e98373 +size 4600393 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0199.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0199.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b16a7f70bea9c7cba3f884cee07990f9b2309ada --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0199.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3172c4fbee33e671bb3ead21c72a4745fe11fdf8a8eb44f13c4b3b527d3339e9 +size 4486070 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0200.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0200.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ee04886460f98f6b896d24464fda6170ae58b0e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0200.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f91dd6f32614e2e1ce3e3abce8d75094dd367c764d8961ee8d2000ceadfde5 +size 3908160 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0201.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0201.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76b15ea88f393a8d9adf28baded6dadfc7b1071a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0201.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:213ca5574930816ff67ae60d3ff26e33cc497ee7615d586659f0178236262f7b +size 3776267 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0203.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0203.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6fbe8724203f6b2ee5b3f92d2045163c32650779 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0203.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5156a6495831f85763ee708f85d6a13ebc9a9dd56b43fea7b20ccd30fae88610 +size 6112400 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0204.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0204.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae5626382448a60a19386f8938d6c4a8ab31fc35 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0204.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc2032f7053d4674fb88cd57f73a4a54fac8813397e95ed0faa772293427654d +size 5830876 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0207.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0207.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ce0ff213c1ba5179a10832a37ebd7582700eada --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0207.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a44640f1b827f301dc0345ff8cb885cf2f5b202b04768d6deae51384b5b519ea +size 5142759 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0208.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0208.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d294bad187a0af18ed0cb7b2f687bdd0b7e01e82 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0208.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2f6c375ee4692a9f78f97a84a2044cfefe5dcf4f89e2eb2d2e2fab166be146 +size 4117741 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0209.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0209.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7e16ea97a838e422bcf845776421ae2a5672c57 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0209.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:428234b92dfcc1a8d33be4cb563e47c08f776f28681f79ceebf0c0fefaf20be1 +size 4080685 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0211.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0211.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fd03d65ea33b49ace07485fafb14b2bb79f9db4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0211.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e9e1007fa66305380a12eb4420f14a9d3f429ba4ab2404d21558219c8a45f97 +size 4939860 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0215.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0215.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78eaced28555448a0e6d3d27b7d4d633ab6b0c25 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0215.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d409b0688a05cfd7bd0f313f4577741e9e4669942c65b86615e9f7ab0268ad8f +size 4362255 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0217.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0217.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c748cae9cd58f4c3cd66b689e6e20edba62b08bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0217.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9638abbff8251c40690e50f9dbc8188cc188391de37c92b526aad1278b8e8eb +size 6324960 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0218.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0218.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b481936f52ef1abda862088a59e9a2248b9f78b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0218.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6415144678d25d626ce13bafe2f474a90b88681f918fbffa3801060eea5b89e +size 5155584 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0221.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0221.h5 new file mode 100644 index 0000000000000000000000000000000000000000..13bce8694b2c95ff4b4aec78639b8bcac3840f43 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0221.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a893937d45a4deff22709571004789bd335315e6d8b853081d79ebf11481e04 +size 4153911 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ea8fc32072521aa8e71936a2fb3b4f602af7b34 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":919,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":832,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":835,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":826,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":876,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":853,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":892,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":814,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":950,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":832,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":832,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":837,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":833,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":845,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":806,"success":true,"robot_type":"ur5e"} +{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":812,"success":true,"robot_type":"ur5e"} +{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":127,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":128,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":912,"success":true,"robot_type":"ur5e"} +{"episode_index":130,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":832,"success":true,"robot_type":"ur5e"} +{"episode_index":133,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":139,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":141,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":142,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":144,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":151,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":858,"success":true,"robot_type":"ur5e"} +{"episode_index":152,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":852,"success":true,"robot_type":"ur5e"} +{"episode_index":153,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":833,"success":true,"robot_type":"ur5e"} +{"episode_index":155,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":156,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":160,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":162,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":163,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":164,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":169,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":172,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":175,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":177,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":179,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":180,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":185,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":186,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":189,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":191,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":192,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":195,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":197,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":198,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":829,"success":true,"robot_type":"ur5e"} +{"episode_index":199,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":827,"success":true,"robot_type":"ur5e"} +{"episode_index":200,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":201,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":848,"success":true,"robot_type":"ur5e"} +{"episode_index":203,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":204,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":207,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":831,"success":true,"robot_type":"ur5e"} +{"episode_index":208,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":209,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":826,"success":true,"robot_type":"ur5e"} +{"episode_index":211,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":215,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} +{"episode_index":217,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":854,"success":true,"robot_type":"ur5e"} +{"episode_index":218,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":828,"success":true,"robot_type":"ur5e"} +{"episode_index":221,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":830,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..506b940531fd0c11fec73a4c6ccde9607a82a244 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-02T22:39:08","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.3694217389275563,-2.148573469237354,0.71338606911949],"aabb_xy":[[-0.37405685407978967,-2.152440804314503],[-0.36478662377532284,-2.1447061341602054]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.06783809315120759,0.37366497875878046,0.71338606911949],"aabb_xy":[[-0.1294288523752004,0.3096649806497336],[-0.006247333927214757,0.43766497686782735]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.29375772973427794,-1.2631780618069097,0.71338606911949],"aabb_xy":[[-0.3837577262351497,-1.3090897042253677],[-0.2037577332334062,-1.2172664193884513]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.4574987159500983,-1.8919863204425598,0.71338606911949],"aabb_xy":[[0.3974987161035315,-1.9488049426355984],[0.5174987157966651,-1.835167698249521]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.23203363867107857,-2.5032123180182544,0.71338606911949],"aabb_xy":[[-0.29603363506665165,-2.5671756064369884],[-0.1680336422755055,-2.4392490295995213]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.3016642421329441,0.5243120544937012,0.71338606911949],"aabb_xy":[[-0.30816587864094874,0.5145442324673914],[-0.2951626056249395,0.534079876520011]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.3354457572950331,0.7754674933013375,0.71338606911949],"aabb_xy":[[0.31781292170150555,0.7578445472857146],[0.3530785928885607,0.7930904393169605]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.09962154398208456,0.8055317793828212,0.71338606911949],"aabb_xy":[[0.09090757493215004,0.7830317787236327],[0.10833551303201902,0.8280317800420092]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.5524757389201715,-0.7357239129678257,0.71338606911949],"aabb_xy":[[0.5174757406094761,-0.7434389278913712],[0.587475737230867,-0.7280088980442799]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.05227218633667263,1.4780302325844583,0.71338606911949],"aabb_xy":[[-0.06107424164564535,1.4702189064295292],[-0.04347013102769993,1.4858415587393874]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.2475121420831916,-0.8237604776163625,0.71338606911949],"aabb_xy":[[0.23809466751332886,-0.8331766547540814],[0.25692961665305436,-0.8143443004786434]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.10663557429923909,-0.6596984335543608,0.71338606911949],"aabb_xy":[[-0.11820455504617569,-0.6846984336712926],[-0.09506659355230254,-0.6346984334374292]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.4686060610062779,-1.82655425786255,0.71338606911949],"aabb_xy":[[-0.5061060616708566,-1.842241315862772],[-0.4311060603416992,-1.8108671998623276]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.43566460601658585,-0.31842389342344246,0.71338606911949],"aabb_xy":[[0.4315287496838857,-0.35592389286779946],[0.4398004623492861,-0.28092389397908546]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.4155937866762561,-0.16437538438329158,0.71338606911949],"aabb_xy":[[-0.47058699801339293,-0.2193753847220852],[-0.3606005753391194,-0.10937538404449798]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.452214200373498,1.4232809174395933,0.71338606911949],"aabb_xy":[[-0.48721419956631623,1.4123138714419308],[-0.4172142011806797,1.4342479634372558]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[0.2864586100898704,-1.0043797580405083,0.71338606911949],"aabb_xy":[[0.27630559453572096,-1.0404492996132484],[0.2966116256440197,-0.9683102164677677]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.6245638041416679,-2.0746112870739877,0.71338606911949],"aabb_xy":[[-0.6406257316001855,-2.159611288886579],[-0.6085018766831503,-1.9896112852613956]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.6621979504338136,-0.001019546836819707,0.71338606911949],"aabb_xy":[[-0.6841066325731645,-0.022920213656910438],[-0.6402892682944624,0.020881119983271024]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.15138501505959656,-2.202853263186864,0.71338606911949],"aabb_xy":[[0.1479443388195394,-2.2067146961612285],[0.15482569129965373,-2.1989918302124996]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.33288415773245195,1.2800551323471416,0.71338606911949],"aabb_xy":[[-0.34087814631015534,1.2720550522520513],[-0.32489016915474855,1.288055212442232]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.2622688529282087,-1.847880673265247,0.71338606911949],"aabb_xy":[[-0.29726885282422755,-1.8562549087771874],[-0.22726885303218983,-1.8395064377533072]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.07713138528930907,-0.49269510153635343,0.71338606911949],"aabb_xy":[[-0.09500049304376458,-0.5065280095135644],[-0.059262277534853594,-0.4788621935591425]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.4880986602489521,-0.6522298644639228,0.71338606911949],"aabb_xy":[[0.4505986597515938,-0.6561985480120414],[0.5255986607463103,-0.6482611809158045]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[-0.13220154639507975,-2.3463532803692857,0.71338606911949],"aabb_xy":[[-0.16053125634361998,-2.3508140225630028],[-0.10387183644653952,-2.3418925381755686]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.29711737544342076,-0.6500803657758718,0.71338606911949],"aabb_xy":[[-0.31300186870874586,-0.6644333060746959],[-0.28123288217809556,-0.6357274254770477]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[0.5861709547203291,1.3536428834820704,0.71338606911949],"aabb_xy":[[0.5486709561447082,1.3409065878185122],[0.6236709532959498,1.3663791791456281]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.6548830069698255,1.0536959787752926,0.71338606911949],"aabb_xy":[[-0.6649647140483987,0.9736959808831778],[-0.6448012998912518,1.133695976667407]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[0.5892548984366115,-1.0542564204810507,0.71338606911949],"aabb_xy":[[0.5587706483095813,-1.1042564202625467],[0.6197391485636417,-1.0042564206995548]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[0.1957172280429692,0.6996644716053693,0.71338606911949],"aabb_xy":[[0.12571722591153964,0.6769025059796734],[0.26571723017439874,0.7224264372310647]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_30","position":[0.22603715282069503,1.1755623253980994,0.71338606911949],"aabb_xy":[[0.1891866048837074,1.1380623245750656],[0.26288770075768264,1.213062326221133]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635160063714299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/534.png","name":"534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7018.png","name":"7018"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/151.png","name":"151"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.2686783982435,"rotation_z_degrees":159.48232061158453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012132449993076038,0.011847236181552718,0.011046383429828853]},{"name":"camera_2","offset_m":[0.018178617098862707,-0.014915754563646959,0.009371357804762982]},{"name":"camera_3","offset_m":[0.01675507612123073,-0.01664063328335814,-0.009237890199679431]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015680414160925884,-0.00034239550925014455,-0.0006460162974598128],"end_effector_yaw_offset_degrees":0.4274634890489768},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010377712163892677,-0.0011340518388111434,0.001143320999385719],"end_effector_yaw_offset_degrees":0.06470118627665689},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009023346181208183,-0.0017044807644816023,0.0003231576618913548],"end_effector_yaw_offset_degrees":0.5645705634355098}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004029867951412194,0.0011034569857934252],"position_m":[0.3548298679514122,0.16030345698579343,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026298740837384657,0.0006985229894157985],"position_m":[0.3344298740837385,-0.0506014770105842,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042187299201498565,0.0036494436729544765],"position_m":[0.31568127007985014,0.3097494436729545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002928329765264471,8.42749869062508e-05],"position_m":[0.21602832976526448,-0.38681572501309375,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ea9f9e16f045fed24714ca1358e7cfd5b4e90ea5af907f7f790dd9d1c56f148","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6432/tex_ceiling_textures_151/tex_floor_textures_7018/tex_table_textures_9175/tex_wall_textures_534","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2191460089595204339,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2191460089595204339,"visual_seed":2191460089595204339,"scene_id":"lab_003","finished_at":"2026-09-02T22:41:59"} +{"episode_id":"ep_000001","started_at":"2026-09-02T22:42:02","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.11349530989550838,0.9440391560079271,0.71338606911949],"aabb_xy":[[-0.16130147750927704,0.879039153300868],[-0.06568914228173972,1.009039158714986]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.254070128044386,1.1151216861596596,0.71338606911949],"aabb_xy":[[0.22059096078334506,1.0816425727885528],[0.28754929530542694,1.1486007995307668]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.17110464176657691,0.4321862400247869,0.71338606911949],"aabb_xy":[[-0.17880783244065393,0.42447686932604883],[-0.16340145109249984,0.43989561072352484]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.39480382785817836,-2.3394831854619698,0.71338606911949],"aabb_xy":[[-0.41508813058157706,-2.359765810604679],[-0.37451952513477954,-2.3192005603192607]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.6145453395857012,0.3665122199179627,0.71338606911949],"aabb_xy":[[-0.6520453394027347,0.36187400860682084],[-0.5770453397686676,0.3711504312291045]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.6521825702831309,-2.4684855184907097,0.71338606911949],"aabb_xy":[[-0.682666820410161,-2.5184855182722057],[-0.6216983201561007,-2.418485518709214]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.38375692554563057,1.6230584458347415,0.71338606911949],"aabb_xy":[[0.36865462408461236,1.607956924203679],[0.39885922700664855,1.638159967465803]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.0531499336251533,-1.8023478156138628,0.71338606911949],"aabb_xy":[[0.02814993407341481,-1.8124902994789973],[0.07814993317689178,-1.7922053317487279]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.6449530355769519,-1.937895241770112,0.71338606911949],"aabb_xy":[[0.5949530342931119,-1.987874096160734],[0.6949530368607918,-1.8879163873794897]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.25994014944052574,1.290616929576458,0.71338606911949],"aabb_xy":[[-0.2653980950775458,1.2106169262687991],[-0.25448220380350567,1.3706169328841173]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.27542373298791123,-1.7931717869926516,0.71338606911949],"aabb_xy":[[-0.36542373666482936,-1.8546041935697555],[-0.18542372931099302,-1.7317393804155468]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.2312100389681052,-1.4871046315043026,0.71338606911949],"aabb_xy":[[-0.3112100403982324,-1.5666217865169119],[-0.15121003753797801,-1.407587476491693]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.34785954418104365,0.17505525473494732,0.71338606911949],"aabb_xy":[[-0.4078595444324448,0.12077392969848263],[-0.28785954392964247,0.22933657977141195]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.40547360159811724,0.9480836543952846,0.71338606911949],"aabb_xy":[[-0.44297360176998923,0.9153829190123773],[-0.36797360142624536,0.9807843897781917]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.027170576192514506,-1.0964234568264841,0.71338606911949],"aabb_xy":[[0.014543788905318156,-1.105969530528057],[0.03979736347971086,-1.0868773831249112]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.0003620265188540861,-1.3998176755046376,0.71338606911949],"aabb_xy":[[-0.07963797673898887,-1.4798141832966214],[0.08036202977669704,-1.3198211677126535]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.38546418583148934,1.492927671497465,0.71338606911949],"aabb_xy":[[-0.4229641873471211,1.48170089848132],[-0.3479641843158577,1.5041544445136101]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.476244604554103,-2.158165332860169,0.71338606911949],"aabb_xy":[[-0.5137446046596958,-2.16498749471315],[-0.43874460444851,-2.1513431710071873]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.43634065574293723,-1.0511110146974818,0.71338606911949],"aabb_xy":[[0.42346875224199704,-1.1311110151113177],[0.4492125592438773,-0.9711110142836455]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.6450468555935001,1.0266372625418603,0.71338606911949],"aabb_xy":[[0.6389522277053818,1.0180678679901916],[0.6511414834816185,1.035206657093529]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.026619747032609276,-2.1608617175622546,0.71338606911949],"aabb_xy":[[-0.1066135706111675,-2.240861720155096],[0.053374076545948945,-2.080861714969413]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.502039053370468,1.3798266458213182,0.71338606911949],"aabb_xy":[[0.46453905342670154,1.3715335557864814],[0.5395390533142344,1.3881197358561546]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.3902140368652989,-2.4066498870297766,0.71338606911949],"aabb_xy":[[0.38218776623467293,-2.415401382007129],[0.39824030749592493,-2.397898392052424]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.4662577175411151,0.9581216013324956,0.71338606911949],"aabb_xy":[[0.40225771586311776,0.9096042098531814],[0.5302577192191125,1.0066389928118098]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.5562787527166525,-0.5640175503182934,0.71338606911949],"aabb_xy":[[-0.5656962272865153,-0.5734337274560123],[-0.5468612781467898,-0.5546013731805742]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.5583900047837932,-1.3546026674654086,0.71338606911949],"aabb_xy":[[-0.6483900033782632,-1.3708532537788296],[-0.46839000618932336,-1.3383520811519876]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.46099028888446913,1.6130706886192425,0.71338606911949],"aabb_xy":[[-0.5159902870862139,1.5725487219928047],[-0.4059902906827243,1.6535926552456799]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.16716900699127546,1.2636672838671608,0.71338606911949],"aabb_xy":[[-0.18039995252595672,1.2504398648451611],[-0.15393806145659414,1.27689470288916]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[0.337632013172692,1.5450633458538952,0.71338606911949],"aabb_xy":[[0.3313199136363536,1.5392964066006762],[0.34394411270903047,1.550830285107114]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[-0.5308432208690266,-0.9875859809128589,0.71338606911949],"aabb_xy":[[-0.6208432232030456,-1.0650683354979718],[-0.4408432185350075,-0.9101036263277464]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[0.5774609882216681,-0.6513428205567835,0.71338606911949],"aabb_xy":[[0.5429985102085803,-0.6580064977397062],[0.6119234662347558,-0.6446791433738606]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[0.40236711912523004,-1.8128688487847104,0.71338606911949],"aabb_xy":[[0.37714628226539026,-1.8380925996375972],[0.4275879559850696,-1.7876450979318237]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[0.4664307179802565,-1.6285790726682652,0.71338606911949],"aabb_xy":[[0.4289307173156777,-1.6442661306684871],[0.5039307186448351,-1.6128920146680428]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651351867837431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/276.png","name":"276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2091.png","name":"2091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/689.png","name":"689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8782.png","name":"8782"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":832.2982601638631,"rotation_z_degrees":74.69184289684995,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004422615340522835,-0.01755635699028535,0.0028563067111146215]},{"name":"camera_2","offset_m":[-0.019949780059980667,-0.00234812904410674,-0.008134655145316382]},{"name":"camera_3","offset_m":[0.005498401009021478,-0.007282138626192003,0.0011269939413919468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001225104682931624,0.0009549279788559416,-0.0018243046079585556],"end_effector_yaw_offset_degrees":0.8683618486496498},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016054594227024833,-0.001141673686729548,-0.001368513898430567],"end_effector_yaw_offset_degrees":0.02214046787042423},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00035192442112507187,-0.00033257213007026635,-0.0004884298982695862],"end_effector_yaw_offset_degrees":0.10284233486991701}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025314820521125225,0.0018017804253230097],"position_m":[0.3533314820521125,0.161001780425323,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002894984019156344,-0.003226943468710709],"position_m":[0.32890501598084365,-0.05452694346871071,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001869818596023056,-0.0024335945504147783],"position_m":[0.32176981859602305,0.30366640544958523,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001617682713793556,-0.0004093615665481708],"position_m":[0.21471768271379357,-0.3873093615665482,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d91b632dd6233803cdadc5d268efb0be2a841b52fc661318e881d354ed451d46","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9977/tex_ceiling_textures_8782/tex_floor_textures_689/tex_table_textures_276/tex_wall_textures_2091","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2669159149831168551,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2669159149831168551,"visual_seed":2669159149831168551,"scene_id":"lab_003","finished_at":"2026-09-02T22:44:37"} +{"episode_id":"ep_000002","started_at":"2026-09-02T22:49:19","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.5008157899916073,1.1371706371517312,0.71338606911949],"aabb_xy":[[0.42081579297735916,1.1170360854783197],[0.5808157870058551,1.1573051888251422]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.5520680333959646,0.3718068451852208,0.71338606911949],"aabb_xy":[[-0.5888626665208708,0.3349009700886385],[-0.5152734002710583,0.40871272028180305]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.014770279148582866,-1.9281920483959722,0.71338606911949],"aabb_xy":[[-0.10477028282550102,-1.9896244549730762],[0.0752297245283353,-1.8667596418188674]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.20821405757320155,-1.1097473540578122,0.71338606911949],"aabb_xy":[[0.18632430998426078,-1.1997473513470611],[0.23010380516214238,-1.0197473567685629]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.2101818709233073,0.4869631233810203,0.71338606911949],"aabb_xy":[[-0.2939040964233897,0.3969631198463244],[-0.1264596454232248,0.5769631269157163]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.0427117408490052,0.9998492073430589,0.71338606911949],"aabb_xy":[[-0.0652081622828693,0.9773492075363115],[-0.020215319415141098,1.0223492071498064]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.16466200402616105,-1.8553320655093277,0.71338606911949],"aabb_xy":[[0.11857691277142955,-1.919332062761883],[0.2107470952808925,-1.7913320682567728]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.4555697005975653,-0.26523593096443054,0.71338606911949],"aabb_xy":[[-0.5195696998917334,-0.32922207133328474],[-0.391569701303397,-0.20124979059557635]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.4833265772055361,0.575369071692414,0.71338606911949],"aabb_xy":[[-0.5167667524015557,0.5419254458614838],[-0.44988640200951646,0.608812697523344]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.6196872558861692,-1.3065007299955915,0.71338606911949],"aabb_xy":[[0.5918422191055621,-1.3372852287339032],[0.6475322926667764,-1.2757162312572798]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.27993483864761814,-2.452351441372125,0.71338606911949],"aabb_xy":[[-0.3699348372420881,-2.4686020276855465],[-0.1899348400531482,-2.436100855058704]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.2625458129728458,-0.46890573656721957,0.71338606911949],"aabb_xy":[[-0.2875458121384789,-0.47585798227257614],[-0.23754581380721268,-0.461953490861863]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.47100321388261857,-0.5644974139264671,0.71338606911949],"aabb_xy":[[-0.508503214674614,-0.5708652548846572],[-0.4335032130906231,-0.558129572968277]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.4367745521857293,0.3281820267277289,0.71338606911949],"aabb_xy":[[-0.4717745513785475,0.31721498073006615],[-0.401774552992911,0.3391490727253914]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.0967408567452307,1.3600772980898799,0.71338606911949],"aabb_xy":[[-0.1156252405137409,1.3411913733095273],[-0.07785647297672049,1.3789632228702329]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.07923322878026473,1.2046895211132393,0.71338606911949],"aabb_xy":[[0.06866574912216572,1.1941444910002308],[0.08980070843836374,1.215234551226248]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.536477139030991,-1.9447995374438922,0.71338606911949],"aabb_xy":[[0.501477140760871,-1.9518736651388804],[0.5714771373011108,-1.937725409748904]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.24813721591538773,-1.0956424969156,0.71338606911949],"aabb_xy":[[-0.2522730722480879,-1.133142496359957],[-0.24400135958268757,-1.058142497471243]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.281373053748956,-0.1965221347185131,0.71338606911949],"aabb_xy":[[-0.28948670842233304,-0.20462795117254215],[-0.27325939907557883,-0.188416318264484]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.6510546482044104,-0.4599044357995479,0.71338606911949],"aabb_xy":[[0.6160546483083914,-0.46827867131148776],[0.6860546481004292,-0.4515302002876079]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.475343311307064,-1.662454663390153,0.71338606911949],"aabb_xy":[[0.42534830034761206,-1.7124546624257448],[0.5253383222665161,-1.6124546643545614]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.6562440959265907,0.09608879526351588,0.71338606911949],"aabb_xy":[[0.6011188902969998,0.03608879382222873],[0.7113693015561814,0.156088796704803]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.49640979906142557,-0.4135879250718637,0.71338606911949],"aabb_xy":[[0.48130749760040736,-0.42868944670292547],[0.5115121005224434,-0.39848640344080183]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.12224527545714792,1.3095803135867654,0.71338606911949],"aabb_xy":[[0.09978050548574281,1.287080312707905],[0.14471004542855304,1.332080314465626]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.58852186089478,0.7131004067999065,0.71338606911949],"aabb_xy":[[0.5550426936337391,0.6796212934287995],[0.622001028155821,0.7465795201710135]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614906662667664,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6197.png","name":"6197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6197.png","name":"6197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9301.png","name":"9301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9018.png","name":"9018"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9238.png","name":"9238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8627.png","name":"8627"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":825.5685337524309,"rotation_z_degrees":174.11843571460318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016329521322178246,0.001998580528796229,-0.01802325875621301]},{"name":"camera_2","offset_m":[-0.01800331248730748,0.010082326426995258,-0.009755543172153231]},{"name":"camera_3","offset_m":[-0.007302926215127218,-0.010833650131721866,-0.014572271153062265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001889525589234025,0.0002023090908221544,0.0011665319024008547],"end_effector_yaw_offset_degrees":0.737698809647094},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015440510184631098,-0.0017466573833592324,-0.0012923911818688643],"end_effector_yaw_offset_degrees":0.7335090811717986},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002876543418552813,-0.0010281616707726769,0.0010857771686744572],"end_effector_yaw_offset_degrees":0.530271419920173}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025945797779305703,0.0019486720779136168],"position_m":[0.3482054202220694,0.1611486720779136,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037467790780771225,-0.0033917839014213904],"position_m":[0.3355467790780771,-0.05469178390142139,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002035707068645614,-0.0028089483018499096],"position_m":[0.31786429293135443,0.30329105169815007,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003537061122205876,0.004462621932603204],"position_m":[0.20956293887779415,-0.3824373780673968,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aa1b54491a36e78a4a18c6f06d162de6f4e01a44640bf522b1049b66c6d35a69","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6197/tex_ceiling_textures_8627/tex_floor_textures_9238/tex_table_textures_9301/tex_wall_textures_9018","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4062186153342081246,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4062186153342081246,"visual_seed":4062186153342081246,"scene_id":"lab_003","finished_at":"2026-09-02T22:51:50"} +{"episode_id":"ep_000003","started_at":"2026-09-02T22:51:53","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.3163660395879748,-1.2777954742419702,0.71338606911949],"aabb_xy":[[0.3067344033675452,-1.2874327870216793],[0.32599767580840444,-1.2681581614622615]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.20321007988120832,-2.522171502627018,0.71338606911949],"aabb_xy":[[-0.2572256761631083,-2.5861715055192747],[-0.1491944835993083,-2.4581714997347603]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.4684136802818011,-1.596044663011046,0.71338606911949],"aabb_xy":[[-0.4732572750430311,-1.6008963154900304],[-0.46357008552057116,-1.5911930105320622]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.4155509807303139,-2.205670685548987,0.71338606911949],"aabb_xy":[[-0.4795509810042921,-2.2557367857462745],[-0.35155098045633565,-2.1556045853516985]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.002706235071890717,1.0429507405361749,0.71338606911949],"aabb_xy":[[-0.07729376290889432,1.035349199574323],[0.08270623305267576,1.0505522814980268]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.440360617995311,1.3119871233164222,0.71338606911949],"aabb_xy":[[0.3903875524627957,1.2619871235038895],[0.49033368352782664,1.3619871231289553]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.31401744659764574,0.5453790095620992,0.71338606911949],"aabb_xy":[[0.24901744549170252,0.5204136364939709],[0.3790174477035891,0.5703443826302275]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.03435806934459762,-2.263948490063561,0.71338606911949],"aabb_xy":[[0.016858069085260993,-2.278040032252334],[0.05185806960393425,-2.2498569478747887]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.4708131663231274,-0.5602868445832425,0.71338606911949],"aabb_xy":[[0.4403289161960972,-0.6102868443647385],[0.5012974164501576,-0.5102868448017466]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.3886179834113135,1.255291252904633,0.71338606911949],"aabb_xy":[[-0.41361798268327576,1.2389458893084706],[-0.3636179841393512,1.2716366165007953]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.01966729485221108,1.4200307132709322,0.71338606911949],"aabb_xy":[[-0.07033270374225886,1.4037801269575114],[0.10966729344668102,1.4362812995843535]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.08901238059753303,0.7106659740955279,0.71338606911949],"aabb_xy":[[0.039012381951611816,0.6607464304360654],[0.13901237924345422,0.7605855177549902]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.5803741553798901,-1.0964755013372738,0.71338606911949],"aabb_xy":[[-0.644374158598528,-1.1431986132362821],[-0.5163741521612523,-1.0497523894382654]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.08532752775035146,-2.123362246590105,0.71338606911949],"aabb_xy":[[-0.09182916425835608,-2.133130068616415],[-0.07882589124234685,-2.1135944245637956]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.37533320388737157,0.8130444785722006,0.71338606911949],"aabb_xy":[[-0.4393332061077786,0.7686713944469125],[-0.31133320166696454,0.857417562697489]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.3495855966751118,-0.6660621061886631,0.71338606911949],"aabb_xy":[[0.34588233534597285,-0.669764124497381],[0.35328885800425064,-0.6623600878799453]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.4051810695417822,-0.813607566268342,0.71338606911949],"aabb_xy":[[-0.4901810682338569,-0.8455934296632208],[-0.3201810708497076,-0.7816217028734631]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.07369358575542206,-1.492078573667771,0.71338606911949],"aabb_xy":[[0.02369358617908736,-1.542059152619877],[0.1236935853317568,-1.4420979947156651]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.3710514227605541,1.8117068826398532,0.71338606911949],"aabb_xy":[[-0.39605142231229257,1.8015643987747183],[-0.3460514232088156,1.8218493665049877]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.48121481844276914,-1.6564965319893834,0.71338606911949],"aabb_xy":[[-0.5162148167534645,-1.6642115469129288],[-0.4462148201320736,-1.6487815170658375]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.6412129386261107,-1.7049675772831572,0.71338606911949],"aabb_xy":[[0.5912136634576746,-1.7549675785591041],[0.6912122137945469,-1.6549675760072098]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.1809478562467326,-1.3552041532583508,0.71338606911949],"aabb_xy":[[-0.19029486382902783,-1.3695077754759948],[-0.17160084866443737,-1.3409005310407067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619633943755695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/532.png","name":"532"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/532.png","name":"532"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6016.png","name":"6016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8565.png","name":"8565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5945.png","name":"5945"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":588.5779954201438,"rotation_z_degrees":129.70433003391386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013910391154515499,0.012099990374126613,-0.006761580929077481]},{"name":"camera_2","offset_m":[0.017749215430238063,-0.006278086403561782,-0.0024179030559274006]},{"name":"camera_3","offset_m":[0.00011468146580655841,0.0028550174838175603,-0.0027665696817329548]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018389549899201427,-0.0008968125015984146,0.000869806062193842],"end_effector_yaw_offset_degrees":0.4064432694245006},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004549990046891967,-0.001297486205069485,0.0017777297338758737],"end_effector_yaw_offset_degrees":-0.8894069986218989},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00011337137804343306,0.0012367178798641113,0.0016685097146066663],"end_effector_yaw_offset_degrees":0.5812931320044628}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002161881023860818,-0.0010246183288518708],"position_m":[0.35296188102386084,0.15817538167114814,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004929732716410625,0.004748613497343553],"position_m":[0.3367297327164106,-0.046551386502656444,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002285879634312642,-0.0012965084989116403],"position_m":[0.31761412036568737,0.3048034915010883,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014019704564800584,-0.002752997276906528],"position_m":[0.21169802954351996,-0.38965299727690655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f750eb3946705ce149c6dbf9baedd3d87459c836bff3b43abd9103a6f6d66bd1","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_532/tex_ceiling_textures_5945/tex_floor_textures_8565/tex_table_textures_6016/tex_wall_textures_8061","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4896259327865904111,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4896259327865904111,"visual_seed":4896259327865904111,"scene_id":"lab_003","finished_at":"2026-09-02T22:54:28"} +{"episode_id":"ep_000004","started_at":"2026-09-02T22:54:31","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.4267896098880333,-2.160665277677146,0.71338606911949],"aabb_xy":[[0.3567896077566037,-2.1834272433028414],[0.49678961201946276,-2.1379033120514497]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.20548631775479054,-2.5465184480409557,0.71338606911949],"aabb_xy":[[0.19990464612066175,-2.5590184478587314],[0.21106798938891927,-2.53401844822318]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.6637358486137226,0.1897266153042909,0.71338606911949],"aabb_xy":[[0.6374470242932819,0.16345518164963962],[0.6900246729341633,0.2159980489589421]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.44639806707750995,-1.642066051978536,0.71338606911949],"aabb_xy":[[-0.5263918906560682,-1.7220660545713777],[-0.36640424349895173,-1.5620660493856946]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.14825699644580648,0.8040382757289066,0.71338606911949],"aabb_xy":[[-0.18284807929985167,0.7390382754438756],[-0.11366591359176124,0.8690382760139377]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.4216367089175528,-0.7906455612475332,0.71338606911949],"aabb_xy":[[0.34163670675479035,-0.8706007448736768],[0.5016367110803153,-0.7106903776213895]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.62306219387428,-0.014748527180771465,0.71338606911949],"aabb_xy":[[-0.6404929089532864,-0.03202064184462227],[-0.6056314787952733,0.002523587483079346]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.26330588885471656,-2.0987963395912645,0.71338606911949],"aabb_xy":[[-0.2687638344917366,-2.1787963428989237],[-0.25784794321769644,-2.0187963362836054]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.6740679105088272,-2.5433200907339297,0.71338606911949],"aabb_xy":[[0.67062723426877,-2.547181523708294],[0.6775085867488844,-2.5394586577595653]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.5371276170632152,-2.5388176448774757,0.71338606911949],"aabb_xy":[[-0.5458415861131495,-2.561317645536663],[-0.5284136480132805,-2.5163176442182866]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.5750503164382996,1.07637175603135,0.71338606911949],"aabb_xy":[[-0.579010800208034,1.0687038914458293],[-0.5710898326685653,1.0840396206168705]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.013701697591624873,0.7517139098539736,0.71338606911949],"aabb_xy":[[-0.05120169877641766,0.747295687157913],[0.023798303593167924,0.756132132550034]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.6390062604384437,0.06967568398547996,0.71338606911949],"aabb_xy":[[0.6214595655223247,0.032175682421228716],[0.6565529553545626,0.10717568554973124]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.0940851700700186,1.2746340784416486,0.71338606911949],"aabb_xy":[[0.04398770608894499,1.2106340779318367],[0.14418263405109222,1.3386340789514604]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.07518472297526468,-1.0813676878401626,0.71338606911949],"aabb_xy":[[-0.13918472367873405,-1.1273860703130838],[-0.011184722271795346,-1.0353493053672418]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.11300286751482136,-0.9898400145596817,0.71338606911949],"aabb_xy":[[0.07550286909142101,-1.003004228527512],[0.1505028659382217,-0.9766758005918509]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.5089860157069219,-2.436080345107546,0.71338606911949],"aabb_xy":[[0.5045553863520819,-2.4415287168422286],[0.5134166450617622,-2.4306319733728636]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.3972559543274143,1.4342201402214028,0.71338606911949],"aabb_xy":[[-0.4065495725645648,1.3967201417332686],[-0.38796233609026365,1.4717201387095364]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.27721205500754087,1.7320689302449206,0.71338606911949],"aabb_xy":[[-0.3322043056430518,1.677068928501608],[-0.22221980437202993,1.7870689319882336]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.29800739453361846,0.899171390658096,0.71338606911949],"aabb_xy":[[0.29169529499728003,0.8934044514048772],[0.3043194940699569,0.9049383299113148]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.4073860558410673,0.5092350757497424,0.71338606911949],"aabb_xy":[[-0.4272770957214076,0.4965792644650455],[-0.3874950159607271,0.5218908870344392]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.47743713936361476,-1.7129843710204358,0.71338606911949],"aabb_xy":[[0.4134371420612683,-1.7573507979882923],[0.5414371366659612,-1.6686179440525788]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.11036137666792545,-1.6000649539155078,0.71338606911949],"aabb_xy":[[-0.13287506849138264,-1.6700649545165154],[-0.08784768484446827,-1.5300649533145003]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.3969451366564518,0.7117136707766649,0.71338606911949],"aabb_xy":[[-0.46194513453809966,0.660590007070124],[-0.331945138774804,0.7628373344832059]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.40313980567850904,1.3157090995281195,0.71338606911949],"aabb_xy":[[-0.4390533101034987,1.2797955913113648],[-0.3672263012535193,1.3516226077448739]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.4241720481274134,0.6280298085954827,0.71338606911949],"aabb_xy":[[0.3601720467194227,0.5762408570715579],[0.48817204953540405,0.6798187601194073]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[0.6753573110299327,-2.1157293982383165,0.71338606911949],"aabb_xy":[[0.6403573110534369,-2.125194014285933],[0.7103573110064285,-2.1062647821907]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.247817872087517,-1.4737453771507567,0.71338606911949],"aabb_xy":[[-0.28906668311743167,-1.5287453766629742],[-0.20656906105760223,-1.4187453776385393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668214787212711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7324.png","name":"7324"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7324.png","name":"7324"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/454.png","name":"454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2417.png","name":"2417"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":813.7254602324102,"rotation_z_degrees":358.24894490766565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01596303057659413,0.01577998292359681,0.01672887984206591]},{"name":"camera_2","offset_m":[-0.018175699578444504,-0.016643167455886815,0.009127505170385672]},{"name":"camera_3","offset_m":[0.015979681836652947,-0.019909778613793103,0.018139420813813773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010569174437538437,0.001360658819159719,4.286618354565645e-05],"end_effector_yaw_offset_degrees":-0.7582105683120774},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016681839284488724,4.77016859923283e-05,-0.001778239778114855],"end_effector_yaw_offset_degrees":0.47417356044734293},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005953764270774781,0.0017710875434637989,0.0013622375382675452],"end_effector_yaw_offset_degrees":0.1176259046274235}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027966605863682828,0.001761235862824788],"position_m":[0.3480033394136317,0.1609612358628248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008428937189563605,0.0018254853710794293],"position_m":[0.33264289371895633,-0.049474514628920566,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018221068940402598,0.0013342531337739317],"position_m":[0.3217221068940403,0.3074342531337739,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002234256787355237,0.00032816907966995434],"position_m":[0.2128765743212645,-0.3865718309203301,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b144bf94e43ad8194735eab5f53f9bc80161192bbd0e9ced6372612e5b077b86","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7324/tex_ceiling_textures_2417/tex_floor_textures_9930/tex_table_textures_454/tex_wall_textures_5669","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3673571435595115662,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3673571435595115662,"visual_seed":3673571435595115662,"scene_id":"lab_003","finished_at":"2026-09-02T22:57:21"} +{"episode_id":"ep_000005","started_at":"2026-09-02T22:57:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.6012783134242266,-2.3432119881943034,0.71338606911949],"aabb_xy":[[-0.6652783166428645,-2.389935100093312],[-0.5372783102055888,-2.296488876295295]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.5975697044507877,-1.9118319704499989,0.71338606911949],"aabb_xy":[[0.5631073570526457,-1.9463258528478213],[0.6320320518489293,-1.877338088052176]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.25649895601267125,-2.0333635547346764,0.71338606911949],"aabb_xy":[[0.21373224913325106,-2.097363558156479],[0.29926566289209144,-1.969363551312874]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.09158009498196029,-0.8721480532362469,0.71338606911949],"aabb_xy":[[-0.12658009417477853,-0.8831150992339094],[-0.056580095789142,-0.8611810072385842]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.5356840257998614,-0.7668309389016679,0.71338606911949],"aabb_xy":[[0.5180511902063337,-0.7844538849172908],[0.5533168613933889,-0.7492079928860449]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.2978282737506478,0.08278555300951007,0.71338606911949],"aabb_xy":[[-0.3228282733023863,0.07264306914437535],[-0.2728282741989093,0.09292803687464479]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.3451714329140109,0.8052030128147245,0.71338606911949],"aabb_xy":[[-0.3567404136609475,0.7802030126977929],[-0.33360245216707435,0.8302030129316563]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.07282705609000939,-1.925101906662766,0.71338606911949],"aabb_xy":[[-0.12282206704946143,-1.975101905698358],[-0.022832045130557355,-1.8751019076271747]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.38211375533603803,0.997565210711318,0.71338606911949],"aabb_xy":[[-0.3898169460101151,0.9898558400125799],[-0.374410564661961,1.005274581410056]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.18115427923855554,-1.7072546935324,0.71338606911949],"aabb_xy":[[-0.2451542809165529,-1.7557720850117142],[-0.11715427756055818,-1.6587373020530858]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.3954141273210085,0.463482555848878,0.71338606911949],"aabb_xy":[[-0.4329141281130039,0.4571147148906879],[-0.357914126529013,0.4698503968070681]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.449312313599709,-2.376580057828552,0.71338606911949],"aabb_xy":[[0.4118123131023507,-2.3805487413766704],[0.4868123140970672,-2.3726113742804333]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.30443277669241925,-0.8785215222471052,0.71338606911949],"aabb_xy":[[-0.31484433537290296,-0.8838672555830036],[-0.29402121801193554,-0.8731757889112066]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.5664371021250791,-2.5298157165852153,0.71338606911949],"aabb_xy":[[-0.58834578426443,-2.551716383405306],[-0.5445284199857279,-2.5079150497651246]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[0.22248948462063656,-0.6456256809990155,0.71338606911949],"aabb_xy":[[0.17260678774294036,-0.6956256802452904],[0.27237218149833275,-0.5956256817527409]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.6546388495487097,0.4864628814310037,0.71338606911949],"aabb_xy":[[0.617138849731676,0.48182467011986185],[0.6921388493657431,0.49110109274214553]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.2389956456599046,-1.3288583019568743,0.71338606911949],"aabb_xy":[[0.17399564562560188,-1.3755589786372013],[0.30399564569420734,-1.2821576252765468]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.30871868488414184,0.33479915614886835,0.71338606911949],"aabb_xy":[[-0.38871868354102784,0.32029429722460556],[-0.22871868622725583,0.34930401507313114]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.673578418075706,-1.7080370886081342,0.71338606911949],"aabb_xy":[[-0.6862052053629023,-1.7175831623097069],[-0.6609516307885096,-1.698491014906561]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.17130858852126118,0.4175983585023464,0.71338606911949],"aabb_xy":[[-0.18841066647962934,0.4004915529710766],[-0.15420651056289303,0.4347051640336161]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.17935543478903582,0.8807855211929159,0.71338606911949],"aabb_xy":[[-0.19020704103791142,0.8699262304652647],[-0.16850382854016022,0.8916448119205668]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.5247878240481227,-0.24154621463044856,0.71338606911949],"aabb_xy":[[0.4943035739210926,-0.2915462144119445],[0.5552720741751529,-0.19154621484895262]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[-0.08570211195392563,1.5271018781166856,0.71338606911949],"aabb_xy":[[-0.0911600575909457,1.4471018748090265],[-0.08024416631690556,1.6071018814243447]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.5456900169669996,0.8518683452461651,0.71338606911949],"aabb_xy":[[-0.5702362325897502,0.8216194486971279],[-0.5211438013442488,0.882117241795202]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.5004667758624992,-2.080242460642529,0.71338606911949],"aabb_xy":[[-0.5504667745084204,-2.1301620043019915],[-0.450466777216578,-2.0303229169830668]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.43519318587081246,-1.0304679738881994,0.71338606911949],"aabb_xy":[[0.4175175552822141,-1.048148190167602],[0.4528688164594108,-1.0127877576087965]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.6555027360053238,1.4472558686681958,0.71338606911949],"aabb_xy":[[-0.6730027362503731,1.429756080828629],[-0.6380027357602743,1.4647556565077626]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.5256793730826219,-1.4262696919180915,0.71338606911949],"aabb_xy":[[0.5176360131566667,-1.5112696930134581],[0.5337227330085771,-1.3412696908227253]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.19071292341853185,-1.1272364769102061,0.71338606911949],"aabb_xy":[[0.18346915737228653,-1.2072364751138085],[0.19795668946477718,-1.0472364787066037]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[0.5148524025893855,-2.4773704377104377,0.71338606911949],"aabb_xy":[[0.5107165462566854,-2.5148704371547947],[0.5189882589220858,-2.4398704382660807]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[0.3487339768718598,0.9584237743182107,0.71338606911949],"aabb_xy":[[0.2847339764943262,0.9086785074673984],[0.4127339772493934,1.008169041169023]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[-0.029764591387012374,-0.9942540930078219,0.71338606911949],"aabb_xy":[[-0.05226459189905297,-1.01674595137322],[-0.0072645908749717734,-0.9717622346424234]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_32","position":[0.5668375408573503,-2.2558323611369144,0.71338606911949],"aabb_xy":[[0.553686294886061,-2.280832360893601],[0.5799887868286397,-2.230832361380228]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669857286698976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1275.png","name":"1275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1275.png","name":"1275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2790.png","name":"2790"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9123.png","name":"9123"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.1547445154329,"rotation_z_degrees":292.9392537118051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007271181632634672,0.018119548284669235,0.01567783614643384]},{"name":"camera_2","offset_m":[-0.017775878601962614,-0.011090105024980916,-0.017301101852313337]},{"name":"camera_3","offset_m":[0.01632564553745371,-0.002208117754519033,-0.016131512428454266]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016753366901007464,-0.0008275718631260416,0.0013368717121795587],"end_effector_yaw_offset_degrees":0.6400948124184085},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017769654757990687,-0.0013481896944624798,-0.0016888304300033878],"end_effector_yaw_offset_degrees":-0.8862856549783986},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009611833690166213,0.00042517494806442943,0.0018332371253902834],"end_effector_yaw_offset_degrees":-0.9294939992459161}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016829350956661503,0.0027715994155144827],"position_m":[0.34911706490433386,0.16197159941551448,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031602378645332963,0.0032575580395937725],"position_m":[0.3286397621354667,-0.048042441960406225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011309325407283313,0.0030154903061365727],"position_m":[0.32103093254072834,0.30911549030613655,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003971694682716486,0.0033284435257081883],"position_m":[0.2170716946827165,-0.3835715564742918,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"30626096e8ed5c089a8f96eea7c10b6d20d304c5ac6df1875677ed8242de9e9a","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1275/tex_ceiling_textures_9123/tex_floor_textures_4196/tex_table_textures_7291/tex_wall_textures_2790","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4712585673000951076,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4712585673000951076,"visual_seed":4712585673000951076,"scene_id":"lab_003","finished_at":"2026-09-02T22:59:57"} +{"episode_id":"ep_000006","started_at":"2026-09-02T23:01:23","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.23364429298995448,-1.785333881410332,0.71338606911949],"aabb_xy":[[0.22733219345361605,-1.7911008206635508],[0.23995639252629292,-1.779566942157113]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.08734742949912022,1.3493539068391436,0.71338606911949],"aabb_xy":[[0.037347428479984936,1.3128876911013159],[0.1373474305182555,1.3858201225769717]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[0.24310618738371914,-0.9176569185133598,0.71338606911949],"aabb_xy":[[0.19310618873779792,-0.9675764621728222],[0.29310618602964034,-0.8677373748538975]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.4402286252568453,-0.649757864621014,0.71338606911949],"aabb_xy":[[-0.44486374040907867,-0.6536251996981626],[-0.43559351010461184,-0.6458905295438653]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.5980275289190515,-1.5013833938652117,0.71338606911949],"aabb_xy":[[0.5180275286454444,-1.5743329416909282],[0.6780275291926584,-1.4284338460394947]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.4866942763465298,-1.4221148501748606,0.71338606911949],"aabb_xy":[[-0.5041249914255361,-1.4393869648387112],[-0.46926356126752317,-1.4048427355110096]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.2883746694598186,-2.0485067840001476,0.71338606911949],"aabb_xy":[[0.2383753942913825,-2.0985067852760952],[0.3383739446282548,-1.998506782724201]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.06973767168488154,1.65579410767945,0.71338606911949],"aabb_xy":[[-0.10723767286967432,1.6513758849833893],[-0.03223767050008874,1.6602123303755103]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.6998581416266458,1.4684028150547994,0.71338606911949],"aabb_xy":[[0.6938211286259812,1.4623761139858515],[0.7058951546273107,1.4744295161237477]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.5981088960163863,-2.2740404575113216,0.71338606911949],"aabb_xy":[[0.5331088950158858,-2.324826822665996],[0.6631088970168868,-2.223254092356646]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.4295427189673644,-1.0660263594931882,0.71338606911949],"aabb_xy":[[-0.45312784243125925,-1.1310263617386203],[-0.40595759550346955,-1.0010263572477567]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.5457281703219612,-2.4332916431933764,0.71338606911949],"aabb_xy":[[0.48572816867903923,-2.4852917924853206],[0.6057281719648829,-2.3812914939014322]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.2602652488470044,1.2479148254002856,0.71338606911949],"aabb_xy":[[-0.31023831437951993,1.1979148255877528],[-0.210292183314489,1.2979148252128185]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.014012619121349879,-2.5135102647102356,0.71338606911949],"aabb_xy":[[-0.03901261839331215,-2.529855628306398],[0.010987380150612399,-2.4971649011140733]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.6551901113762123,-1.3007808187020773,0.71338606911949],"aabb_xy":[[-0.6926901121682078,-1.3071486596602673],[-0.6176901105842169,-1.2944129777438869]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.0031772941615092476,1.1093353649207538,0.71338606911949],"aabb_xy":[[-0.02010454803662209,1.0243353636235257],[0.026459136359640586,1.1943353662179819]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.14659207441872768,-1.2707157951785728,0.71338606911949],"aabb_xy":[[-0.16665048603196797,-1.2907808820877302],[-0.1265336628054874,-1.2506507082694154]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.4868128153209086,0.19039508835815777,0.71338606911949],"aabb_xy":[[-0.5087025629098494,0.10039509106890863],[-0.4649230677319678,0.28039508564740684]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.06417403938762478,-0.08797661061611084,0.71338606911949],"aabb_xy":[[-0.08667403891133217,-0.11047255806673162],[-0.04167403986391737,-0.06548066316549006]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[0.011492678180924476,-0.632148531524789,0.71338606911949],"aabb_xy":[[-0.00315072737310851,-0.6468072511815731],[0.02613608373495746,-0.6174898118680047]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.09699398343286969,-0.4167466347596176,0.71338606911949],"aabb_xy":[[-0.14307907468760117,-0.4807466320121727],[-0.05090889217813822,-0.3527466375070625]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.4368587716632335,-1.0739335143639608,0.71338606911949],"aabb_xy":[[0.3568587730063475,-1.0884383732882235],[0.5168587703201195,-1.059428655439698]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.5780902153758383,-1.6570497866087397,0.71338606911949],"aabb_xy":[[0.55559021536569,-1.671146006248343],[0.6005902153859866,-1.6429535669691364]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.1137195153054148,-1.128879482697296,0.71338606911949],"aabb_xy":[[0.049719513393072456,-1.1847906319553065],[0.17771951721775714,-1.0729683334392857]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.7020707769031178,-0.6406418375591039,0.71338606911949],"aabb_xy":[[0.6948270108568724,-0.7206418357627062],[0.709314542949363,-0.5606418393555015]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.33294463824897647,-1.7263248035108978,0.71338606911949],"aabb_xy":[[0.32416341110174024,-1.7351045507994283],[0.3417258653962127,-1.7175450562223677]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.5462614694801127,-2.13578285076925,0.71338606911949],"aabb_xy":[[-0.5675394776235848,-2.200782853095323],[-0.5249834613366403,-2.070782848443177]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.13709914165528736,0.8610103705309489,0.71338606911949],"aabb_xy":[[0.10263666364219956,0.8543466933480259],[0.1715616196683751,0.8676740477138716]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[0.45713268229698745,0.3134283094011572,0.71338606911949],"aabb_xy":[[0.3931326820230092,0.2633622092038692],[0.5211326825709657,0.36349440959844515]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.5539421076404807,1.6584370754071016,0.71338606911949],"aabb_xy":[[0.48394210500389423,1.638332210411236],[0.6239421102770669,1.678541940402967]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_30","position":[0.09338818845205121,-1.823252616702621,0.71338606911949],"aabb_xy":[[0.043388188875716494,-1.8732331956547275],[0.14338818802838593,-1.7732720377505156]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[-0.16758964603665416,-1.125624965344843,0.71338606911949],"aabb_xy":[[-0.1975813087705245,-1.1556249646816434],[-0.13759798330278383,-1.0956249660080424]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_32","position":[-0.3386035529515428,-1.2090337135561842,0.71338606911949],"aabb_xy":[[-0.37360355284756164,-1.217407949068124],[-0.3036035530555239,-1.2006594780442439]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_33","position":[0.5975947676315398,-0.5490627287755965,0.71338606911949],"aabb_xy":[[0.5903335200611325,-0.561849739039106],[0.6048560152019474,-0.536275718512087]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_34","position":[-0.29407834693681373,-0.6696723362919408,0.71338606911949],"aabb_xy":[[-0.3840783492708328,-0.7471546908770534],[-0.20407834460279467,-0.5921899817068281]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6649613899890955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/383.png","name":"383"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/383.png","name":"383"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7594.png","name":"7594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":725.075899046916,"rotation_z_degrees":341.82088968761803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0162642473697447,0.017625563068795456,-0.019968654095872364]},{"name":"camera_2","offset_m":[0.008459289709622692,0.017110052164335105,0.008710177833908973]},{"name":"camera_3","offset_m":[0.0033247528055443537,0.0078091279057822816,-0.008971428563142819]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001250150409987535,0.0017464498280887844,-0.0018340701296741732],"end_effector_yaw_offset_degrees":0.43070880387279287},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001740317477132236,-0.00013439443111700465,-0.0016648375987205616],"end_effector_yaw_offset_degrees":-0.8514325511451433},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00020188865282073183,-0.0008580420865854049,-0.0013622874084792723],"end_effector_yaw_offset_degrees":-0.765674505306734}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004498035278213656,-0.002708447036287416],"position_m":[0.34630196472178637,0.1564915529637126,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002520687278430079,0.0027287066788995616],"position_m":[0.33432068727843006,-0.04857129332110044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008880428802505733,-0.0009064124379133268],"position_m":[0.3207880428802506,0.30519358756208664,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027133807291737535,0.0017622250527033175],"position_m":[0.21038661927082625,-0.38513777494729673,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93186f1eeeda4037e24bc2a421eac7ee592b36662205117534c60e7f04fe3796","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_383/tex_ceiling_textures_3388/tex_floor_textures_5679/tex_table_textures_167/tex_wall_textures_7594","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":501647342736976432,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":501647342736976432,"visual_seed":501647342736976432,"scene_id":"lab_003","finished_at":"2026-09-02T23:03:50"} +{"episode_id":"ep_000007","started_at":"2026-09-02T23:03:54","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.6466339726320298,-1.7092278226184239,0.71338606911949],"aabb_xy":[[0.6385976379307449,-1.7172659419228404],[0.6546703073333145,-1.7011897033140069]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.007355848939915366,1.5060401059418642,0.71338606911949],"aabb_xy":[[-0.027106498458226432,1.471546223544041],[0.04181819633805716,1.5405339883396865]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.5808609556506765,-1.0185804817469946,0.71338606911949],"aabb_xy":[[0.5743593191426719,-1.0283483037733043],[0.5873625921586811,-1.0088126597206848]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.4678625454948817,-0.44198026743519003,0.71338606911949],"aabb_xy":[[-0.5328625440519545,-0.47173280084907265],[-0.4028625469378088,-0.4122277340213074]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.5338409793867598,-0.8294812726235878,0.71338606911949],"aabb_xy":[[0.522935203299197,-0.9094812690224171],[0.5447467554743224,-0.7494812762247588]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.1794359922538291,1.3715537489355563,0.71338606911949],"aabb_xy":[[-0.25943599551784224,1.357993716626643],[-0.09943598898981601,1.3851137812444696]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.40927506404149844,-1.807938193080868,0.71338606911949],"aabb_xy":[[-0.42690789963502596,-1.825561139096491],[-0.3916422284479708,-1.790315247065245]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[-0.09331958905010485,-1.062017896633504,0.71338606911949],"aabb_xy":[[-0.11081958929515423,-1.0795176844730707],[-0.07581958880505546,-1.044518108793937]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.210758556080771,-1.03551148459603,0.71338606911949],"aabb_xy":[[0.205914961319541,-1.0403631370750144],[0.21560215084200096,-1.0306598321170461]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.6019395883138733,-0.805593684113546,0.71338606911949],"aabb_xy":[[-0.6519126538463887,-0.8555936839260792],[-0.5519665227813578,-0.7555936843010134]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.4499697659772661,1.6722727803269328,0.71338606911949],"aabb_xy":[[-0.5139697652714343,1.6082866399580786],[-0.38596976668309796,1.736258920695787]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.2752614042316506,1.3522327395275884,0.71338606911949],"aabb_xy":[[0.2402614028801688,1.3318730035707673],[0.31026140558313225,1.372592475484409]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.14883163562170654,1.7195121493031889,0.71338606911949],"aabb_xy":[[-0.19881044413202242,1.6695121492974698],[-0.09885282711139065,1.7695121493089074]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[0.12123570062641698,-1.8933163921405871,0.71338606911949],"aabb_xy":[[0.09339066384580987,-1.924100890878899],[0.1490807374070241,-1.8625318934022757]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.6118245519200967,-0.4819870043879968,0.71338606911949],"aabb_xy":[[-0.636824551471835,-0.4921294882531315],[-0.5868245523683581,-0.4718445205228621]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.02002363180554445,0.6268115542381398,0.71338606911949],"aabb_xy":[[0.01039199558511483,0.6171742414584308],[0.029655268025974065,0.6364488670178486]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.5054725881384741,1.0451508883132843,0.71338606911949],"aabb_xy":[[-0.5553552850161703,0.9951508890670095],[-0.45558989126077787,1.095150887559559]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.4782778150311544,-1.8214241486115046,0.71338606911949],"aabb_xy":[[0.46742620878227886,-1.8322834393391558],[0.48912942128003006,-1.8105648578838538]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.10503120356438744,-1.8508134584834455,0.71338606911949],"aabb_xy":[[-0.16002345419989839,-1.9058134602267585],[-0.0500389529288765,-1.795813456740133]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.16690085732305193,-0.5656146999817011,0.71338606911949],"aabb_xy":[[-0.21699832130412555,-0.6296147004915128],[-0.11680339334197831,-0.5016146994718892]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.46044681214819505,0.6481915147452919,0.71338606911949],"aabb_xy":[[0.3964468088584869,0.6048565957413742],[0.5244468154379031,0.6915264337492094]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.4481384939089318,1.269137606068989,0.71338606911949],"aabb_xy":[[-0.452274350241632,1.231637606624632],[-0.4440026375762316,1.306637605513346]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.3322808126658301,-2.191938520073811,0.71338606911949],"aabb_xy":[[0.2947808140902093,-2.2046748157373686],[0.3697808112414509,-2.1792022244102527]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.15326804788815707,0.020549058361719386,0.71338606911949],"aabb_xy":[[-0.17076798132214044,0.0030490584414848386],[-0.1357681144541737,0.03804905828195393]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.2157098999971817,0.8385430877675919,0.71338606911949],"aabb_xy":[[0.2022633733631384,0.8250732361145006],[0.22915642663122507,0.852012939420683]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.23747891548988198,0.4632837350953003,0.71338606911949],"aabb_xy":[[-0.2709580827509229,0.4298046217241933],[-0.20399974822884107,0.4967628484664073]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_26","position":[-0.4283716759730121,-1.058347242974708,0.71338606911949],"aabb_xy":[[-0.43300679112524554,-1.0622145780518564],[-0.4237365608207787,-1.0544799078975593]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.043466378615914625,1.1117811574925685,0.71338606911949],"aabb_xy":[[-0.07846637780873289,1.1008141114949057],[-0.008466379423096353,1.1227482034902307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642366534650515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7120.png","name":"7120"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7120.png","name":"7120"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7543.png","name":"7543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3435.png","name":"3435"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3482.png","name":"3482"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.4452595548621,"rotation_z_degrees":180.1845491199114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012665553532487023,0.01662209779904199,0.005854865626238926]},{"name":"camera_2","offset_m":[-0.003792263006623036,-0.014930353797177585,-0.0019086105624123821]},{"name":"camera_3","offset_m":[0.010576206291803864,-0.005755542313021764,0.0074849717459421865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013634231818403088,-0.0008987250683124058,0.0005273330789431307],"end_effector_yaw_offset_degrees":-0.35324756621628794},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004926605198308748,-0.0010799723214463398,-0.001713586884845118],"end_effector_yaw_offset_degrees":0.4416591338338376},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001377219253122452,-0.00074889355019382,-0.0014366709675448846],"end_effector_yaw_offset_degrees":-0.8911197806285225}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006134176040994118,0.0014288578623885516],"position_m":[0.3501865823959006,0.16062885786238856,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003824726285056577,0.00024880432393652],"position_m":[0.3279752737149434,-0.05105119567606348,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002001219827287244,-0.004664658554114206],"position_m":[0.32190121982728725,0.3014353414458858,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004713570988372261,0.0018112151067424921],"position_m":[0.20838642901162774,-0.38508878489325754,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"31635c3164bb3b9d9d7a9cf4eff3d0cff06becaf01ca8138cd99c076a42a93dd","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0012.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7120/tex_ceiling_textures_3482/tex_floor_textures_3435/tex_table_textures_7716/tex_wall_textures_7543","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4251808428323235307,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4251808428323235307,"visual_seed":4251808428323235307,"scene_id":"lab_003","finished_at":"2026-09-02T23:06:32"} +{"episode_id":"ep_000008","started_at":"2026-09-02T23:10:51","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.39163369324555003,0.33854480632298545,0.71338606911949],"aabb_xy":[[-0.399659963876176,0.3297933113456329],[-0.38360742261492403,0.3472963013003381]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.035180312364278876,-1.2426729701981816,0.71338606911949],"aabb_xy":[[-0.04481968622304054,-1.3219885721363425],[0.11518031095159831,-1.1633573682600207]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.05483355308365523,-2.411671770291383,0.71338606911949],"aabb_xy":[[-0.009166449136751804,-2.456044854416671],[0.11883355530406225,-2.3672986861660945]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.18673158074020768,1.4399704177394113,0.71338606911949],"aabb_xy":[[-0.22352621386511395,1.403064542642829],[-0.1499369476153014,1.4768762928359935]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.457922607596147,-1.842933817520649,0.71338606911949],"aabb_xy":[[-0.46662056988686235,-1.855058791828124],[-0.44922464530543177,-1.8308088432131746]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.13611475207903634,1.657706906546943,0.71338606911949],"aabb_xy":[[0.12733352493180014,1.648927159258413],[0.1448959792262726,1.6664866538354735]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.3071033259706124,0.5067140799839289,0.71338606911949],"aabb_xy":[[0.2835182025067176,0.44171407773849714],[0.3306884494345073,0.5717140822293607]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.6369123770743081,-1.0029276165708298,0.71338606911949],"aabb_xy":[[0.621356607664043,-1.018478049815237],[0.6524681464845735,-0.9873771833264227]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.2883868045346546,-0.8041076548425758,0.71338606911949],"aabb_xy":[[0.26710879639118235,-0.8691076571686488],[0.30966481267812684,-0.7391076525165027]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.4844813806802889,-0.7265080874949599,0.71338606911949],"aabb_xy":[[-0.5194813798102444,-0.7322533085706239],[-0.4494813815503332,-0.7207628664192957]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.37268325775891903,-0.19369464888746624,0.71338606911949],"aabb_xy":[[-0.4426832603955054,-0.2137995138833317],[-0.3026832551223327,-0.1735897838916007]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.5222221005417806,0.25580032593084123,0.71338606911949],"aabb_xy":[[0.5047221002967311,0.23830053809127436],[0.5397221007868299,0.273300113770408]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.26813227809338164,0.45808693512604437,0.71338606911949],"aabb_xy":[[-0.3297230373173745,0.39408693701699754],[-0.20654151886938887,0.5220869332350913]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.4082998181193389,1.0977778688822695,0.71338606911949],"aabb_xy":[[0.38580068239311194,1.0752778681040065],[0.4307989538455659,1.1202778696605324]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.4053412108627885,0.8192504154850928,0.71338606911949],"aabb_xy":[[-0.44034121075880733,0.8108761799731529],[-0.3703412109667696,0.8276246509970328]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.5790957474316469,1.0169716393275898,0.71338606911949],"aabb_xy":[[0.5746651180768069,1.0115232675929076],[0.5835263767864872,1.0224200110622725]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.4313629644657226,1.565095372247114,0.71338606911949],"aabb_xy":[[-0.46886296496308083,1.5611266886989954],[-0.39386296396836434,1.5690640557952324]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.2535980445646613,-1.5856990910528286,0.71338606911949],"aabb_xy":[[0.17359804130681833,-1.6656955988448128],[0.33359804782250424,-1.5057025832608448]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.27845136805608545,-2.360457268733557,0.71338606911949],"aabb_xy":[[-0.30629640483669257,-2.3912417674718687],[-0.2506063312754783,-2.3296727699952453]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.03973175980937427,-1.8087581545583578,0.71338606911949],"aabb_xy":[[0.017559232832723436,-1.8309338217144806],[0.06190428678602511,-1.7865824874022345]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.06491986811692652,1.753648737823617,0.71338606911949],"aabb_xy":[[0.034521757017782935,1.7232418358219472],[0.0953179792160701,1.7840556398252863]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.5107511785668637,-0.9297362876844593,0.71338606911949],"aabb_xy":[[0.4407511769645842,-0.9431690808861168],[0.5807511801691432,-0.9163034944828017]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.11465415219898678,0.13877089256197062,0.71338606911949],"aabb_xy":[[-0.1519854287242294,0.1041178377671183],[-0.07732287567374416,0.17342394735682293]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.2349393794962552,1.0886080004212957,0.71338606911949],"aabb_xy":[[0.17493937785333338,1.0366078511293515],[0.29493938113917706,1.1406081497132399]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[-0.2635139584362173,0.8375119637837325,0.71338606911949],"aabb_xy":[[-0.27815736399025026,0.822853244126948],[-0.2488705528821843,0.8521706834405165]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.1984248375257447,-1.1725177429618328,0.71338606911949],"aabb_xy":[[0.18971086847581017,-1.1950177436210208],[0.20713880657567915,-1.1500177423026443]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[0.46741707273479594,0.8661819490554001,0.71338606911949],"aabb_xy":[[0.4034170754324495,0.8218155220875433],[0.5314170700371423,0.9105483760232568]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[0.3721533951340472,-1.1422979626139094,0.71338606911949],"aabb_xy":[[0.34166914500701706,-1.1922979623954053],[0.40263764526107737,-1.0922979628324134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646828112349941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/359.png","name":"359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1493.png","name":"1493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1869.png","name":"1869"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":615.8614181300082,"rotation_z_degrees":240.41630070536948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018074967306234934,-0.01141651230961196,0.009114357853140753]},{"name":"camera_2","offset_m":[-0.015071713185566936,-0.012476729369193924,-0.018145028219960495]},{"name":"camera_3","offset_m":[-0.018153581401557185,-0.015156790899310093,-0.0017332291038865098]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011789384973496207,-0.0004034546299224902,-0.0019216919272486246],"end_effector_yaw_offset_degrees":0.18899266870337983},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00044001847704035896,-0.0018299541188840124,0.0005592924043775287],"end_effector_yaw_offset_degrees":0.61785696705282},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00045834206452796114,0.0010120854956519976,-0.0008083340607969922],"end_effector_yaw_offset_degrees":-0.15760290551519107}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007103577774243185,0.002819281611547154],"position_m":[0.35151035777742434,0.16201928161154716,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022514557032466452,-0.00025319047433263863],"position_m":[0.3340514557032466,-0.051553190474332634,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00011831978173313176,0.00043025393071839495],"position_m":[0.31978168021826686,0.30653025393071837,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008848790363057083,-0.0036016959600057045],"position_m":[0.2122151209636943,-0.3905016959600057,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b1f0b2c3ba3cf5c80022b18bbe492abf84a749d50882f65b46cffae76938ad3c","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_332/tex_ceiling_textures_1869/tex_floor_textures_1493/tex_table_textures_359/tex_wall_textures_2707","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3816848601832227259,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3816848601832227259,"visual_seed":3816848601832227259,"scene_id":"lab_003","finished_at":"2026-09-02T23:13:22"} +{"episode_id":"ep_000009","started_at":"2026-09-02T23:19:21","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.3586967106723967,-1.5615781482831768,0.71338606911949],"aabb_xy":[[-0.40868982278158866,-1.6115781489573726],[-0.30870359856320484,-1.5115781476089813]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.4353969102376396,-0.49215073803764975,0.71338606911949],"aabb_xy":[[0.3753969099862384,-0.5464320630741144],[0.4953969104890408,-0.43786941300118504]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.4217378517430765,0.6529843584715325,0.71338606911949],"aabb_xy":[[-0.4718353157241501,0.5889843579617207],[-0.37164038776200287,0.7169843589813443]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.21729114385988169,-2.2846623673263506,0.71338606911949],"aabb_xy":[[-0.23420187629622344,-2.2981345729189653],[-0.20038041142353988,-2.271190161733736]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.36085077801316934,0.502268483124408,0.71338606911949],"aabb_xy":[[-0.4248507813028774,0.4589335641204904],[-0.29685077472346116,0.5456034021283256]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.19720709533164094,-0.9929452986032241,0.71338606911949],"aabb_xy":[[0.19329322213621838,-1.001694314009781],[0.20112096852706343,-0.9841962831966673]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.497136795701357,-1.1442257210970015,0.71338606911949],"aabb_xy":[[-0.5471360708697932,-1.1942257223729489],[-0.4471375205329209,-1.0942257198210545]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.44916187593198775,0.9801175224725553,0.71338606911949],"aabb_xy":[[-0.46666180936597107,0.9626175225523208],[-0.4316619424980043,0.9976175223927899]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.4949392191906201,-0.9382315849562,0.71338606911949],"aabb_xy":[[0.4590257147656304,-0.9741450931729545],[0.5308527236156098,-0.9023180767394452]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.23068744972744587,-1.0390916887311281,0.71338606911949],"aabb_xy":[[-0.258532486508053,-1.06987618746944],[-0.20284241294683875,-1.0083071899928167]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.6512597863385008,-0.6672745688525952,0.71338606911949],"aabb_xy":[[0.5862597853380002,-0.7180609340072702],[0.7162597873390012,-0.6164882036979203]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.5596168043637326,-1.9712621087934328,0.71338606911949],"aabb_xy":[[0.5421168052293653,-1.9811417358310204],[0.5771168034980997,-1.9613824817558447]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.6037678630625121,-1.8851896405453243,0.71338606911949],"aabb_xy":[[-0.6687678630968148,-1.9318903172256514],[-0.5387678630282093,-1.8384889638649968]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.014222900964599106,-1.8767532409911039,0.71338606911949],"aabb_xy":[[-0.07822290013436904,-1.9235199281100663],[0.04977709820517084,-1.8299865538721414]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.16149369663832458,-0.16576778423068816,0.71338606911949],"aabb_xy":[[-0.19899369782311735,-0.17018600692674868],[-0.12399369545353177,-0.1613495615346276]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.4231205057901217,-1.8736659345477398,0.71338606911949],"aabb_xy":[[0.4151265172124183,-1.88166601464283],[0.43111449436782506,-1.8656658544526492]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.2426331456027399,1.66053926075887,0.71338606911949],"aabb_xy":[[-0.30663314203006187,1.6133696369367738],[-0.17863314917541803,1.7077088845809667]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.12721471596839895,0.9359011608154311,0.71338606911949],"aabb_xy":[[0.12163304433427018,0.9234011609976556],[0.13279638760252768,0.9484011606332066]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.4460838532011104,-2.055518643244881,0.71338606911949],"aabb_xy":[[-0.45795593621261155,-2.140518642938532],[-0.4342117701896093,-1.9705186435512312]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.13602326522912367,-0.5928657684543543,0.71338606911949],"aabb_xy":[[0.11102326567738519,-0.603008252319489],[0.16102326478086215,-0.5827232845892195]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.051866365395751846,1.0167073803599642,0.71338606911949],"aabb_xy":[[0.014366365290158887,1.0098852185069829],[0.08936636550134479,1.0235295422129451]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614811863879786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4046.png","name":"4046"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3410.png","name":"3410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":513.0806637759647,"rotation_z_degrees":232.97626485602166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016675655775329055,-0.005991123654983612,0.012191610965862642]},{"name":"camera_2","offset_m":[-0.007044229950046721,-0.006448410726870751,0.011970029273502016]},{"name":"camera_3","offset_m":[0.009627713901932095,-0.012999080406802671,-0.008382093524449265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014622102775146439,-0.0009979487833191932,-0.0014180454367945109],"end_effector_yaw_offset_degrees":0.19876647235989364},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019331592155797297,-0.00023449768407705213,4.611855225280202e-05],"end_effector_yaw_offset_degrees":0.7984008242438021},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005815898296586412,0.0004518257377992426,0.00034021245532173724],"end_effector_yaw_offset_degrees":0.7684211922469508}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049715155916650565,-0.0018796218090216523],"position_m":[0.34582848440833497,0.15732037819097835,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015266796100273919,0.00449506283132575],"position_m":[0.3333266796100274,-0.046804937168674246,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042884561780993135,0.0006852830237857477],"position_m":[0.3156115438219007,0.3067852830237857,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021929920498844502,-0.0035173734534445942],"position_m":[0.21090700795011555,-0.3904173734534446,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"256d8b77b87fdd00d27d0017a4f207a1b87d4dca9a992df17896d7260608c2c6","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_242/tex_ceiling_textures_4212/tex_floor_textures_1124/tex_table_textures_4046/tex_wall_textures_3410","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6201102179603829887,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6201102179603829887,"visual_seed":6201102179603829887,"scene_id":"lab_003","finished_at":"2026-09-02T23:21:58"} +{"episode_id":"ep_000010","started_at":"2026-09-02T23:23:28","dimensions":{"distractor":{"count":26,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.5523318572105194,-1.8913646258156307,0.71338606911949],"aabb_xy":[[-0.5595756232567647,-1.9713646240192328],[-0.545088091164274,-1.811364627612028]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[0.22845960172561397,-1.4512645448760915,0.71338606911949],"aabb_xy":[[0.1941626907078733,-1.4855614310860328],[0.26275651274335454,-1.4169676586661502]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.028086675628929414,-1.9043453293903125,0.71338606911949],"aabb_xy":[[-0.044997408065271194,-1.9178175349829272],[-0.011175943192587636,-1.890873123797698]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[-0.6356257901392443,-1.3612621980132793,0.71338606911949],"aabb_xy":[[-0.6694013493299372,-1.3753006932264444],[-0.6018502309485513,-1.3472237028001142]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.02598081173474731,-0.9234686590949672,0.71338606911949],"aabb_xy":[[0.015075035647184595,-1.0034686554937964],[0.036886587822310024,-0.843468662696138]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.5644034193944683,-1.5793124268984384,0.71338606911949],"aabb_xy":[[0.5567002287203912,-1.587021797597176],[0.5721066100685451,-1.5716030561997003]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.39559049824072035,-0.3176009104643924,0.71338606911949],"aabb_xy":[[0.35873995030373274,-0.35510091128742616],[0.43244104617770796,-0.2801009096413587]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.1329759667718955,1.418752960688296,0.71338606911949],"aabb_xy":[[-0.19697596899230255,1.3743798765630078],[-0.0689759645514885,1.4631260448135843]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.4753071265296014,1.249437811849663,0.71338606911949],"aabb_xy":[[-0.4978208183530586,1.1794378112486554],[-0.4527934347061442,1.3194378124506705]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.4433838835409274,0.8345376377752212,0.71338606911949],"aabb_xy":[[0.42427157618294853,0.8154028588979793],[0.46249619089890626,0.8536724166524633]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.4746246935808831,-1.9817751750052295,0.71338606911949],"aabb_xy":[[0.45712469332154654,-1.9958667171940023],[0.4921246938402198,-1.967683632816457]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.17299088014855757,0.7051635381349595,0.71338606911949],"aabb_xy":[[-0.2104908785719579,0.6919993241671287],[-0.1354908817251572,0.71832775210279]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[-0.5588051509618132,0.7753860579836775,0.71338606911949],"aabb_xy":[[-0.6087784449650735,0.7253860574291301],[-0.5088318569585526,0.8253860585382248]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.6185552197811328,-0.9627865512847376,0.71338606911949],"aabb_xy":[[0.6039118142270996,-0.9774452709415217],[0.6331986253351656,-0.9481278316279532]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[-0.29665186857702835,-2.3898495422319797,0.71338606911949],"aabb_xy":[[-0.3516518677536178,-2.4448392170069373],[-0.2416518694004388,-2.334859867457022]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.06909822915056629,-0.5791406824738154,0.71338606911949],"aabb_xy":[[-0.07513524215123103,-0.5851673835427637],[-0.06306121614990158,-0.5731139814048672]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[0.514767640963028,1.778426286992485,0.71338606911949],"aabb_xy":[[0.5101325258107945,1.774558951915336],[0.5194027561152612,1.7822936220696335]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[0.5343855228368324,-1.3202395744034767,0.71338606911949],"aabb_xy":[[0.4743855225854312,-1.3745208994399414],[0.5943855230882336,-1.265958249367012]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.11225228906896845,-1.3981036902779524,0.71338606911949],"aabb_xy":[[-0.1293543670273366,-1.4152104958092224],[-0.0951502111106003,-1.380996884746683]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.11651648327820285,-1.6700495262317934,0.71338606911949],"aabb_xy":[[-0.1540164833837958,-1.6768716880847743],[-0.0790164831726099,-1.663227364378812]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.20038125714742427,1.1278800780519402,0.71338606911949],"aabb_xy":[[0.11069418083930882,1.03788007779749],[0.29006833345553973,1.217880078306391]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.1315553385856988,-2.4972387541264696,0.71338606911949],"aabb_xy":[[-0.14402269669543444,-2.509704078759793],[-0.11908798047596314,-2.484773429493146]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.289618309174527,-1.0590009269544958,0.71338606911949],"aabb_xy":[[0.2855023590624543,-1.063116481987341],[0.29373425928659963,-1.05488537192165]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.36955783238131734,-1.2936844132507597,0.71338606911949],"aabb_xy":[[-0.40705783304589604,-1.3093714712509816],[-0.33205783171673864,-1.2779973552505373]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.5959523510693169,0.3459575150468952,0.71338606911949],"aabb_xy":[[-0.6559523527122387,0.29395736575495107],[-0.535952349426395,0.39795766433883945]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.5977141179431542,-0.2825384713166339,0.71338606911949],"aabb_xy":[[0.5801674230270353,-0.32003847288088516],[0.6152608128592731,-0.24503846975238264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636780694943364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8328.png","name":"8328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8328.png","name":"8328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9251.png","name":"9251"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3896.png","name":"3896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/256.png","name":"256"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":687.4948651890797,"rotation_z_degrees":298.3240561309993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007771474077171105,0.014464937346516379,-0.007069751071585983]},{"name":"camera_2","offset_m":[0.01584601579765953,-0.002692791744995572,-0.018290808598753597]},{"name":"camera_3","offset_m":[-0.005532095080034317,0.009468650278434906,0.001489352702292078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017095946853247896,-0.0010390319048001499,0.0016268716959386277],"end_effector_yaw_offset_degrees":0.8926322600692929},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00023067461602078554,0.000944943221708989,0.0008965847115361596],"end_effector_yaw_offset_degrees":-0.3241238729918725},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001708579540914986,-0.0009093050075326273,-0.001690270670755622],"end_effector_yaw_offset_degrees":-0.02848021530682443}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028107128479807277,-0.004194689986657605],"position_m":[0.34798928715201927,0.1550053100133424,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000494851380575311,0.0024116320414906975],"position_m":[0.3322948513805753,-0.0488883679585093,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001898515297696051,0.0016707284627181128],"position_m":[0.318001484702304,0.3077707284627181,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006371512109875086,0.0005926311876152711],"position_m":[0.2124628487890125,-0.38630736881238475,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ff64425a85ad923b23f7559c717cf378620f1c7f8fef0d9b8b1fad4f5711e328","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8328/tex_ceiling_textures_256/tex_floor_textures_6649/tex_table_textures_9251/tex_wall_textures_3896","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6503209113729868533,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6503209113729868533,"visual_seed":6503209113729868533,"scene_id":"lab_003","finished_at":"2026-09-02T23:26:08"} +{"episode_id":"ep_000011","started_at":"2026-09-02T23:26:13","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.5480837798038359,-0.13576109185046814,0.71338606911949],"aabb_xy":[[-0.586629472629037,-0.1743068629066568],[-0.5095380869786349,-0.09721532079427948]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.5881815603872699,-0.9236856813912617,0.71338606911949],"aabb_xy":[[-0.6521815624370019,-0.9637801644805698],[-0.5241815583375379,-0.8835911983019539]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.26333707794935335,1.7479583491744957,0.71338606911949],"aabb_xy":[[0.22887473055121146,1.7134644667766725],[0.29779942534749504,1.782452231572318]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.2292685695766204,-0.3999462784522523,0.71338606911949],"aabb_xy":[[-0.2932685712546177,-0.44846366993156644],[-0.16526856789862301,-0.351428886972938]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.16994847691402604,-1.9003403822193445,0.71338606911949],"aabb_xy":[[-0.23394848020373415,-1.943675301223262],[-0.10594847362431793,-1.8570054632154267]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.19209858709787364,0.7969757497539924,0.71338606911949],"aabb_xy":[[-0.22324550594145676,0.7269757510671853],[-0.16095166825429053,0.8669757484407996]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.32827803212801876,0.8242335253115085,0.71338606911949],"aabb_xy":[[0.2706475632407479,0.7642335263847977],[0.38590850101528956,0.8842335242382189]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.19525310985867983,-2.001543864393531,0.71338606911949],"aabb_xy":[[-0.19933126776572957,-2.005624844641794],[-0.1911749519516301,-1.9974628841452675]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.08280488058257662,-1.2138022178675176,0.71338606911949],"aabb_xy":[[0.06030845914871252,-1.2363022176742648],[0.10530130201644072,-1.19130221806077]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.5398175022458778,1.646801306642788,0.71338606911949],"aabb_xy":[[-0.599817502841894,1.5919888340975643],[-0.4798175016498616,1.7016137791880113]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.6229568170282749,1.6475890307456686,0.71338606911949],"aabb_xy":[[0.532956818433805,1.6313384444322478],[0.7129568156227449,1.66383961705909]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.09260301180373343,0.3526544666101783,0.71338606911949],"aabb_xy":[[-0.1425760773362489,0.30265446679764546],[-0.042629946271217974,0.4026544664227113]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.36387575005165074,1.5930227582670873,0.71338606911949],"aabb_xy":[[0.3537940429730772,1.5130227603749726],[0.37395745713022416,1.673022756159202]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.3831169971812409,-0.9450888385793332,0.71338606911949],"aabb_xy":[[-0.43811699538298576,-0.9856108052057709],[-0.3281169989794961,-0.9045668719528958]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.009113217626951164,-1.707466036313794,0.71338606911949],"aabb_xy":[[-0.08911321809716712,-1.7157767439281422],[0.07088678284326479,-1.6991553286994456]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.017924400423079856,0.7631462897177066,0.71338606911949],"aabb_xy":[[0.008630782185929275,0.7256462912295727],[0.027218018660230436,0.8006462882058405]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.02641392132755893,0.8832600381863212,0.71338606911949],"aabb_xy":[[-0.008586080023922802,0.8629003022295003],[0.06141392267904066,0.903619774143142]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.009603512249198642,-0.6722900799361311,0.71338606911949],"aabb_xy":[[-0.027896488542796805,-0.6786579208943211],[0.04710351304119409,-0.6659222389779409]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.24942633315133034,-2.005660511971633,0.71338606911949],"aabb_xy":[[0.2215812963707232,-2.0364450107099445],[0.27727136993193746,-1.9748760132333212]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.16076542183197517,-1.7535532206767757,0.71338606911949],"aabb_xy":[[0.12576542352127973,-1.7612682356003213],[0.19576542014267062,-1.74583820575323]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.6157919914906136,0.485017575185017,0.71338606911949],"aabb_xy":[[0.5517919929040412,0.4380106117855082],[0.6797919900771862,0.5320245385845257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668146732420519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7804.png","name":"7804"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7804.png","name":"7804"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8032.png","name":"8032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":814.9421614034494,"rotation_z_degrees":137.73447985154834,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010615897468424196,0.00490631504394402,-0.0011619641634279358]},{"name":"camera_2","offset_m":[0.019205614555433344,-0.01870425266134817,0.0022089362801353436]},{"name":"camera_3","offset_m":[0.01715124332584016,-0.012519540004306693,0.01584362160284888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001126146652188416,-0.00035325643254031556,0.00013947554024606448],"end_effector_yaw_offset_degrees":0.8977110535410935},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00046327259458301545,0.001984057870715859,0.0019214839223046162],"end_effector_yaw_offset_degrees":0.27836640161876014},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012476394730930114,-0.0011745031105522886,-0.0018504675924816412],"end_effector_yaw_offset_degrees":-0.29217868254908574}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013937623007149115,0.0017827738327431753],"position_m":[0.3494062376992851,0.16098277383274318,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022766923283469164,-0.000356503647471907],"position_m":[0.32952330767165305,-0.0516565036474719,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005145153070733243,0.003823371007571726],"position_m":[0.3204145153070733,0.3099233710075717,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031747990438719346,0.00272422596371338],"position_m":[0.20992520095612807,-0.38417577403628667,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a9cfe89154ae1660620eb519fe46163725e86158a860592c79baa586b8896fa5","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7804/tex_ceiling_textures_7095/tex_floor_textures_8914/tex_table_textures_4191/tex_wall_textures_8032","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5653860866575814818,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5653860866575814818,"visual_seed":5653860866575814818,"scene_id":"lab_003","finished_at":"2026-09-02T23:28:53"} +{"episode_id":"ep_000012","started_at":"2026-09-02T23:36:21","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.1114022155936909,-2.5041400987994433,0.71338606911949],"aabb_xy":[[-0.18140221823027722,-2.524244963795309],[-0.04140221295710453,-2.484035233803578]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.07961974365500135,-2.037461224702862,0.71338606911949],"aabb_xy":[[0.06699295636780499,-2.047007298404435],[0.09224653094219769,-2.027915151001289]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.11640972827554086,-0.8942449597706636,0.71338606911949],"aabb_xy":[[-0.12656274382969018,-0.9303145013434039],[-0.10625671272139144,-0.8581754181979232]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.0717586269176892,0.7999680545344372,0.71338606911949],"aabb_xy":[[-0.10925862726591694,0.7881766589533535],[-0.03425862656946142,0.8117594501155206]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6567320755836308,0.4496579825788358,0.71338606911949],"aabb_xy":[[0.6334502333854994,0.3646579812816077],[0.6800139177817621,0.5346579838760638]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.4123981479507033,0.3760397486151046,0.71338606911949],"aabb_xy":[[0.3948981488163361,0.3661601215775167],[0.42989814708507046,0.38591937565269235]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.08258173454843676,1.0980501020324374,0.71338606911949],"aabb_xy":[[0.05758173527647447,1.081704738436275],[0.10758173382039903,1.1143954656285997]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.6994965345701045,-1.5563323374591893,0.71338606911949],"aabb_xy":[[0.6886449283212289,-1.5671916281868403],[0.7103481408189801,-1.5454730467315383]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.3686476582631478,-0.5577350281926208,0.71338606911949],"aabb_xy":[[-0.4187451222442215,-0.6217350287024326],[-0.31855019428207426,-0.49373502768280897]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.5206442552377268,-1.9186681833405657,0.71338606911949],"aabb_xy":[[-0.5407026668509671,-1.9387332702497229],[-0.5005858436244865,-1.898603096431408]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.23780680818382416,1.2477809479576605,0.71338606911949],"aabb_xy":[[-0.3078068099925696,1.226427179193473],[-0.16780680637507875,1.2691347167218479]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.21156924484755213,-1.9131989391999689,0.71338606911949],"aabb_xy":[[0.18656924568191904,-1.9201511849053257],[0.23656924401318527,-1.9062466934946125]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.5830315626296585,-2.055780131826139,0.71338606911949],"aabb_xy":[[-0.5982037319112918,-2.070948988754342],[-0.5678593933480252,-2.0406112748979357]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.30048897980384837,1.2894312039360831,0.71338606911949],"aabb_xy":[[0.2204889765460054,1.209434696144099],[0.3804889830616913,1.3694277117280669]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.13474944890394658,-0.28615609476310944,0.71338606911949],"aabb_xy":[[-0.1717835583320063,-0.32053330209681885],[-0.09771533947588687,-0.2517788874293999]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.25293421058445165,0.6159042444878695,0.71338606911949],"aabb_xy":[[-0.26017797663069697,0.535904246284267],[-0.24569044453820632,0.6959042426914718]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.028762253323662113,-1.1983678378924696,0.71338606911949],"aabb_xy":[[-0.008737746848209823,-1.2310685732753766],[0.06626225349553405,-1.1656671025095622]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.454061364280421,1.2938916053303915,0.71338606911949],"aabb_xy":[[0.4240938073705953,1.2638916050325057],[0.48402892119024665,1.3238916056282772]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.33150318001274326,1.6790735047686511,0.71338606911949],"aabb_xy":[[-0.3397177251284272,1.6703969144710098],[-0.3232886348970592,1.6877500950662925]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.5188476583244455,-0.21413694589554755,0.71338606911949],"aabb_xy":[[-0.6088476548253172,-0.2600485883140058],[-0.42884766182357376,-0.1682253034770893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662406202111846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5912.png","name":"5912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3151.png","name":"3151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7559.png","name":"7559"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":505.9449686384324,"rotation_z_degrees":279.5723151919489,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010520754183053621,0.01625810815226562,0.006583033210851106]},{"name":"camera_2","offset_m":[-0.014965934173884098,0.0038698483398055122,-0.011982888975780398]},{"name":"camera_3","offset_m":[0.0017759802017176668,0.011627038680861023,-0.008284452761583254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001634978872941627,-0.001666173835058355,-0.0006711016295779641],"end_effector_yaw_offset_degrees":-0.5158083246645717},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008745030954825559,-0.0017453651891712182,0.0010555310333989513],"end_effector_yaw_offset_degrees":-0.2831370640596187},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010558513837026482,0.0011178120054777811,-0.0013520120225702743],"end_effector_yaw_offset_degrees":0.15946576308416138}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004297061614014617,-0.0009887742888912057],"position_m":[0.3550970616140146,0.1582112257111088,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003726380266549906,0.0022501906713440203],"position_m":[0.3355263802665499,-0.04904980932865598,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037348266834784085,0.00243258111472065],"position_m":[0.3161651733165216,0.30853258111472065,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004972742041588068,-0.0013892010074136184],"position_m":[0.20812725795841194,-0.38828920100741365,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f7cde8e7e9772f06a01b6ac7b611e8e229797eac349f91069c68d6c4cb5d8506","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7328/tex_ceiling_textures_7559/tex_floor_textures_8553/tex_table_textures_5912/tex_wall_textures_3151","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7187581091919149665,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7187581091919149665,"visual_seed":7187581091919149665,"scene_id":"lab_003","finished_at":"2026-09-02T23:38:50"} +{"episode_id":"ep_000013","started_at":"2026-09-02T23:40:14","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.11765555639898184,-2.2376145356514914,0.71338606911949],"aabb_xy":[[-0.1816555536846305,-2.2791212546043353],[-0.053655559113333195,-2.1961078166986474]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.5341305809377206,0.5049651810243576,0.71338606911949],"aabb_xy":[[0.46413057880629094,0.48220321539866184],[0.60413058306915,0.5277271466500532]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.2845200574658097,-1.064456596181726,0.71338606911949],"aabb_xy":[[-0.30143078990215144,-1.0779288017743405],[-0.2676093250294679,-1.0509843905891112]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.27113813878217774,0.9677884168076862,0.71338606911949],"aabb_xy":[[0.20954737955818498,0.9037884186986395],[0.3327288980061706,1.0317884149167331]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.01845272860710001,0.8488775687279309,0.71338606911949],"aabb_xy":[[-0.09845272888070698,0.775928020902214],[0.06154727166650697,0.9218271165536475]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.030383325139154094,1.73414678004591,0.71338606911949],"aabb_xy":[[0.026469451943731567,1.7253977646393532],[0.03429719833457662,1.7428957954524669]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.27347593252229246,0.41949124724615805,0.71338606911949],"aabb_xy":[[-0.29336697240263276,0.40683543596146127],[-0.2535848926419523,0.43214705853085494]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.6059462422835978,0.7612017833920293,0.71338606911949],"aabb_xy":[[-0.6699462425440685,0.7161929840391011],[-0.5419462420231269,0.8062105827449572]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.3597047551413515,-1.842374455225788,0.71338606911949],"aabb_xy":[[0.35361012725323315,-1.8509438497774566],[0.3657993830294698,-1.8338050606741192]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.1746908110150358,1.255678657367672,0.71338606911949],"aabb_xy":[[0.11469081076363463,1.201397332331207],[0.23469081126643698,1.3099599824041364]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.12747707933135832,-1.841350633610452,0.71338606911949],"aabb_xy":[[0.09247708013854003,-1.8523176796081142],[0.16247707852417656,-1.8303835876127892]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.008731658834119305,1.1319019560498793,0.71338606911949],"aabb_xy":[[-0.008943971754479026,1.1142217397704763],[0.02640728942271764,1.1495821723292818]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.22868974956659516,-1.7131984436486725,0.71338606911949],"aabb_xy":[[-0.24648325650151162,-1.7309981892444704],[-0.21089624263167875,-1.695398698052875]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.45298961931062903,-2.1946460669586374,0.71338606911949],"aabb_xy":[[-0.5379896177280523,-2.2795203624209224],[-0.3679896208932058,-2.1097717714963524]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.17789661857132122,-0.3017484135396611,0.71338606911949],"aabb_xy":[[-0.20039661881483659,-0.313953048199433],[-0.1553966183278058,-0.2895437788798891]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.6761515033309391,-1.1824697094990408,0.71338606911949],"aabb_xy":[[-0.6862332104095126,-1.2624697073911555],[-0.6660697962523656,-1.1024697116069262]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.42711295576758856,-1.5129091964828114,0.71338606911949],"aabb_xy":[[-0.4384746904208747,-1.5242776628890993],[-0.4157512211143024,-1.5015407300765231]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.1858614573827133,-0.003996818393953827,0.71338606911949],"aabb_xy":[[-0.20336145666080016,-0.02133491846029978],[-0.1683614581046264,0.013341281672392125]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.2556359989918813,0.963093547511118,0.71338606911949],"aabb_xy":[[-0.28560355590170694,0.9330935472132322],[-0.2256684420820556,0.9930935478090037]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.6757025377613939,-1.2619424729431843,0.71338606911949],"aabb_xy":[[0.6669885687114593,-1.2844424736023723],[0.6844165068113283,-1.2394424722839958]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.4454556213194478,1.0193158327575929,0.71338606911949],"aabb_xy":[[-0.4597900464456112,1.007255617203054],[-0.4311211961932843,1.0313760483121317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605161971831099,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6974.png","name":"6974"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6974.png","name":"6974"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4452.png","name":"4452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4598.png","name":"4598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6395.png","name":"6395"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":752.6375527654058,"rotation_z_degrees":150.52003443389833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019207138213367878,-0.012162243634110866,-6.487375990605129e-05]},{"name":"camera_2","offset_m":[0.008453666901424337,-0.0012154715691608184,-0.01689224372226563]},{"name":"camera_3","offset_m":[0.013199244610844995,-0.009794660146871595,0.0058837345349307575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014061721329975164,0.0013560544503595324,-0.00040014527425700445],"end_effector_yaw_offset_degrees":0.7049613646196418},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000723850711336333,0.00013529659680252973,-0.0003684982608524309],"end_effector_yaw_offset_degrees":0.33904140455260756},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004071270337081701,-0.0008552176583296923,-0.0016100496500404606],"end_effector_yaw_offset_degrees":0.9142854855492497}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038051268436984486,0.00033553094342177094],"position_m":[0.34699487315630156,0.15953553094342177,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002273885983868953,0.0003108162806638717],"position_m":[0.33407388598386895,-0.050989183719336126,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004849577949380706,0.0004903420621870987],"position_m":[0.31505042205061934,0.3065903420621871,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016976945298646418,-0.0005918930736456976],"position_m":[0.21140230547013536,-0.38749189307364573,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"369d46e185a3de05b82221811dba633866380e60f967a1a7b0511918531c112e","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6974/tex_ceiling_textures_6395/tex_floor_textures_4598/tex_table_textures_4452/tex_wall_textures_6982","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2544987274547526312,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2544987274547526312,"visual_seed":2544987274547526312,"scene_id":"lab_003","finished_at":"2026-09-02T23:42:51"} +{"episode_id":"ep_000014","started_at":"2026-09-02T23:45:41","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.2998827308576202,1.469629405072348,0.71338606911949],"aabb_xy":[[-0.3548749814931312,1.4146294033290352],[-0.2448904802221093,1.524629406815661]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.5735926256080619,-0.1424044332782035,0.71338606911949],"aabb_xy":[[0.5457475888274548,-0.1731889320165152],[0.601437662388669,-0.11161993453989183]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.16863140712108826,0.10053481720548962,0.71338606911949],"aabb_xy":[[-0.21861435730856757,0.05053481756292922],[-0.11864845693360891,0.15053481684805003]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.40098311457397046,0.35303628088578964,0.71338606911949],"aabb_xy":[[-0.43831439109921316,0.3183832260909374],[-0.36365183804872786,0.387689335680642]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.3602069625055302,0.5817751677282019,0.71338606911949],"aabb_xy":[[0.32317285307747046,0.5473979603944925],[0.39724107193358993,0.6161523750619113]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.13961032673617146,1.2954443650546859,0.71338606911949],"aabb_xy":[[0.0896172146269796,1.2454443643804904],[0.1896034388453634,1.3454443657288817]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[0.26666134889650617,0.8081885628385765,0.71338606911949],"aabb_xy":[[0.21667711318832894,0.758188564025081],[0.3166455846046834,0.8581885616520721]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.5010150483992895,-1.03364378658561,0.71338606911949],"aabb_xy":[[0.42101505041850434,-1.0412453275474618],[0.5810150463800744,-1.026042245623758]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.6355994830377918,1.7473421805311404,0.71338606911949],"aabb_xy":[[0.6180994839034244,1.7374625534935526],[0.6530994821721587,1.7572218075687283]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.592378473733723,-1.31599603086893,0.71338606911949],"aabb_xy":[[0.5814726976461603,-1.395996027267759],[0.6032842498212857,-1.2359960344701006]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.6619406724265309,1.6392728494985218,0.71338606911949],"aabb_xy":[[-0.6731857279971486,1.6280310517744263],[-0.6506956168559129,1.6505146472226169]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.21662598288105894,-1.9981344248354944,0.71338606911949],"aabb_xy":[[0.13662598260745196,-2.0710839726612105],[0.29662598315466593,-1.9251848770097775]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.3983386449661426,-1.9042330377342305,0.71338606911949],"aabb_xy":[[-0.403237937272706,-1.931909957036799],[-0.393439352659579,-1.8765561184316615]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5053909062699176,0.7006294030117179,0.71338606911949],"aabb_xy":[[-0.5340402386303337,0.6719838437346419],[-0.4767415739095012,0.7292749622887935]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.48576458355931273,0.5486393180183495,0.71338606911949],"aabb_xy":[[-0.522559216684219,0.5117334429217671],[-0.44896995043440646,0.5855451931149317]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.18002245235844228,-1.0359729490126188,0.71338606911949],"aabb_xy":[[-0.27002245469246133,-1.1134553035977315],[-0.09002245002442319,-0.9584905944275062]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.12026687653651624,0.5220934730810343,0.71338606911949],"aabb_xy":[[-0.12469750589135642,0.5166451013463517],[-0.11583624718167607,0.5275418448157169]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.23388637540756924,0.6963054496643841,0.71338606911949],"aabb_xy":[[-0.2713863753513356,0.6880123596295474],[-0.1963863754638028,0.7045985396992206]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.2060852264098617,-1.6839570852923007,0.71338606911949],"aabb_xy":[[-0.24108522560267995,-1.694924131289963],[-0.17108522721704342,-1.672990039294638]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.20284731722390753,-0.7633494786415436,0.71338606911949],"aabb_xy":[[-0.21089067714986268,-0.8483494797369099],[-0.19480395729795233,-0.678349477546177]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.3093176774654472,-0.2712284858700733,0.71338606911949],"aabb_xy":[[-0.33928523437527286,-0.301228486167959],[-0.27935012055562153,-0.2412284855721875]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[0.249117313588046,-1.7218706074082055,0.71338606911949],"aabb_xy":[[0.1891173130801931,-1.7787173410941264],[0.30911731409589893,-1.6650238737222838]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.2041814695362053,0.9942268890539907,0.71338606911949],"aabb_xy":[[0.1954002423889691,0.9854471417654607],[0.21296269668344156,1.003006636342521]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672429821638796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4216.png","name":"4216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1343.png","name":"1343"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4593.png","name":"4593"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2267.png","name":"2267"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":523.9603763203133,"rotation_z_degrees":123.05672228134206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019157979881218964,-0.008905102611963693,0.011397085766538851]},{"name":"camera_2","offset_m":[-0.01235652569786434,0.000756744190447977,0.00013363472417428704]},{"name":"camera_3","offset_m":[-0.010707986071206767,0.01040873193984996,0.01312772831201001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017079884676209165,-0.0019302375918073538,-0.0014955520294490823],"end_effector_yaw_offset_degrees":0.4831846510956377},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006055191963879288,0.0009014911022443557,-0.0016366609308541991],"end_effector_yaw_offset_degrees":-0.7526257044830829},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011707313081557097,0.0010781358059846731,0.0015209925227814454],"end_effector_yaw_offset_degrees":0.7141637364901001}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026727620738048108,-0.0022278882448309467],"position_m":[0.3481272379261952,0.15697211175516906,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037682702100962267,-0.004751301977088164],"position_m":[0.3355682702100962,-0.056051301977088165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008077525256608483,0.004186215739301829],"position_m":[0.32070775252566086,0.3102862157393018,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004289354124127143,-0.003555080603885881],"position_m":[0.20881064587587286,-0.3904550806038859,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bec7d4dab9961dbce3b826572bd533cb8ffcaa9e1628cc47c4c37d8ad5de9ade","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6883/tex_ceiling_textures_2267/tex_floor_textures_4593/tex_table_textures_4216/tex_wall_textures_1343","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6448917477670059953,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6448917477670059953,"visual_seed":6448917477670059953,"scene_id":"lab_003","finished_at":"2026-09-02T23:48:15"} +{"episode_id":"ep_000015","started_at":"2026-09-02T23:51:01","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.15777622220774756,0.9787097335505481,0.71338606911949],"aabb_xy":[[-0.17527622245279695,0.9612099457109812],[-0.14027622196269818,0.9962095213901149]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.570622179536892,0.42980631807736946,0.71338606911949],"aabb_xy":[[0.5331221783520991,0.4253880953813089],[0.6081221807216847,0.4342245407734299]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.40431431656432437,-0.7764051984058111,0.71338606911949],"aabb_xy":[[0.3403143201687513,-0.8403684868245446],[0.46831431295989745,-0.7124419099870775]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.14922908329673623,1.2396619601608472,0.71338606911949],"aabb_xy":[[0.14552582196759734,1.2359599418521292],[0.15293234462587507,1.2433639784695647]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.03611844976816081,0.3175373960760899,0.71338606911949],"aabb_xy":[[-0.042620086276165425,0.30776957404978017],[-0.029616813260156194,0.3273052181023997]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.524774573349998,0.9725506998691285,0.71338606911949],"aabb_xy":[[0.4597745722440546,0.947585326801],[0.5897745744559412,0.9975160729372566]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.5472245113407486,-1.1137701382418723,0.71338606911949],"aabb_xy":[[-0.5576360700212322,-1.1191158715777705],[-0.5368129526602647,-1.1084244049059737]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.30213767021350335,-0.541274211127917,0.71338606911949],"aabb_xy":[[0.22213766694949022,-0.5548342434368303],[0.3821376734775165,-0.5277141788190036]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.30429410427702874,1.3001853230691385,0.71338606911949],"aabb_xy":[[-0.3682941045374995,1.2551765237162102],[-0.2402941040165579,1.3451941224220663]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.4419432923983142,0.5908697409820012,0.71338606911949],"aabb_xy":[[0.42484121443994605,0.5737629354507314],[0.45904537035668236,0.6079765465132709]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.2667072753866385,-1.915312604218331,0.71338606911949],"aabb_xy":[[0.2017072727488451,-1.9667922029177782],[0.33170727802443206,-1.8638330055188843]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.6549442117813242,-0.28515916505627326,0.71338606911949],"aabb_xy":[[0.6211686525906313,-0.2991976602694383],[0.6887197709720172,-0.27112066984310823]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.38217878767839064,-1.2610445517267916,0.71338606911949],"aabb_xy":[[0.34467878925499024,-1.2742087656946222],[0.41967878610179093,-1.2478803377589611]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.1551947428684871,-0.8856335739963852,0.71338606911949],"aabb_xy":[[-0.2191947401541358,-0.9271402929492291],[-0.0911947455828385,-0.8441268550435411]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.03877582510794797,-0.7657804809353779,0.71338606911949],"aabb_xy":[[-0.002528717955788025,-0.8297804805034948],[0.08008036817168396,-0.7017804813672607]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.5764089671288697,0.1064860227180553,0.71338606911949],"aabb_xy":[[0.5693686571953328,0.026486023318383893],[0.5834492770624068,0.1864860221177267]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.6433488228567195,-1.0992638746035912,0.71338606911949],"aabb_xy":[[0.6332671157781458,-1.1792638724957056],[0.6534305299352927,-1.0192638767114763]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.6299402206131668,-1.73912859091462,0.71338606911949],"aabb_xy":[[0.5799452096537149,-1.7891285899502118],[0.6799352315726189,-1.6891285918790284]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.5240509987374127,1.3588218548770357,0.71338606911949],"aabb_xy":[[0.5007691565392812,1.2738218535798076],[0.5473328409355439,1.4438218561742637]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.6551506658074373,1.6962763536299597,0.71338606911949],"aabb_xy":[[-0.672728967996384,1.6787018640558546],[-0.6375723636184903,1.7138508432040647]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.16163490093626864,-0.1273387750236985,0.71338606911949],"aabb_xy":[[-0.16955818117501698,-0.14983877526170186],[-0.1537116206975203,-0.10483877478569514]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.6173130415131762,0.6588982366046845,0.71338606911949],"aabb_xy":[[-0.6644424205150119,0.5948982355602824],[-0.5701836625113406,0.7228982376490863]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.2655305293396781,-2.1093753865533102,0.71338606911949],"aabb_xy":[[-0.3154132262173743,-2.1593753857995854],[-0.21564783246198188,-2.059375387307036]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.5844144829738819,1.2452407302831725,0.71338606911949],"aabb_xy":[[-0.6013252154102237,1.2317685246905576],[-0.5675037505375401,1.258712935875787]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.18568770158356285,-1.504940893375391,0.71338606911949],"aabb_xy":[[0.16781859382910733,-1.518773801352602],[0.2035568093380183,-1.49110798539818]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.13180117334952823,0.1684575586086985,0.71338606911949],"aabb_xy":[[-0.1431629080028144,0.15708909220241038],[-0.12043943869624207,0.17982602501498654]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.2967440193970584,-2.550678748555182,0.71338606911949],"aabb_xy":[[-0.30751699331842625,-2.5856787467742213],[-0.2859710454756907,-2.5156787503361433]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[0.20772067358123036,-2.453112355516293,0.71338606911949],"aabb_xy":[[0.17340439640661243,-2.5031123554894705],[0.2420369507558483,-2.403112355543115]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[0.37389568484646274,-1.473548114227629,0.71338606911949],"aabb_xy":[[0.35639568458712617,-1.4876396564164016],[0.3913956851057995,-1.4594565720388564]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[-0.34567394059907314,-1.6338614800318547,0.71338606911949],"aabb_xy":[[-0.3569189961696909,-1.64510327775595],[-0.33442888502845525,-1.6226196823077594]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_30","position":[-0.4296570061277535,-0.40453870390720903,0.71338606911949],"aabb_xy":[[-0.4936570080400959,-0.4604498531652195],[-0.3656570042154112,-0.34862755464919865]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_31","position":[-0.18801375827509625,-1.890492422302628,0.71338606911949],"aabb_xy":[[-0.23798705227835668,-1.9404924228571752],[-0.13804046427183578,-1.8404924217480805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656917540286976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1964.png","name":"1964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1964.png","name":"1964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6004.png","name":"6004"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3529.png","name":"3529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2431.png","name":"2431"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":577.8440193060655,"rotation_z_degrees":110.04732487442624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014614474913867807,-0.0151998529480302,0.019854398210614226]},{"name":"camera_2","offset_m":[-0.0062945838871107055,0.018264670011716545,0.019566733082172796]},{"name":"camera_3","offset_m":[-0.01857188615750722,0.0012468276956081673,0.016281839763981922]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017775463880242972,-0.0011862467545997214,-0.0017076376377251439],"end_effector_yaw_offset_degrees":-0.5970548400586366},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009100507809184414,0.0003741272635889737,-0.0019259523036116485],"end_effector_yaw_offset_degrees":-0.2701897335465593},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006403382185873135,0.000984267697638945,0.0015994989620250377],"end_effector_yaw_offset_degrees":-0.24620697788750445}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001014312022249427,0.0003066575273677572],"position_m":[0.35181431202224944,0.15950665752736776,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00038501782862305177,-0.0022305732199378136],"position_m":[0.33141498217137694,-0.05353057321993781,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024197676205003206,-0.0024252846432808095],"position_m":[0.3174802323794997,0.3036747153567192,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002589437432955856,-0.004103368682778769],"position_m":[0.21568943743295588,-0.3910033686827788,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1e2dcecf79f4a68a9affe5849eb5b7046a65c95956bad8d25121cf73f116753d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1964/tex_ceiling_textures_2431/tex_floor_textures_8825/tex_table_textures_6004/tex_wall_textures_3529","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3176534720880943976,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3176534720880943976,"visual_seed":3176534720880943976,"scene_id":"lab_003","finished_at":"2026-09-02T23:53:42"} +{"episode_id":"ep_000016","started_at":"2026-09-02T23:55:06","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.38085132428311064,0.08025200804787191,0.71338606911949],"aabb_xy":[[-0.4011356270065094,0.059969382905163064],[-0.3605670215597119,0.10053463319058074]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.1407160022428242,-1.2401133263712576,0.71338606911949],"aabb_xy":[[0.1298643959939486,-1.2509726170989084],[0.1515676084916998,-1.2292540356436064]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.6545264749096996,-0.15175805048072188,0.71338606911949],"aabb_xy":[[-0.6598640505757042,-0.17675805140986167],[-0.649188899243695,-0.1267580495515821]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.1681542136083426,-2.2876924475921165,0.71338606911949],"aabb_xy":[[-0.19066790543179976,-2.3576924481931236],[-0.14564052178488537,-2.2176924469911086]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.2637945987428861,-1.3264604209942388,0.71338606911949],"aabb_xy":[[-0.3098796899976175,-1.390460418246794],[-0.21770950748815457,-1.2624604237416837]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.23841158192112233,-1.0061480791000115,0.71338606911949],"aabb_xy":[[0.20341158365100243,-1.0132222067949994],[0.27341158019124223,-0.9990739514050231]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.6364703340652269,-1.796223788577405,0.71338606911949],"aabb_xy":[[0.5989703354896061,-1.808960084240963],[0.6739703326408477,-1.7834874929138471]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.38353570002024795,-0.8151636822860056,0.71338606911949],"aabb_xy":[[0.3610357004965405,-0.8376596297366262],[0.4060356995439553,-0.7926677348353847]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.6695095306778278,-1.1732272364025842,0.71338606911949],"aabb_xy":[[-0.6846816999594612,-1.1883960933307878],[-0.6543373613961945,-1.158058379474381]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.3007998100737498,1.71600925074616,0.71338606911949],"aabb_xy":[[0.22079981311071056,1.6389336091023865],[0.3807998070367889,1.7930848923899334]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.20962022838025945,-0.1724959531563659,0.71338606911949],"aabb_xy":[[-0.2796202299825389,-0.18592874635802348],[-0.13962022677797994,-0.15906315995470832]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.46691126634908126,0.9602382714046507,0.71338606911949],"aabb_xy":[[-0.49805818519266426,0.8902382727178434],[-0.43576434750549803,1.0302382700914579]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.22968769807014533,1.3483706267870494,0.71338606911949],"aabb_xy":[[0.2232738844269604,1.3419608065393807],[0.23610151171333027,1.3547804470347173]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.6191419141384207,1.4257050283446628,0.71338606911949],"aabb_xy":[[0.5941419149727876,1.4187527826393063],[0.6441419133040538,1.4326572740500194]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.48070571212015945,-2.4177747639841978,0.71338606911949],"aabb_xy":[[-0.5607057107770455,-2.432279622908461],[-0.40070571346327344,-2.4032699050599353]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.6094661976638532,0.21716116744082514,0.71338606911949],"aabb_xy":[[-0.6794662010554152,0.18184539373739425],[-0.5394661942722913,0.25247694114425595]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.4158400214285669,0.8349722805220754,0.71338606911949],"aabb_xy":[[0.35084002327264785,0.8086760359721633],[0.48084001958448597,0.8612685250719877]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.027537466820448886,-2.004392671736769,0.71338606911949],"aabb_xy":[[0.021570927879713098,-2.0103538163961328],[0.033504005761184674,-1.9984315270774045]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.5173824447117588,-1.293577177547614,0.71338606911949],"aabb_xy":[[0.4276953684036432,-1.3835771778020645],[0.6070695210198741,-1.2035771772931634]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.56765086298681,-2.325478843530566,0.71338606911949],"aabb_xy":[[-0.6376508593967717,-2.345916779182247],[-0.49765086657684815,-2.3050409078788836]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.23380353240122426,0.7550016062489835,0.71338606911949],"aabb_xy":[[-0.2498654598597419,0.6700016044363917],[-0.2177416049427066,0.8400016080615753]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.6954028382305448,-0.6190898559858404,0.71338606911949],"aabb_xy":[[0.6914889650351224,-0.6278388713923972],[0.6993167114259673,-0.6103408405792836]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.42557973523379156,-1.9522373395504191,0.71338606911949],"aabb_xy":[[0.3615840378386949,-2.016237337851128],[0.4895754326288881,-1.8882373412497104]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[0.4135638255412215,1.3946724917521953,0.71338606911949],"aabb_xy":[[0.36356382387972663,1.3446740494964924],[0.46356382720271616,1.4446709340078978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636378456310592,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8167.png","name":"8167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8582.png","name":"8582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2802.png","name":"2802"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":559.2141700221736,"rotation_z_degrees":278.5365045906118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018845635360200536,0.004729089272625414,-0.01758750596541131]},{"name":"camera_2","offset_m":[-0.016578791699006074,-0.00796437391560143,0.01458085405310081]},{"name":"camera_3","offset_m":[0.012898963388204777,0.0005476920881802329,0.008190972636226833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022820046448320365,-0.0017484707744938315,0.0015767148659912868],"end_effector_yaw_offset_degrees":-0.18731332200884343},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016995960679549757,0.0008185234445656124,-1.9957201667352657e-05],"end_effector_yaw_offset_degrees":-0.42700192901764344},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010935436579153114,-0.001048747314548008,-0.0007552841108182068],"end_effector_yaw_offset_degrees":-0.52239146729761}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00331108968494216,-0.004855873405515917],"position_m":[0.34748891031505785,0.1543441265944841,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003770126448543439,-0.0027177396167852408],"position_m":[0.33142298735514564,-0.054017739616785236,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011497792280286824,0.00014884499631860094],"position_m":[0.31875022077197135,0.3062488449963186,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011944262800791857,0.0022449078099653587],"position_m":[0.2142944262800792,-0.3846550921900347,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7ffbea462dff953da94280a6ca61420affdcea3132cb2e18338afc7d3f14ba4","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6475/tex_ceiling_textures_2802/tex_floor_textures_8582/tex_table_textures_2238/tex_wall_textures_8167","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7563376539946458492,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7563376539946458492,"visual_seed":7563376539946458492,"scene_id":"lab_003","finished_at":"2026-09-02T23:57:48"} +{"episode_id":"ep_000017","started_at":"2026-09-02T23:57:51","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.5819535660359814,-1.7087154588179678,0.71338606911949],"aabb_xy":[[0.5628412586780025,-1.72785023769521],[0.6010658733939602,-1.689580679940726]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.49243387651558396,1.2029259765946518,0.71338606911949],"aabb_xy":[[-0.5724338736751593,1.1913783756368346],[-0.4124338793560086,1.2144735775524687]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.2581182948258155,0.44190165276141613,0.71338606911949],"aabb_xy":[[-0.2831182940977777,0.4255562891652538],[-0.2331182955538532,0.4582470163575785]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.1965989960297958,1.5567338881366752,0.71338606911949],"aabb_xy":[[-0.20589261426694636,1.5192338896485413],[-0.1873053777926452,1.5942338866248091]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.6706841720521692,-2.4452683153032386,0.71338606911949],"aabb_xy":[[-0.688262474241116,-2.462842804877344],[-0.6531058698632223,-2.427693825729134]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.6570392147197794,1.1524764310602587,0.71338606911949],"aabb_xy":[[0.6469575076412059,1.0724764331681438],[0.6671209217983528,1.232476428952373]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.2925233854484607,-1.627572854040492,0.71338606911949],"aabb_xy":[[0.2675233858967222,-1.6377153379056264],[0.31752338500019917,-1.617430370175357]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.641383406804765,-2.340076305415151,0.71338606911949],"aabb_xy":[[0.5773834035861272,-2.38679941731416],[0.7053834100234029,-2.2933531935161433]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.6405866962665596,-1.4318000825452746,0.71338606911949],"aabb_xy":[[0.6101024461395295,-1.4818000823267705],[0.6710709463935898,-1.3818000827637786]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.2874381830046784,-1.3242802647481595,0.71338606911949],"aabb_xy":[[-0.32173509402241895,-1.3585771509581004],[-0.2531412719869377,-1.2899833785382178]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.3991125159567386,-1.2662109053328745,0.71338606911949],"aabb_xy":[[0.39108624532611264,-1.2749624003102273],[0.40713878658736463,-1.2574594103555221]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.4006659152804317,1.6408587505358647,0.71338606911949],"aabb_xy":[[-0.42931524764084794,1.612213191258789],[-0.3720165829200155,1.6695043098129405]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.153238809888242,1.0361397822784264,0.71338606911949],"aabb_xy":[[-0.1620408651972147,1.028328456123497],[-0.14443675457926927,1.0439511084333553]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.233596794019375,-1.4981236477056679,0.71338606911949],"aabb_xy":[[-0.2370374702594322,-1.5019850806800326],[-0.23015611777931785,-1.4942622147313034]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.7009133876319522,-0.7065498339760803,0.71338606911949],"aabb_xy":[[0.6834826725529456,-0.7238219486399309],[0.7183441027109586,-0.6892777193122293]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.03591639964585902,-1.8045831565001889,0.71338606911949],"aabb_xy":[[-0.04295785059660662,-1.811609908237983],[-0.028874948695111424,-1.7975564047623942]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.14336327171461116,1.3829772862015113,0.71338606911949],"aabb_xy":[[-0.1819089645398122,1.3444315151453226],[-0.10481757888941012,1.4215230572577]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.6320614044687204,-1.2248833062878255,0.71338606911949],"aabb_xy":[[-0.6393226520391279,-1.237670316551335],[-0.6248001568983131,-1.212096296024316]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.14350325781190854,0.9338149956186421,0.71338606911949],"aabb_xy":[[0.12161351022296772,0.843814998329393],[0.1653930054008493,1.0238149929078912]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.3041307590430169,1.2068431199231977,0.71338606911949],"aabb_xy":[[0.23413075565145494,1.1715273462197666],[0.3741307624345789,1.2421588936266283]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.3534009966190692,0.8925790417172812,0.71338606911949],"aabb_xy":[[0.34079829748199275,0.8799836454924157],[0.36600369575614566,0.9051744379421467]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.41088879800038014,-0.32489887118559224,0.71338606911949],"aabb_xy":[[-0.4188827865780835,-0.3328989512806826],[-0.4028948094226767,-0.3168987910905019]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[0.49403066206076485,1.7885985854964166,0.71338606911949],"aabb_xy":[[0.47653066180142833,1.7745070433076442],[0.5115306623201016,1.8026901276851894]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.2550124984960088,-1.9609971314623342,0.71338606911949],"aabb_xy":[[0.19101249811847526,-2.0107423983131465],[0.3190124988735425,-1.9112518646115217]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.4865088225352928,-1.894148543426902,0.71338606911949],"aabb_xy":[[-0.5364876310456086,-1.9441485434326207],[-0.4365300140249769,-1.844148543421183]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.3472675665735798,1.0575159361465816,0.71338606911949],"aabb_xy":[[0.3097675657815844,1.0511480951883911],[0.38476756736557527,1.0638837771047716]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.6184626704640478,-2.1467423790154845,0.71338606911949],"aabb_xy":[[-0.6734363925003806,-2.2017423785797177],[-0.5634889484277148,-2.0917423794512513]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.543984703125431,1.035602443594815,0.71338606911949],"aabb_xy":[[0.5140171462156053,1.0056024432969293],[0.5739522600352567,1.0656024438927008]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_28","position":[-0.36050009787744647,-2.453035447491704,0.71338606911949],"aabb_xy":[[-0.42550010051523995,-2.504515046191151],[-0.295500095239653,-2.401555848792257]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[-0.1036889496894654,-0.40865103386465496,0.71338606911949],"aabb_xy":[[-0.1536889513509601,-0.4586494761203576],[-0.053688948027970605,-0.3586525916089522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664181513442424,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2638.png","name":"2638"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2638.png","name":"2638"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/810.png","name":"810"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7448.png","name":"7448"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5984.png","name":"5984"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9353.png","name":"9353"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.4791866791004,"rotation_z_degrees":80.07742804388955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013348190303496873,-0.01163996509536756,-0.013234791194667693]},{"name":"camera_2","offset_m":[-0.010821437181622212,-0.01742940722777578,-0.005814050149635789]},{"name":"camera_3","offset_m":[0.011221615476903188,0.004860543488923671,0.011899530114103645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012640849155069896,0.0011779471114674099,-0.0006173562108291706],"end_effector_yaw_offset_degrees":0.538588660902402},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006163613171403532,-0.0012649960845207415,6.664688454054764e-05],"end_effector_yaw_offset_degrees":0.06763038827375989},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018161015049313863,0.0006456709281778866,-0.0012388014317754976],"end_effector_yaw_offset_degrees":-0.5979603610056448}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011983072878258916,-0.0029200804190244577],"position_m":[0.3519983072878259,0.15627991958097556,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001039509551631187,-0.0010793290672831664],"position_m":[0.3307604904483688,-0.05237932906728317,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032784254772629806,-0.0011780862032359394],"position_m":[0.31662157452273704,0.30492191379676403,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002944058084024725,-0.0010343004030454713],"position_m":[0.21604405808402474,-0.3879343004030455,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f0212577d1733a4874edd91ec72b66c6d6b746e1541e7c8debdc0fa418c96007","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2638/tex_ceiling_textures_9353/tex_floor_textures_5984/tex_table_textures_810/tex_wall_textures_7448","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4817260954791565727,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4817260954791565727,"visual_seed":4817260954791565727,"scene_id":"lab_003","finished_at":"2026-09-03T00:00:23"} +{"episode_id":"ep_000018","started_at":"2026-09-03T00:03:24","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.5050700950647237,-0.5243354888994776,0.71338606911949],"aabb_xy":[[-0.5550700967262182,-0.57433393115518],[-0.45507009340322874,-0.4743370466437747]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.36977512426310044,0.8243703979222019,0.71338606911949],"aabb_xy":[[0.3472751240195851,0.8121657632624301],[0.3922751245066159,0.836575032581974]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.40301909503518496,-0.01132490399527697,0.71338606911949],"aabb_xy":[[-0.42190347880369516,-0.03021082877562975],[-0.38413471126667476,0.00756102078507581]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.27319076441318646,1.3054817211831304,0.71338606911949],"aabb_xy":[[0.2571288369546688,1.2204817193705386],[0.2892526918717041,1.3904817229957223]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.4732642782334986,0.5645821632372621,0.71338606911949],"aabb_xy":[[0.4082642803518509,0.5134584995307212],[0.5382642761151465,0.6157058269438029]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.24033984885749915,1.629905295268967,0.71338606911949],"aabb_xy":[[-0.30433984615984555,1.58553886830111],[-0.17633985155515272,1.6742717222368235]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.2565186538136117,0.7948413383341659,0.71338606911949],"aabb_xy":[[0.24735877486973512,0.7883101202906289],[0.2656785327574883,0.801372556377703]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.3433881515515974,0.3696257524988371,0.71338606911949],"aabb_xy":[[-0.3783881498217173,0.3625516248038489],[-0.3083881532814775,0.3766998801938252]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.5464171772699336,-0.04322001557676636,0.71338606911949],"aabb_xy":[[-0.5714171772024516,-0.05010268379768968],[-0.5214171773374158,-0.03633734735584305]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.19215428557084635,-2.471521599823141,0.71338606911949],"aabb_xy":[[-0.24203698244854258,-2.521521599069416],[-0.14227158869315015,-2.4215216005768667]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.14936321604694236,-0.5655634008599755,0.71338606911949],"aabb_xy":[[0.13245248361060055,-0.5790356064525899],[0.1662739484832841,-0.5520911952673608]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.5611314429592975,-0.1621554430543739,0.71338606911949],"aabb_xy":[[0.5435531407703507,-0.1797299326284788],[0.5787097451482444,-0.144580953480269]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.017266974686905634,-1.6359071346748157,0.71338606911949],"aabb_xy":[[-0.058284918073276515,-1.685907135305773],[0.023750968699465247,-1.5859071340438584]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.5205776859685172,0.01624251286850198,0.71338606911949],"aabb_xy":[[-0.5259102006231302,0.01091818462326638],[-0.5152451713139041,0.021566841113737578]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.39715578241289196,-2.545507085441182,0.71338606911949],"aabb_xy":[[-0.41721419402613225,-2.5655721723503397],[-0.37709737079965167,-2.525441998532025]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.3194665475443599,1.6414925033084375,0.71338606911949],"aabb_xy":[[0.28947488481048955,1.611492503971637],[0.3494582102782302,1.671492502645238]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.3264526980766411,0.45717479880477185,0.71338606911949],"aabb_xy":[[0.32160910331541115,0.4523231463257878],[0.3312962928378711,0.462026451283756]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.052193507586860255,-0.977615342062746,0.71338606911949],"aabb_xy":[[-0.002806491589729239,-1.0326050168377034],[0.10719350676344974,-0.9226256672877883]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.4892044511894147,-0.9598214616402696,0.71338606911949],"aabb_xy":[[0.4666907593659575,-1.029821462241277],[0.5117181430128719,-0.889821461039262]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.12904119129803082,1.4547063938184706,0.71338606911949],"aabb_xy":[[0.10382035443819111,1.4294826429655834],[0.15426202815787043,1.4799301446713569]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.15140119553722964,-1.520448477009393,0.71338606911949],"aabb_xy":[[0.1382499495659403,-1.5454484767660797],[0.16455244150851903,-1.4954484772527064]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.6203082370021766,-1.2133390433609506,0.71338606911949],"aabb_xy":[[0.5990302288587043,-1.2783390456870236],[0.6415862451456488,-1.1483390410348775]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.45370235432852757,-1.7546656363926352,0.71338606911949],"aabb_xy":[[-0.49049698745343384,-1.7915715114892174],[-0.4169077212036213,-1.717759761296053]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.288615738096754,-0.3405027702591221,0.71338606911949],"aabb_xy":[[-0.3261157382023469,-0.34732493211210325],[-0.251115737991161,-0.333680608406141]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.5606093049588421,-1.3758408275655,0.71338606911949],"aabb_xy":[[0.5428157980239257,-1.3936405731612977],[0.5784028118937585,-1.3580410819697024]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[0.03172739118692436,-1.452195316481328,0.71338606911949],"aabb_xy":[[-0.00957715187681163,-1.5161953160494448],[0.07303193425066035,-1.3881953169132106]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.2374239240638788,-1.9952625271995292,0.71338606911949],"aabb_xy":[[-0.25029582756481894,-2.075262527613365],[-0.22455202056293866,-1.9152625267856929]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.5508880875852176,-2.509977838859128,0.71338606911949],"aabb_xy":[[-0.5833497884671448,-2.54011067097403],[-0.5184263867032899,-2.4798450067442244]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691427526516744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8147.png","name":"8147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5359.png","name":"5359"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":597.1581281747606,"rotation_z_degrees":312.1123934888881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004819295289310327,0.009938896719276745,0.01833020841911306]},{"name":"camera_2","offset_m":[-0.004953697718003958,0.01760158377228691,0.01387281132751671]},{"name":"camera_3","offset_m":[0.003475751197447984,0.005142510270242626,-0.009578842782163038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000135326971574637,0.0018745950066010497,0.00025276587090948283],"end_effector_yaw_offset_degrees":0.8095986561009985},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000776861252708815,0.00021927942892868268,0.0019670274534799425],"end_effector_yaw_offset_degrees":-0.6323756595575631},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004263736358735865,-0.000498046250068842,-0.0006585300088188385],"end_effector_yaw_offset_degrees":-0.4641478101986647}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004586778240921694,-0.004569180239748611],"position_m":[0.3462132217590783,0.1546308197602514,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013338342860576423,-0.0007613082793305817],"position_m":[0.33046616571394233,-0.05206130827933058,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00362344487752441,0.002901506584263501],"position_m":[0.32352344487752444,0.3090015065842635,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00465848055041072,-0.0002470652943996742],"position_m":[0.2084415194495893,-0.3871470652943997,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b27601556497977adc7939cdfac567f98f8a015f3d0b99d3aa99d079b7b1fa1","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9399/tex_ceiling_textures_5359/tex_floor_textures_6454/tex_table_textures_4573/tex_wall_textures_8147","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":866938095720833544,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":866938095720833544,"visual_seed":866938095720833544,"scene_id":"lab_003","finished_at":"2026-09-03T00:05:53"} +{"episode_id":"ep_000019","started_at":"2026-09-03T00:08:43","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[-0.05306893742963692,-1.5936613886982842,0.71338606911949],"aabb_xy":[[-0.1130689380256531,-1.6484738612435077],[0.006931063166379259,-1.5388489161530607]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.08311724488816796,-1.9841107304325347,0.71338606911949],"aabb_xy":[[-0.08703111808359049,-1.9928597458390913],[-0.07920337169274544,-1.9753617150259777]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.5583436514897413,-1.0100273876896362,0.71338606911949],"aabb_xy":[[-0.6035149693379104,-1.0740273848341746],[-0.5131723336415724,-0.9460273905450978]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.13133164494091132,-0.9118127571533021,0.71338606911949],"aabb_xy":[[0.08133164629499012,-0.9617323008127645],[0.1813316435868325,-0.8618932134938397]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.3834079443023101,1.324916050916983,0.71338606911949],"aabb_xy":[[-0.4634079422830951,1.3173145099551309],[-0.303407946321525,1.3325175918788348]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.18726192967617583,-2.2236557068003373,0.71338606911949],"aabb_xy":[[-0.21226192894813808,-2.2400010703964996],[-0.16226193040421352,-2.207310343204175]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.4733780699317094,0.5673213988961479,0.71338606911949],"aabb_xy":[[0.3933780725281159,0.4873288276979651],[0.5533780673353027,0.6473139700943307]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.5204820542331801,-1.6731315478654616,0.71338606911949],"aabb_xy":[[-0.553961221494221,-1.7066106612365686],[-0.4870028869721391,-1.6396524344943546]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.09765228242691704,-1.7595144478591578,0.71338606911949],"aabb_xy":[[-0.15264776024757643,-1.8145144492930647],[-0.042656804606257634,-1.7045144464252509]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.5434732334739607,-0.4134233315397542,0.71338606911949],"aabb_xy":[[-0.5847777765376967,-0.4774233311078712],[-0.5021686904102247,-0.34942333197163705]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.21996059987920624,-0.594075000065863,0.71338606911949],"aabb_xy":[[-0.2499281567890319,-0.6240750003637487],[-0.18999304296938058,-0.5640749997679773]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.44150669187904334,-0.6110082309125788,0.71338606911949],"aabb_xy":[[0.39153362634652794,-0.6610082307251118],[0.49147975741155886,-0.561008231100046]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.023158960727810096,-1.439181969795751,0.71338606911949],"aabb_xy":[[-0.07815896034955594,-1.494165662583224],[0.03184103889393575,-1.3841982770082786]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.46105604468464056,-2.0243690992049514,0.71338606911949],"aabb_xy":[[0.44858868657490497,-2.0368344238382754],[0.47352340279437627,-2.0119037745716284]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.3733376236372794,1.2265380303290376,0.71338606911949],"aabb_xy":[[0.34882399954027354,1.202273437027001],[0.39785124773428526,1.2508026236310739]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.597577228433382,0.4290946047254245,0.71338606911949],"aabb_xy":[[-0.6474599253110782,0.37909460547914986],[-0.5476945315556858,0.47909460397169934]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.0617866457125823,1.5621426726847383,0.71338606911949],"aabb_xy":[[0.044239950796463375,1.524642671120487],[0.07933334062870123,1.5996426742489895]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.4264585087180693,-1.2651195181635204,0.71338606911949],"aabb_xy":[[-0.4568566198172128,-1.2955264201651897],[-0.39606039761892564,-1.2347126161618507]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.3121072303283454,-2.1474211925525455,0.71338606911949],"aabb_xy":[[0.29423812257389,-2.1612541005297565],[0.32997633808280097,-2.1335882845753344]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.38405789372520416,-1.4201480214827902,0.71338606911949],"aabb_xy":[[-0.4340578931653997,-1.4701159459671063],[-0.3340578942850085,-1.3701800969984737]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.5364346638063611,1.2832506347391628,0.71338606911949],"aabb_xy":[[-0.5675815826499442,1.2132506360523556],[-0.505287744962778,1.35325063342597]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.33947517731000776,-1.710101468486847,0.71338606911949],"aabb_xy":[[0.2944825905915573,-1.7551014677612957],[0.3844677640284581,-1.6651014692123982]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.18307027054717828,-1.4833266107344958,0.71338606911949],"aabb_xy":[[-0.18840784621318285,-1.5083266116636358],[-0.17773269488117371,-1.4583266098053562]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.28863841513043564,-0.8514701441289951,0.71338606911949],"aabb_xy":[[0.2673604069869634,-0.9164701464550681],[0.3099164232739079,-0.786470141802922]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.5404734824030824,0.4106176136812536,0.71338606911949],"aabb_xy":[[0.5039776617758035,0.374133671254496],[0.576969303030361,0.4471015561080111]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.4313115142292663,-1.533240343064933,0.71338606911949],"aabb_xy":[[0.3513115172150183,-1.5533748947383443],[0.5113115112435143,-1.5131057913915218]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.4026321844727425,-1.0839176523025604,0.71338606911949],"aabb_xy":[[0.39106320372580594,-1.1089176524194921],[0.4142011652196791,-1.0589176521856287]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.1294455904404842,-1.2158698410864046,0.71338606911949],"aabb_xy":[[0.09444559046398837,-1.2253344571340212],[0.16444559041698004,-1.206405225038788]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_28","position":[0.4406264311272441,-0.40561168714321116,0.71338606911949],"aabb_xy":[[0.42552412966622594,-0.4207132087742729],[0.45572873258826213,-0.39051016551214923]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.35870902681235045,-1.019276845897348,0.71338606911949],"aabb_xy":[[-0.36846501632152434,-1.0290393799565822],[-0.34895303730317656,-1.0095143118381134]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.22947186416673881,1.5409745907595416,0.71338606911949],"aabb_xy":[[0.16547186686439241,1.4966081637916846],[0.2934718614690852,1.585341017727398]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662453033350831,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3368.png","name":"3368"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1207.png","name":"1207"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/269.png","name":"269"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":517.8021568390125,"rotation_z_degrees":135.73901002623157,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0042387768222148965,0.008012304790940606,0.007549581535485284]},{"name":"camera_2","offset_m":[-0.017677082043376542,-0.01589060518167097,0.002950309646699671]},{"name":"camera_3","offset_m":[-0.010627526290484576,-0.0042518421439361985,-0.0164713609311929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004435200863064765,0.00023075753933040353,-0.00048141594847759574],"end_effector_yaw_offset_degrees":0.14060106972782416},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001973182499617834,0.00024718164158940917,0.0005971568020208314],"end_effector_yaw_offset_degrees":-0.3668797625502769},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00034818058364340706,-0.0009428207563865212,0.001020180877962361],"end_effector_yaw_offset_degrees":-0.5469886797495789}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024017128222901495,0.002641949520636795],"position_m":[0.3532017128222901,0.1618419495206368,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017295821942026942,-0.0027419179805635787],"position_m":[0.3335295821942027,-0.05404191798056358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037641029640196897,-0.0037000589792831606],"position_m":[0.3236641029640197,0.3023999410207168,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003861741638187717,0.0007428141487560548],"position_m":[0.21696174163818774,-0.386157185851244,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b1e4df301e9d8fe1e351a0bc4abe74fc09d67f02b1bab049627c35b23ec51905","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3902/tex_ceiling_textures_6625/tex_floor_textures_269/tex_table_textures_3368/tex_wall_textures_1207","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6868787528081543026,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6868787528081543026,"visual_seed":6868787528081543026,"scene_id":"lab_003","finished_at":"2026-09-03T00:11:14"} +{"episode_id":"ep_000020","started_at":"2026-09-03T00:12:40","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.4880731193379413,-0.9795917893680077,0.71338606911949],"aabb_xy":[[-0.5013040648726226,-0.9928192083900073],[-0.47484217380325994,-0.9663643703460084]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.22248564908487156,-1.589185789916172,0.71338606911949],"aabb_xy":[[-0.2724856486612063,-1.6391663688682783],[-0.17248564950853687,-1.5392052109640664]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.5653620392961731,-1.8821660187620157,0.71338606911949],"aabb_xy":[[0.5565808121489368,-1.8909457660505464],[0.5741432664434094,-1.873386271473486]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.40202044788126257,-0.7898284803257805,0.71338606911949],"aabb_xy":[[0.39712115557469896,-0.8175053996283491],[0.40691974018782595,-0.7621515610232116]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.6301395294124068,0.9157875331235776,0.71338606911949],"aabb_xy":[[0.6264362680832678,0.9120855148148598],[0.6338427907415456,0.9194895514322955]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.6239397961167298,-2.5413533342253403,0.71338606911949],"aabb_xy":[[-0.6539314588506,-2.5713533335621404],[-0.5939481333828593,-2.5113533348885393]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.6075006575866558,-1.8952170617520219,0.71338606911949],"aabb_xy":[[-0.6409408327826753,-1.9286606875829517],[-0.5740604823906361,-1.8617734359210916]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.42802063339860763,-1.2067056587865368,0.71338606911949],"aabb_xy":[[0.4017318090781669,-1.2329770924411878],[0.45430945771904824,-1.1804342251318853]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.2937138023915784,-0.2723391332594871,0.71338606911949],"aabb_xy":[[-0.36371379880154014,-0.2927770689111687],[-0.22371380598161658,-0.25190119760780527]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.2705230970777931,-0.6344317753383668,0.71338606911949],"aabb_xy":[[-0.32052309836163295,-0.6844106297289888],[-0.22052309579395304,-0.5844529209477446]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.6080863860678154,1.430760290324335,0.71338606911949],"aabb_xy":[[-0.6163009311834993,1.4220837000266935],[-0.5998718409521313,1.4394368806219762]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.6234967792742379,-0.40952551467536136,0.71338606911949],"aabb_xy":[[0.6009967792640896,-0.42362173431496464],[0.6459967792843861,-0.3954292950357581]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.43442728933039043,-2.097788559793776,0.71338606911949],"aabb_xy":[[0.4268030212402123,-2.1054217833303204],[0.4420515574205688,-2.090155336257233]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.5865609621021084,-2.4329570979531048,0.71338606911949],"aabb_xy":[[0.5515609638319885,-2.440031225648093],[0.6215609603722283,-2.4258829702581166]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.28620241081948566,0.1964642068777458,0.71338606911949],"aabb_xy":[[-0.3477931700434785,0.13246420876869894],[-0.22461165159549284,0.2604642049867927]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.6776958479484424,-0.138212981892623,0.71338606911949],"aabb_xy":[[-0.6902985470855189,-0.1508083781174885],[-0.6650931488113659,-0.12561758566775752]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.27961734639270164,-0.9563982915008471,0.71338606911949],"aabb_xy":[[0.21961734579668546,-1.0112107640460706],[0.3396173469887178,-0.9015858189556236]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.18847975960006924,-2.3474348355766566,0.71338606911949],"aabb_xy":[[0.09847975987689504,-2.370508188111836],[0.27847975932324337,-2.3243614830414763]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.0005007127732178374,-2.408081156590113,0.71338606911949],"aabb_xy":[[-0.040517230613153044,-2.4580811572210703],[0.04151865615958872,-2.3580811559591557]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.6102916140817267,1.5011409551281916,0.71338606911949],"aabb_xy":[[0.5302916169221514,1.4895933541703743],[0.690291611241302,1.5126885560860084]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.2762559608143682,-2.495018428605632,0.71338606911949],"aabb_xy":[[-0.30410099759497533,-2.5258029273439435],[-0.24841092403376108,-2.46423392986732]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[0.26956101970372226,-2.1705783760748276,0.71338606911949],"aabb_xy":[[0.24966997982338207,-2.1832341873595245],[0.28945205958406256,-2.157922564790131]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.7056382291184327,-2.1908912310865842,0.71338606911949],"aabb_xy":[[0.688005393524905,-2.2085141771022068],[0.7232710647119601,-2.173268285070961]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.08281096624232998,-1.563613242972716,0.71338606911949],"aabb_xy":[[0.07796737148110001,-1.5684648954517004],[0.08765456100355996,-1.5587615904937322]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.39250194752046064,-0.09462201768509182,0.71338606911949],"aabb_xy":[[-0.4030694271785596,-0.10516704779810039],[-0.38193446786236157,-0.08407698757208328]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.5907913849926167,0.4846175354482303,0.71338606911949],"aabb_xy":[[0.5436620059907811,0.4206175344038282],[0.6379207639944524,0.5486175364926321]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.5822844489240845,-2.2255877330163685,0.71338606911949],"aabb_xy":[[-0.6197844473474847,-2.2387519469841983],[-0.544784450500684,-2.212423519048537]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[-0.4636582894631015,0.8814683833296151,0.71338606911949],"aabb_xy":[[-0.5536582880575714,0.8652177970161941],[-0.37365829086863156,0.8977189696430361]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.2657932615326606,0.3910088189941967,0.71338606911949],"aabb_xy":[[-0.3157932631941553,0.34101037673849394],[-0.2157932598711658,0.44100726124989936]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[0.135705742549581,0.8291491694200745,0.71338606911949],"aabb_xy":[[0.11879501011323922,0.8156769638274599],[0.15261647498592276,0.842621375012689]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_30","position":[-0.637343133836513,0.4615356745098498,0.71338606911949],"aabb_xy":[[-0.6723431321472083,0.45382065958630413],[-0.6023431355258174,0.46925068943339543]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[-0.2922335664690455,-0.3483100543452635,0.71338606911949],"aabb_xy":[[-0.32973356798467723,-0.3595368273614086],[-0.2547335649534138,-0.33708328132911847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615698589716549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1343.png","name":"1343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1343.png","name":"1343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/317.png","name":"317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7062.png","name":"7062"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8254.png","name":"8254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.6004731708949,"rotation_z_degrees":4.996632811807071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00468737254115132,0.00011430022172166307,-0.01675637681008552]},{"name":"camera_2","offset_m":[-0.009803333053985232,-0.009884495817435095,-0.003932947111490889]},{"name":"camera_3","offset_m":[0.010607136554858673,0.004799531474849315,-0.0004889647727964776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009057516390342936,0.0007502313469220376,-0.0019150028647844715],"end_effector_yaw_offset_degrees":0.4086794831154186},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007083048149539493,-0.0004936492319522702,-0.0006170750031573031],"end_effector_yaw_offset_degrees":0.01787783089002204},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00027063172634715594,0.00018312674497800293,-0.00048414563625134616],"end_effector_yaw_offset_degrees":-0.15545324415573636}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0041768349041193,-0.00480276825292379],"position_m":[0.3549768349041193,0.15439723174707623,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011627664528098373,0.0011429772884538128],"position_m":[0.3329627664528098,-0.050157022711546186,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003336341528986938,-0.00012983760734895482],"position_m":[0.3165636584710131,0.305970162392651,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004954229439969211,-0.0038505193410161885],"position_m":[0.2081457705600308,-0.39075051934101623,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"22371fdff40384fac3892a5c5e6e93ed478d7226b560c135e34489a726d593cb","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1343/tex_ceiling_textures_6553/tex_floor_textures_8254/tex_table_textures_317/tex_wall_textures_7062","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7465078138396274059,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7465078138396274059,"visual_seed":7465078138396274059,"scene_id":"lab_003","finished_at":"2026-09-03T00:15:11"} +{"episode_id":"ep_000021","started_at":"2026-09-03T00:15:14","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.3642864716600547,-1.677586275599807,0.71338606911949],"aabb_xy":[[0.35658328098597764,-1.685295646298545],[0.3719896623341317,-1.669876904901069]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.38127295136903117,-0.5703841845839759,0.71338606911949],"aabb_xy":[[0.36571718195876596,-0.5859346178283831],[0.39682872077929654,-0.5548337513395687]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.5915019623034729,0.20350568043397788,0.71338606911949],"aabb_xy":[[-0.6464756843398058,0.14850568086974467],[-0.5365282402671401,0.25850567999821106]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.565737499045369,-1.3916243101276293,0.71338606911949],"aabb_xy":[[-0.5839433227066166,-1.4026497107096212],[-0.5475316753841213,-1.380598909545638]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.034799273485404236,1.00124406910742,0.71338606911949],"aabb_xy":[[-0.014681147728554549,0.9372440711945682],[0.08427969469936303,1.0652440670202719]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.6471798095051345,-2.3245741731677962,0.71338606911949],"aabb_xy":[[-0.68467981029713,-2.3309420141259865],[-0.6096798087131391,-2.318206332209606]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.2519829891935552,0.5883129127498612,0.71338606911949],"aabb_xy":[[0.24395671856292922,0.5795614177725086],[0.2600092598241812,0.5970644077272138]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.20827555580316898,-1.8495446744209318,0.71338606911949],"aabb_xy":[[-0.2722755531055154,-1.8939111013887886],[-0.14427555850082258,-1.805178247453075]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.5434675518528861,-1.5193419445147807,0.71338606911949],"aabb_xy":[[-0.6074675522304196,-1.569087211365593],[-0.47946755147535236,-1.4695966776639684]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.27237366994607126,-1.9151829702132805,0.71338606911949],"aabb_xy":[[0.26627904205795294,-1.9237523647649493],[0.2784682978341896,-1.9066135756616118]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.5355820634996774,-0.8404842939321622,0.71338606911949],"aabb_xy":[[-0.6155820620869968,-0.9197998958703232],[-0.45558206491235803,-0.7611686919940014]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.6000469289433262,1.8030736278529127,0.71338606911949],"aabb_xy":[[-0.6350469302948079,1.782713891896092],[-0.5650469275918444,1.8234333638097338]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.020811595476758926,1.182542053927706,0.71338606911949],"aabb_xy":[[-0.015101908948230755,1.1466285457109517],[0.05672509990174861,1.2184555621444608]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.6844880637974655,-0.45310317799846445,0.71338606911949],"aabb_xy":[[0.6772442977512202,-0.5331031762020668],[0.6917318298437108,-0.37310317979486207]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.40840930507895046,-0.32124023654595524,0.71338606911949],"aabb_xy":[[-0.4259876072678973,-0.33881472612006014],[-0.3908310028900036,-0.30366574697185034]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.3936752845887393,-2.1974011014087225,0.71338606911949],"aabb_xy":[[-0.4486752837653287,-2.2523907761836797],[-0.33867528541214975,-2.1424114266337644]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.163417280488922,-2.158024324616,0.71338606911949],"aabb_xy":[[0.13293303036189186,-2.208024324397496],[0.19390153061595217,-2.108024324834504]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.14579575123359412,-0.616840022878979,0.71338606911949],"aabb_xy":[[-0.15371903147234245,-0.6393400231169822],[-0.13787247099484579,-0.5943400226409755]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.09351306193406328,-0.8709151811549094,0.71338606911949],"aabb_xy":[[0.0895525781643289,-0.87858304574043],[0.09747354570379765,-0.8632473165693888]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.46875976852663737,0.036245124294577824,0.71338606911949],"aabb_xy":[[0.43142849200139477,0.0015920694997255194],[0.50609104505188,0.07089817908943014]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6147480862591124,0.9012192631892408,0.71338606911949],"aabb_xy":[[-0.6188839425918126,0.863719263744884],[-0.6106122299264122,0.938719262633598]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.569133185385692,0.6665039847745811,0.71338606911949],"aabb_xy":[[0.5230480941309604,0.6025039875220259],[0.6152182766404234,0.7305039820271362]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.1516641290145786,-1.1545233809462618,0.71338606911949],"aabb_xy":[[0.12666412984894548,-1.1614756266516184],[0.1766641281802117,-1.1475711352409053]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.36675912079937534,-1.3664656356164986,0.71338606911949],"aabb_xy":[[-0.4167321863318909,-1.4164656354290315],[-0.31678605526685993,-1.3164656358039657]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.3858521263156651,-0.7132478436638552,0.71338606911949],"aabb_xy":[[0.34308541943624493,-0.7772478470856576],[0.4286188331950853,-0.6492478402420527]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[-0.14893034414300166,-2.2915959667984755,0.71338606911949],"aabb_xy":[[-0.15489688308373745,-2.2975571114578397],[-0.14296380520226587,-2.2856348221391114]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_26","position":[-0.1934792748927151,-0.13374250274660415,0.71338606911949],"aabb_xy":[[-0.22387738599185866,-0.16414940474827364],[-0.1630811637935715,-0.10333560074493463]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.3952492053192757,-1.041133994460692,0.71338606911949],"aabb_xy":[[-0.46024920320092355,-1.0922576581672332],[-0.3302492074376279,-0.9900103307541515]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.39611725299572326,0.3519118903235361,0.71338606911949],"aabb_xy":[[-0.4601172494230452,0.30474226650143965],[-0.3321172565684014,0.39908151414563253]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635059849698879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8466.png","name":"8466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8466.png","name":"8466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":655.6850908073811,"rotation_z_degrees":229.86370447031757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015857106727038054,-0.009652107821752546,0.004853735665073286]},{"name":"camera_2","offset_m":[0.012207735615265457,0.016339192268813193,0.017566518431339207]},{"name":"camera_3","offset_m":[0.00992745641132875,0.008459355690307396,-0.004188794132381882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015864439832729386,-0.0011993453695330696,0.0018982785993467365],"end_effector_yaw_offset_degrees":-0.36480609673788233},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005887627385250281,0.001169568260350026,-0.0014357380799853248],"end_effector_yaw_offset_degrees":-0.962115764832941},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[5.9916683237342706e-05,-0.0006544402710992423,0.001709527420908364],"end_effector_yaw_offset_degrees":-0.08758315928655969}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029287755101346175,0.0009722407493111514],"position_m":[0.3537287755101346,0.16017224074931116,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003328163081813853,-0.00437428241782719],"position_m":[0.32847183691818616,-0.05567428241782719,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025242470351651294,0.002493428828511869],"position_m":[0.3173757529648349,0.3085934288285119,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029678505260748974,0.003478570482793282],"position_m":[0.2160678505260749,-0.38342142951720676,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca7fa94aa222db3337be22d8ed79409ea5456507984b87635cb360da448fb2ac","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8466/tex_ceiling_textures_8431/tex_floor_textures_3865/tex_table_textures_9808/tex_wall_textures_6572","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4147427954448191894,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4147427954448191894,"visual_seed":4147427954448191894,"scene_id":"lab_003","finished_at":"2026-09-03T00:17:56"} +{"episode_id":"ep_000022","started_at":"2026-09-03T00:22:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.5643754479028481,-1.3034726546135977,0.71338606911949],"aabb_xy":[[-0.6283754443301701,-1.3506422784356942],[-0.5003754514755263,-1.2563030307915013]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.45737769702241227,0.06478503339508146,0.71338606911949],"aabb_xy":[[-0.49237769691843125,0.056410797883141524],[-0.4223776971263935,0.0731592689070214]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.6208723204376736,0.13306703672641973,0.71338606911949],"aabb_xy":[[0.5508723178010873,0.1129621717305542],[0.6908723230742599,0.1531719017222852]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.2079829861108599,0.6553761773557674,0.71338606911949],"aabb_xy":[[-0.2579829864714259,0.6053961901461644],[-0.15798298575029382,0.7053561645653703]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.18923734003893222,1.003525406626494,0.71338606911949],"aabb_xy":[[-0.2066680551179387,0.9862532919626431],[-0.17180662495992569,1.0207975212903446]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.6114199830403474,0.8103622672554862,0.71338606911949],"aabb_xy":[[-0.620713601277498,0.7728622687673523],[-0.6021263648031968,0.8478622657436201]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.61165449519171,-0.1438363270769103,0.71338606911949],"aabb_xy":[[0.5833247852431699,-0.14829706927062739],[0.6399842051402503,-0.13937558488319327]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[0.19438706227331037,1.7540655387492996,0.71338606911949],"aabb_xy":[[0.13938706407156554,1.713543572122862],[0.2493870604750552,1.7945875053757372]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.32409473657193955,0.7197866945136009,0.71338606911949],"aabb_xy":[[0.25409473476319416,0.6984329257494135],[0.39409473838068504,0.7411404632777883]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[-0.23120037825518402,-0.13404342847891915,0.71338606911949],"aabb_xy":[[-0.3112003804179465,-0.21399861210506274],[-0.15120037609242154,-0.0540882448527755]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.2655428917126092,-2.480789296060304,0.71338606911949],"aabb_xy":[[-0.2856013033258495,-2.5008543829694614],[-0.2454844800993689,-2.4607242091511465]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.673321736263705,-0.97133541528611,0.71338606911949],"aabb_xy":[[0.6488081121666991,-0.9956000085881466],[0.6978353603607108,-0.9470708219840737]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.6227756576034227,1.1366380205941633,0.71338606911949],"aabb_xy":[[-0.6477756575359407,1.1297553523732402],[-0.5977756576709049,1.1435206888150868]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.5423466175227798,-0.365974939257649,0.71338606911949],"aabb_xy":[[-0.6223466161100991,-0.4452905411958099],[-0.4623466189354603,-0.2866593373194881]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.395241194781655,-2.5109897662370253,0.71338606911949],"aabb_xy":[[-0.40565275346213864,-2.5163354995729232],[-0.3848296361011712,-2.5056440329011265]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.2427459903423913,-1.3186346445531063,0.71338606911949],"aabb_xy":[[-0.306745987454497,-1.367667014347517],[-0.17874599323028564,-1.2696022747586957]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.3845670651096793,-0.44827458856455227,0.71338606911949],"aabb_xy":[[0.3346843682319831,-0.49827458781082706],[0.43444976198737556,-0.3982745893182776]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.4226278639400629,-1.6508564473787566,0.71338606911949],"aabb_xy":[[0.37265456993680246,-1.7008564479333037],[0.47260115794332336,-1.600856446824209]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.1730228902922918,-1.5280632053264853,0.71338606911949],"aabb_xy":[[0.1505228902821435,-1.5421594249660886],[0.19552289030244008,-1.513966985686882]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.14264367087717256,-0.8170778220172348,0.71338606911949],"aabb_xy":[[0.09267060534465711,-0.8670778218297678],[0.19261673640968807,-0.767077822204702]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[0.4866310462071797,-1.4763076681825757,0.71338606911949],"aabb_xy":[[0.46908435129106074,-1.513807669746827],[0.5041777411232986,-1.4388076666183245]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.04906149507771884,-2.2353553024440993,0.71338606911949],"aabb_xy":[[-0.056764685751795885,-2.243064673142837],[-0.0413583044036418,-2.2276459317453607]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.6100953679709458,-2.006500944421839,0.71338606911949],"aabb_xy":[[0.5879228409942949,-2.0286766115779615],[0.6322678949475966,-1.9843252772657154]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.2555025421426712,-0.7048395046178701,0.71338606911949],"aabb_xy":[[0.2484610911919236,-0.7118662563556647],[0.2625439930934188,-0.6978127528800756]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.026383579078004482,0.8030612843603211,0.71338606911949],"aabb_xy":[[-0.0638835793701793,0.7990198089597174],[0.011116421214170339,0.8071027597609246]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.16639314674648786,1.3302693297363835,0.71338606911949],"aabb_xy":[[-0.18889314725852846,1.3077774713709849],[-0.14389314623444727,1.3527611881017816]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.3683409522935157,-1.2865108873558146,0.71338606911949],"aabb_xy":[[0.32615653813268497,-1.3505108876330258],[0.41052536645434645,-1.2225108870786034]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.5782282919227095,-2.549158008634543,0.71338606911949],"aabb_xy":[[-0.5981193318030498,-2.56181381991924],[-0.5583372520423693,-2.5365021973498463]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.04470713686904826,-1.4311088489382082,0.71338606911949],"aabb_xy":[[0.04062897896199852,-1.4351898291864715],[0.048785294776098,-1.427027868689945]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[-0.5897876960408523,1.7444799207878146,0.71338606911949],"aabb_xy":[[-0.674787694732927,1.712494057392936],[-0.5047876973487777,1.7764657841826936]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[0.698438173290691,-1.5804950337635704,0.71338606911949],"aabb_xy":[[0.6755224604056411,-1.603399330899994],[0.7213538861757409,-1.557590736627147]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[0.7037266746561917,-2.148659664806375,0.71338606911949],"aabb_xy":[[0.691259316546456,-2.1611249894396987],[0.7161940327659273,-2.1361943401730517]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_32","position":[-0.3851475321386188,1.6805960678993173,0.71338606911949],"aabb_xy":[[-0.4101475314105811,1.664250704303155],[-0.3601475328666565,1.6969414314954796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672001350802389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2365.png","name":"2365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2365.png","name":"2365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1898.png","name":"1898"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4877.png","name":"4877"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":672.515021246813,"rotation_z_degrees":342.3649372678671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002020742440826822,0.01073625551049625,-0.011003648567407032]},{"name":"camera_2","offset_m":[-0.019190715250576515,0.013986715386078163,-0.012523248380640846]},{"name":"camera_3","offset_m":[0.014312658023500135,0.011254542995854492,0.0049940134297619156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024185203948312367,-0.0004052181528130677,-0.0002546454779716379],"end_effector_yaw_offset_degrees":0.7228974858453108},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006674289093739063,-0.0019321157595670435,-0.001971905473740005],"end_effector_yaw_offset_degrees":0.05985616446032016},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00158511138570956,-0.00038933590029103203,0.0008111972745820819],"end_effector_yaw_offset_degrees":-0.9317604428374755}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016535055573958877,0.004509069440375524],"position_m":[0.3524535055573959,0.16370906944037553,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008555152180449218,0.0016966708303014213],"position_m":[0.33094448478195504,-0.049603329169698576,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004484913486155211,-0.0030115935621618083],"position_m":[0.3243849134861552,0.3030884064378382,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002594294037722643,-0.0007536318758983784],"position_m":[0.21050570596227736,-0.3876536318758984,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c85fcebce06a5904fbb1c02fc503646d68d341c8fedd27294b289cda2a5a7b3e","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2365/tex_ceiling_textures_4877/tex_floor_textures_1898/tex_table_textures_4844/tex_wall_textures_5748","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":20446259476806623,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":20446259476806623,"visual_seed":20446259476806623,"scene_id":"lab_003","finished_at":"2026-09-03T00:24:57"} +{"episode_id":"ep_000023","started_at":"2026-09-03T00:26:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.4454303299330922,1.6246580947039315,0.71338606911949],"aabb_xy":[[-0.469015453396987,1.5596580924584997],[-0.4218452064691973,1.6896580969493633]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.5343997706879127,-0.26913842427817114,0.71338606911949],"aabb_xy":[[0.4703997686381808,-0.3092329073674791],[0.5983997727376448,-0.22904394118886318]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.41073808967932757,0.7624212893138202,0.71338606911949],"aabb_xy":[[-0.4161960353163477,0.6824212860061611],[-0.40528014404230756,0.8424212926214794]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.43704955229241826,0.005308381673024609,0.71338606911949],"aabb_xy":[[-0.44720256784656753,-0.030761159899715722],[-0.4268965367382688,0.04137792324576494]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.537065916229156,-0.5842920187682892,0.71338606911949],"aabb_xy":[[0.4870710833012145,-0.6342920176635328],[0.5870607491570977,-0.5342920198730458]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.19938341612010163,-1.4268540836509,0.71338606911949],"aabb_xy":[[-0.2256722404405423,-1.453125517305551],[-0.17309459179966097,-1.4005826499962486]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.5864279975442777,-1.838180598502128,0.71338606911949],"aabb_xy":[[-0.6514279985014049,-1.8901288104358334],[-0.5214279965871504,-1.7862323865684222]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.48801664791242483,-1.320142550027954,0.71338606911949],"aabb_xy":[[-0.492447277267265,-1.3255909217626365],[-0.48358601855758465,-1.3146941782932715]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.6263651386337195,0.6719960899568922,0.71338606911949],"aabb_xy":[[-0.6430422746268148,0.6552961659829619],[-0.6096880026406238,0.6886960139308225]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.5321487190214897,1.0268957586335614,0.71338606911949],"aabb_xy":[[0.5281882352517554,1.0192278940480408],[0.5361092027912241,1.034563623219082]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.15137688120929638,0.2320872312615747,0.71338606911949],"aabb_xy":[[-0.22137688281157586,0.21865443805991716],[-0.0813768796070169,0.24552002446323232]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.23594737047730585,-1.4595395874561865,0.71338606911949],"aabb_xy":[[0.19909682254031827,-1.4970395882792205],[0.27279791841429346,-1.422039586633153]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.4383461285910003,-0.724900284047816,0.71338606911949],"aabb_xy":[[-0.5023461278851685,-0.7888864244166702],[-0.3743461292968321,-0.6609141436789618]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.4655061558870952,0.9583489347694747,0.71338606911949],"aabb_xy":[[-0.5295061575650926,0.9098315432901604],[-0.40150615420909785,1.006866326248789]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.06289988239449118,1.360990165980974,0.71338606911949],"aabb_xy":[[-0.01710011787911579,1.2880406181552575],[0.14289988266809817,1.433939713806691]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.613316164909391,1.3313061715120358,0.71338606911949],"aabb_xy":[[-0.6308160983433743,1.3138061715918012],[-0.5958162314754075,1.3488061714322703]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.2599822781235858,-0.12105090145891317,0.71338606911949],"aabb_xy":[[-0.26389615131900834,-0.12979991686546993],[-0.2560684049281633,-0.1123018860523564]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.130047751899534,-1.7193534203294518,0.71338606911949],"aabb_xy":[[-0.1586970842599502,-1.7479989796065274],[-0.10139841953911774,-1.6907078610523758]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.44223603120896327,-2.099455011652469,0.71338606911949],"aabb_xy":[[-0.5062360303787331,-2.1462216987714315],[-0.37823603203919326,-2.0526883245335066]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.2966799082346625,0.6246842684601024,0.71338606911949],"aabb_xy":[[0.25150859038649354,0.560684271315564],[0.34185122608283147,0.6886842656046408]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.0680673271542902,1.6411656937311823,0.71338606911949],"aabb_xy":[[0.05619524414278909,1.5561656940375317],[0.07993941016579131,1.7261656934248324]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.32515670744330527,0.9055964142848274,0.71338606911949],"aabb_xy":[[0.2838521643795692,0.8415964147167103],[0.3664612505070412,0.9695964138529445]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.3426485251466398,1.6845551400334844,0.71338606911949],"aabb_xy":[[-0.3595592575829815,1.6710829344408697],[-0.32573779271029796,1.698027345626099]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.21345422844313539,1.563751906856226,0.71338606911949],"aabb_xy":[[-0.2834542318346973,1.5284361331527951],[-0.1434542250515734,1.5990676805596569]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.5542875044734725,-1.5342635389531694,0.71338606911949],"aabb_xy":[[-0.591787504290506,-1.5389017502643112],[-0.5167875046564389,-1.5296253276420275]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.1925172069678719,-2.3796182124105503,0.71338606911949],"aabb_xy":[[-0.25651721025757995,-2.4229531314144674],[-0.12851720367816374,-2.336283293406632]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[0.2603608460071284,1.7435795395421159,0.71338606911949],"aabb_xy":[[0.19636084562959477,1.6938342726913034],[0.324360846384662,1.793324806392928]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[0.6525190978836173,-2.1984630116991197,0.71338606911949],"aabb_xy":[[0.6424373908050436,-2.278463009591234],[0.6626008049621905,-2.1184630138070046]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_28","position":[0.5594134748063699,-2.3939102060454065,0.71338606911949],"aabb_xy":[[0.5521311584297062,-2.4839102096549146],[0.5666957911830335,-2.3039102024358966]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[0.5511242630136546,-2.1691204523667853,0.71338606911949],"aabb_xy":[[0.5013074835488198,-2.2191204508510887],[0.6009410424784893,-2.119120453882482]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_30","position":[-0.5642746064031354,-2.0304917600225556,0.71338606911949],"aabb_xy":[[-0.5722680961984176,-2.0384898919630317],[-0.5562811166078535,-2.0224936280820804]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.20861669553694118,0.5476642550712039,0.71338606911949],"aabb_xy":[[-0.27261669264904687,0.49863188527679325],[-0.1446166984248355,0.5966966248656145]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638932009775815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6665.png","name":"6665"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2781.png","name":"2781"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8959.png","name":"8959"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4699.png","name":"4699"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":800.0667481834844,"rotation_z_degrees":302.7622484627173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006932355007379515,-0.0035908989030776876,-0.008214405996839398]},{"name":"camera_2","offset_m":[-0.0040567339426010735,0.010777998183882347,-0.017759581696398973]},{"name":"camera_3","offset_m":[0.0055578029934905335,-0.0037470666209811626,0.0035095051163701006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018976404268105799,-0.0009395555965479262,-0.0018350894011116012],"end_effector_yaw_offset_degrees":-0.6363566013581916},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011604683875515265,0.0009177200690116197,4.160081116588764e-05],"end_effector_yaw_offset_degrees":0.3716212533720582},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011589212762998305,-0.0015470556620740498,-0.0004383550177875235],"end_effector_yaw_offset_degrees":0.5675549217117226}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001469297988796435,0.002361119000203483],"position_m":[0.35065307020112035,0.16156111900020348,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003865310210478509,-0.004075461750286529],"position_m":[0.3356653102104785,-0.05537546175028653,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012841836808786533,0.0009595877886057324],"position_m":[0.3186158163191214,0.3070595877886057,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026752507677793823,-0.0038523274141178533],"position_m":[0.21042474923222063,-0.39075232741411786,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b24a1b3e57e11e5002a2e2b9f511eda4f5eaca5bb6b2f6942b04063db8ad66e2","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3302/tex_ceiling_textures_4699/tex_floor_textures_8959/tex_table_textures_6665/tex_wall_textures_2781","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8423887393621204799,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8423887393621204799,"visual_seed":8423887393621204799,"scene_id":"lab_003","finished_at":"2026-09-03T00:28:54"} +{"episode_id":"ep_000024","started_at":"2026-09-03T00:28:57","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.5218418607706794,-1.0253106319144756,0.71338606911949],"aabb_xy":[[0.48621270487071966,-1.0609432986713285],[0.5574710166706391,-0.9896779651576226]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.414918134869031,-1.5240000610669682,0.71338606911949],"aabb_xy":[[-0.4789181351295018,-1.5690088604198962],[-0.3509181346085602,-1.4789912617140402]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.1568240780697615,-2.1557469611707796,0.71338606911949],"aabb_xy":[[0.15274592016271174,-2.159827941419043],[0.16090223597681122,-2.151665980922516]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.015010435387172172,-2.274909536862846,0.71338606911949],"aabb_xy":[[-0.10469751169528763,-2.3649095371172963],[0.07467664092094328,-2.1849095366083953]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.6224865014262968,0.610732244758267,0.71338606911949],"aabb_xy":[[-0.6599865026110894,0.6063140220622064],[-0.5849865002415038,0.6151504674543274]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.43769033224978804,0.45658878088849875,0.71338606911949],"aabb_xy":[[0.4008397843128005,0.41908878006546507],[0.4745408801867757,0.49408878171153253]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.2240508787095229,0.9809418835183443,0.71338606911949],"aabb_xy":[[0.1440570551309647,0.9009418809255029],[0.3040447022880811,1.060941886111186]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.09571379671398417,-1.885298161613277,0.71338606911949],"aabb_xy":[[0.0732137969000818,-1.8897727779837574],[0.11821379652788656,-1.880823545242796]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.6541523437924432,0.20478309654853089,0.71338606911949],"aabb_xy":[[0.5991568659717839,0.14978309511462395],[0.7091478216131026,0.2597830979824378]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.4988926046051515,0.23906750612938632,0.71338606911949],"aabb_xy":[[-0.5488857167143435,0.18906750545519072],[-0.4488994924959597,0.28906750680358195]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.2885304833539896,-2.2148878318121863,0.71338606911949],"aabb_xy":[[-0.3385304829303244,-2.2648684107642927],[-0.23853048377765496,-2.164907252860081]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.10031722316303882,-2.4600383185871606,0.71338606911949],"aabb_xy":[[-0.15531722278478466,-2.5150220113746333],[-0.04531722354129297,-2.405054625799688]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.6399737487374247,-1.3735298504676248,0.71338606911949],"aabb_xy":[[-0.6624385187088299,-1.3960298513464853],[-0.6175089787660196,-1.3510298495887643]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.677686788113113,-0.18603562539127916,0.71338606911949],"aabb_xy":[[-0.6825303828743431,-0.19088727787026327],[-0.6728431933518831,-0.18118397291229504]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[0.6265399737517947,-2.4350287813517344,0.71338606911949],"aabb_xy":[[0.5625399715313877,-2.479401865477023],[0.6905399759722017,-2.3906556972264466]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.16437195379983216,-2.037434629197979,0.71338606911949],"aabb_xy":[[0.1293719546698765,-2.043179850273643],[0.19937195292978782,-2.0316894081223147]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.08576680770646883,-0.17555764438497823,0.71338606911949],"aabb_xy":[[-0.09823416581620449,-0.1880229690183017],[-0.0732994495967332,-0.1630923197516547]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.25622978438198163,-1.427435136997572,0.71338606911949],"aabb_xy":[[0.19222978203918004,-1.4723759882417045],[0.32022978672478314,-1.3824942857534395]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.32109465422548766,-1.8157946423259033,0.71338606911949],"aabb_xy":[[-0.3632790683863184,-1.8797946426031145],[-0.2789102400646569,-1.751794642048692]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.34389259929054194,1.3819397046057782,0.71338606911949],"aabb_xy":[[0.33589910949526,1.3739415726653026],[0.351886089085824,1.3899378365462538]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.39422305558746074,-0.7568214204553181,0.71338606911949],"aabb_xy":[[-0.4582230588060986,-0.8035445323543264],[-0.3302230523688229,-0.7100983085563097]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.04199408518576331,-1.0413371543232555,0.71338606911949],"aabb_xy":[[0.02939138604868686,-1.053932550548121],[0.05459678432283977,-1.02874175809839]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.6645953419199171,-0.9086707086435515,0.71338606911949],"aabb_xy":[[0.6604793918078443,-0.9127862636763968],[0.6687112920319896,-0.9045551536107057]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.5364453480433504,0.0778332675249871,0.71338606911949],"aabb_xy":[[-0.600445348420884,0.02808800067417483],[-0.4724453476658168,0.12757853437579936]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[0.28212285058570685,-2.1880991784725787,0.71338606911949],"aabb_xy":[[0.27399516239239363,-2.197012786883287],[0.2902505387790201,-2.1791855700618714]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[0.5438992679358334,1.6507373817845301,0.71338606911949],"aabb_xy":[[0.4788992693787606,1.6209848483706475],[0.6088992664929063,1.6804899151984127]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.47499977377928104,-0.3798158119129491,0.71338606911949],"aabb_xy":[[0.4109997744851128,-0.4438019522818033],[0.5389997730734493,-0.3158296715440949]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.02504573215385164,-1.6809072678559476,0.71338606911949],"aabb_xy":[[0.008983804695333995,-1.7659072696685394],[0.04110765961236928,-1.5959072660433558]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[-0.18583689731860809,1.5043366118273016,0.71338606911949],"aabb_xy":[[-0.20572793719894836,1.4916808005426048],[-0.16594585743826784,1.5169924231119987]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.6014073112315166,-1.9515489146257603,0.71338606911949],"aabb_xy":[[-0.6233159933708675,-1.9734495814458506],[-0.5794986290921654,-1.9296482478056691]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_30","position":[-0.28361280304793374,0.602676717034305,0.71338606911949],"aabb_xy":[[-0.3486128041538771,0.5777113439661767],[-0.2186128019419905,0.6276420901024333]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673000317922761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6563.png","name":"6563"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6563.png","name":"6563"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7729.png","name":"7729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":505.7951625632218,"rotation_z_degrees":290.0269190519351,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01270494026808482,-0.01649076691799669,-0.00802077791028926]},{"name":"camera_2","offset_m":[0.011993048378076087,-0.011926513241411682,0.013306900142301684]},{"name":"camera_3","offset_m":[-0.005255754789058492,0.008131944650516195,-0.017676072359739767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017684848347856571,0.0002750794181165398,0.0009415913229184527],"end_effector_yaw_offset_degrees":-0.8354799763324576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008382232492062469,-0.0003261296138879527,-0.0003712918322664289],"end_effector_yaw_offset_degrees":0.4512283080552748},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010330290838492999,0.0006682202251722005,-0.0007530901147542357],"end_effector_yaw_offset_degrees":0.37993936575231024}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004214540144742536,-0.0027326034183338833],"position_m":[0.35501454014474254,0.1564673965816661,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008359744680883048,0.0007765916721025647],"position_m":[0.3326359744680883,-0.05052340832789744,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020236052496213665,0.001984023079679189],"position_m":[0.3219236052496214,0.3080840230796792,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020469479811537116,0.000545787078781561],"position_m":[0.21514694798115372,-0.38635421292121847,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"955d8d7cc9c085631ae305ee043a7c5739464677da8aba028a26877e992d64ae","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6563/tex_ceiling_textures_4762/tex_floor_textures_9314/tex_table_textures_8377/tex_wall_textures_7729","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8550666128290730603,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8550666128290730603,"visual_seed":8550666128290730603,"scene_id":"lab_003","finished_at":"2026-09-03T00:31:32"} +{"episode_id":"ep_000025","started_at":"2026-09-03T00:34:29","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[-0.13113221913921336,1.1369323722295488,0.71338606911949],"aabb_xy":[[-0.14933804280046103,1.1259069716475574],[-0.11292639547796568,1.1479577728115407]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.41459390193337586,-2.5403239657241037,0.71338606911949],"aabb_xy":[[-0.48459390353565535,-2.5537567589257613],[-0.3445939003310964,-2.526891172522446]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.4223506850536052,-0.3209232737476242,0.71338606911949],"aabb_xy":[[0.4136367160036706,-0.3434232744068123],[0.43106465410353956,-0.29842327308843586]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.5642406294453501,1.6489462865928979,0.71338606911949],"aabb_xy":[[0.5147602082313913,1.5849462886800463],[0.6137210506593089,1.71294628450575]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.02166463388206752,1.2887259597136094,0.71338606911949],"aabb_xy":[[-0.052148884009097674,1.2387259599321134],[0.008819616244962632,1.3387259594951053]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.5347149881826285,-0.31418637199388044,0.71338606911949],"aabb_xy":[[-0.5681941554436695,-0.3476654853649875],[-0.5012358209215876,-0.2807072586227735]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.5638651170693856,1.6333459999509716,0.71338606911949],"aabb_xy":[[-0.6238651187123074,1.5813458506590277],[-0.5038651154264637,1.685346149242916]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.48659250855596914,-2.135730144929296,0.71338606911949],"aabb_xy":[[-0.4905529923257035,-2.1433980095148164],[-0.4826320247862348,-2.128062280343775]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.23001459037684974,-0.5537792566143453,0.71338606911949],"aabb_xy":[[-0.3000145937684117,-0.5890950303177762],[-0.16001458698528778,-0.5184634829109145]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.5005648730123871,0.6537802318121773,0.71338606911949],"aabb_xy":[[0.4655648738824314,0.6480350107365132],[0.5355648721423427,0.6595254528878414]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.05405949845688951,1.6252176432892704,0.71338606911949],"aabb_xy":[[0.029059499291256397,1.6182653975839139],[0.07905949762252262,1.632169888994627]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.05926555045079285,-1.0868009517621908,0.71338606911949],"aabb_xy":[[-0.025734448241281793,-1.1187868151570697],[0.1442655491428675,-1.054815088367312]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.7126340821648509,-1.800615645525827,0.71338606911949],"aabb_xy":[[0.7053728345944434,-1.8134026557893366],[0.7198953297352584,-1.7878286352623176]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.22538082210835292,-2.372924124294741,0.71338606911949],"aabb_xy":[[-0.2953808247449392,-2.393028989290606],[-0.15538081947176655,-2.352819259298875]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.5237447440002196,-1.1590732993802912,0.71338606911949],"aabb_xy":[[-0.5575203031909126,-1.1731117945934564],[-0.48996918480952667,-1.145034804167126]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.4225295848905839,0.5917383949833295,0.71338606911949],"aabb_xy":[[-0.46002958518275877,0.5876969195827259],[-0.38502958459840914,0.5957798703839331]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.21950342694417202,0.9342042694988066,0.71338606911949],"aabb_xy":[[0.15450342583822876,0.9092388964306783],[0.2845034280501153,0.9591696425669349]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.5171718885535094,-0.8322021882821189,0.71338606911949],"aabb_xy":[[-0.5811718906032415,-0.8722966713714269],[-0.4531718865037775,-0.7921077051928109]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.5766279944186913,0.3302363307568523,0.71338606911949],"aabb_xy":[[-0.6566279914329393,0.310101779083441],[-0.4966279974044433,0.35037088243026354]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.020949648159242384,-1.5335053136125174,0.71338606911949],"aabb_xy":[[-0.05905035509860057,-1.6135018214045014],[0.10094965141708534,-1.4535088058205334]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.5035358380686066,0.8598451579817219,0.71338606911949],"aabb_xy":[[-0.5403304711935127,0.8229392828851395],[-0.4667412049437002,0.8967510330783041]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.537685168866372,-2.3533788801554087,0.71338606911949],"aabb_xy":[[0.4876858936979358,-2.403378881431356],[0.5876844440348081,-2.3033788788794616]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.6536386795306655,-2.4975113072755306,0.71338606911949],"aabb_xy":[[0.5886386816490177,-2.548634970982072],[0.7186386774123132,-2.44638764356899]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.428892297055681,-2.536370876079433,0.71338606911949],"aabb_xy":[[0.37389229885393616,-2.57689284270587],[0.48389229525742583,-2.4958489094529948]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.6564147625890165,-1.077710614383716,0.71338606911949],"aabb_xy":[[-0.6814147621407549,-1.0878530982488508],[-0.631414763037278,-1.0675681305185813]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[-0.03492279936690523,-0.8450359779828285,0.71338606911949],"aabb_xy":[[-0.07622734243064122,-0.9090359775509456],[0.006381743696830755,-0.7810359784147114]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.114150735670831,-2.1957625955557023,0.71338606911949],"aabb_xy":[[-0.16914394700796775,-2.2507625958944963],[-0.05915752433369424,-2.140762595216909]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[0.304373899981218,-2.051215810278678,0.71338606911949],"aabb_xy":[[0.24937390080462846,-2.106205485053635],[0.35937389915780743,-1.9962261355037199]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.12166883038245047,-1.7977631410722053,0.71338606911949],"aabb_xy":[[-0.18666883138295098,-1.8485495062268802],[-0.05666882938194996,-1.7469767759175303]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.17960665817741184,-0.9078469676567682,0.71338606911949],"aabb_xy":[[0.16496325262337883,-0.9225056873135523],[0.1942500637314448,-0.8931882479999839]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[0.6495557467075455,-0.9022692407298085,0.71338606911949],"aabb_xy":[[0.6431419330643604,-0.9086790609774766],[0.6559695603507303,-0.89585942048214]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[-0.568736665270626,0.7002229960255821,0.71338606911949],"aabb_xy":[[-0.623728915906137,0.6452229942822695],[-0.5137444146351151,0.7552229977688951]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664539343629759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4686.png","name":"4686"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4686.png","name":"4686"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6314.png","name":"6314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2547.png","name":"2547"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6361.png","name":"6361"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":628.4324171648301,"rotation_z_degrees":30.17096371232551,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013364229660912278,-0.018177587749791228,-0.0101308400633596]},{"name":"camera_2","offset_m":[0.007140000376548529,-0.007877927565162018,-0.0002418812266610712]},{"name":"camera_3","offset_m":[0.018668261714963347,-0.016289544626131237,0.00928546048068709]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014571351365756224,-0.0005395761516225649,-0.0007115853663805325],"end_effector_yaw_offset_degrees":0.47897396466510456},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008937600686012121,0.0015401804857613395,-0.0006375279282498129],"end_effector_yaw_offset_degrees":-0.649023344440067},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013303566567767879,0.0013173755030217137,-0.0008059984330647434],"end_effector_yaw_offset_degrees":0.2884554235779446}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00015690603060158556,0.0019817488045554736],"position_m":[0.3509569060306016,0.1611817488045555,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037461537735168143,0.003760501578941003],"position_m":[0.3355461537735168,-0.04753949842105899,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007758850820295026,0.0013822008064152203],"position_m":[0.3191241149179705,0.3074822008064152,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.0377021044568648e-05,-0.0027457328674070913],"position_m":[0.21311037702104457,-0.3896457328674071,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9161b1d21da191e00960ec544e9f3b384b11881fb626858b4deb344db8fabdb7","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4686/tex_ceiling_textures_6361/tex_floor_textures_2995/tex_table_textures_6314/tex_wall_textures_2547","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5849975283870096312,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5849975283870096312,"visual_seed":5849975283870096312,"scene_id":"lab_003","finished_at":"2026-09-03T00:37:00"} +{"episode_id":"ep_000026","started_at":"2026-09-03T00:38:30","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.5306164954393331,-1.096977689049851,0.71338606911949],"aabb_xy":[[0.4656164975576854,-1.148101352756392],[0.595616493320981,-1.0458540253433102]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.4395414342088373,1.7147590641766182,0.71338606911949],"aabb_xy":[[0.3545414355167626,1.6827732007817393],[0.5245414329009119,1.746744927571497]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.4163239124160101,-0.45559414089290895,0.71338606911949],"aabb_xy":[[0.3813239141458901,-0.46266826858789706],[0.4513239106861299,-0.44852001319792073]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.42507250717462974,0.2879345586847961,0.71338606911949],"aabb_xy":[[0.4201732148680662,0.26025763938222735],[0.4299717994811932,0.3156114779873649]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.2851797507455749,-0.9849797729969356,0.71338606911949],"aabb_xy":[[0.2760198718016983,-0.9915109910404727],[0.2943396296894515,-0.9784485549533986]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.44969467691099985,-2.54375254792996,0.71338606911949],"aabb_xy":[[-0.46679675486936806,-2.5608593534612303],[-0.43259259895263175,-2.5266457423986908]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.6545520043459097,0.6314581547611562,0.71338606911949],"aabb_xy":[[0.632052003833869,0.6089662963957578],[0.6770520048579501,0.6539500131265545]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.027986102281730596,-2.2149740318917788,0.71338606911949],"aabb_xy":[[-0.03602243698301544,-2.2230121511961958],[-0.01994976758044575,-2.2069359125873618]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.11209476540519092,0.7441543098024987,0.71338606911949],"aabb_xy":[[-0.127257638382128,0.72898885250738],[-0.09693189242825384,0.7593197670976176]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.5849480186844827,-1.340976688561167,0.71338606911949],"aabb_xy":[[0.5049480200275966,-1.3554815474854298],[0.6649480173413687,-1.3264718296369045]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[0.5559557367342733,-0.8098347138586892,0.71338606911949],"aabb_xy":[[0.5489142857835257,-0.8168614655964839],[0.5629971876850209,-0.8028079621208948]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.09889032983482349,-1.6320329354934215,0.71338606911949],"aabb_xy":[[0.03489032661618563,-1.67875604739243],[0.16289033305346134,-1.5853098235944132]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.43848267210143144,-1.5166303981363762,0.71338606911949],"aabb_xy":[[-0.4984826729622442,-1.5680568281428624],[-0.3784826712406186,-1.4652039681298896]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.14386462187894622,-0.8872373638996363,0.71338606911949],"aabb_xy":[[0.06014239637886376,-0.9772373674343322],[0.22758684737902868,-0.7972373603649403]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.044957248248617465,-2.0235942203878152,0.71338606911949],"aabb_xy":[[0.036913888322662285,-2.1085942214831817],[0.05300060817457263,-1.9385942192924488]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.3024849208991728,-1.4273051335124904,0.71338606911949],"aabb_xy":[[0.24248492039131989,-1.4841518671984117],[0.3624849214070257,-1.3704583998265691]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.07765409001880674,1.4197085043852833,0.71338606911949],"aabb_xy":[[-0.10016778184226394,1.3497085037842758],[-0.05514039819534955,1.4897085049862908]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.1265581710977306,0.3431449169629017,0.71338606911949],"aabb_xy":[[-0.1346858592910438,0.33423130855219413],[-0.11843048290441735,0.35205852537360943]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.03904351194809008,-1.1915786265395993,0.71338606911949],"aabb_xy":[[0.028890496393940694,-1.2276481681123395],[0.04919652750223945,-1.1555090849668588]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.5394891913367355,-2.013928323008394,0.71338606911949],"aabb_xy":[[-0.6291762676448509,-2.1039283232628447],[-0.44980211502862,-1.9239283227539437]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.15632933910728763,-1.176432038000596,0.71338606911949],"aabb_xy":[[0.0923293399375177,-1.2231987251195582],[0.22032933827705758,-1.1296653508816332]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.6298398848440723,-1.5638354913744763,0.71338606911949],"aabb_xy":[[0.5498398815862293,-1.6438319991664603],[0.7098398881019152,-1.4838389835824923]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.6649089782158972,-0.7798800212007713,0.71338606911949],"aabb_xy":[[0.6149089772653643,-0.8114291682042926],[0.7149089791664299,-0.7483308741972498]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.5429890170850182,0.1935492936543728,0.71338606911949],"aabb_xy":[[-0.5654854385188823,0.17104929384762538],[-0.5204925956511541,0.21604929346112026]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.10801342156760885,-0.9640356418469938,0.71338606911949],"aabb_xy":[[-0.11764505778803847,-0.9736729546267027],[-0.09838178534717923,-0.9543983290672848]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.5508424935108398,-2.2306177055684655,0.71338606911949],"aabb_xy":[[0.5421285244609051,-2.253117706227653],[0.5595564625607741,-2.2081177049092764]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.13247453696681777,-0.27343401640454523,0.71338606911949],"aabb_xy":[[-0.18195495818077656,-0.33743401431739706],[-0.08299411575285898,-0.2094340184916934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663224193957384,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6704.png","name":"6704"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6704.png","name":"6704"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2208.png","name":"2208"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3220.png","name":"3220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6160.png","name":"6160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":599.4503160587363,"rotation_z_degrees":241.95246457416988,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007640202268778123,-0.013834568153567161,0.0025228998991500794]},{"name":"camera_2","offset_m":[-0.006401031542375061,-0.0051825268664931114,0.006997261404198065]},{"name":"camera_3","offset_m":[0.0074646079890576325,-0.003100426688443486,-0.01653681720549096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000976671423745429,-0.00018156807035427385,-0.0010207009069960677],"end_effector_yaw_offset_degrees":0.7212932795852345},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001981740317129007,-0.001647143354141508,0.0009167596247211481],"end_effector_yaw_offset_degrees":0.31814877690920906},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014715550570961492,-0.0019437216068226872,0.0008807271439204784],"end_effector_yaw_offset_degrees":-0.27642842469747086}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003103292832366186,-0.002980078417671921],"position_m":[0.3539032928323662,0.1562199215823281,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032030218534810284,0.0032481891679612728],"position_m":[0.335003021853481,-0.04805181083203872,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004391169879098787,-0.004766977989024115],"position_m":[0.3203391169879099,0.3013330220109759,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031829294556317738,-0.00435930150094608],"position_m":[0.2162829294556318,-0.3912593015009461,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b10814941ea5868bd3c07935e8ca4132d534c004d6f8e2732c306b25195b92d","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6704/tex_ceiling_textures_2536/tex_floor_textures_6160/tex_table_textures_2208/tex_wall_textures_3220","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8236961417556687362,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8236961417556687362,"visual_seed":8236961417556687362,"scene_id":"lab_003","finished_at":"2026-09-03T00:41:28"} +{"episode_id":"ep_000027","started_at":"2026-09-03T00:41:31","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.3010412138109313,1.1374996964714814,0.71338606911949],"aabb_xy":[[0.2637099372856887,1.1028466416766292],[0.3383724903361739,1.1721527512663337]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.19522337669745804,0.285075632002441,0.71338606911949],"aabb_xy":[[-0.24522337705802408,0.2350956447928381],[-0.14522337633689195,0.33505561921204396]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.40193760383649346,1.0748626995978254,0.71338606911949],"aabb_xy":[[0.3937230587208094,1.0661861093001836],[0.4101521489521774,1.0835392898954663]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.0885993430476183,-0.445099507940379,0.71338606911949],"aabb_xy":[[-0.09731331209755277,-0.46759950859956717],[-0.07988537399768379,-0.4225995072811907]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.39160521516693914,-0.6481644900881087,0.71338606911949],"aabb_xy":[[0.3116052148933321,-0.7211140379138254],[0.47160521544054607,-0.575214942262392]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.22785362881276716,-0.4249359540703037,0.71338606911949],"aabb_xy":[[-0.2778536282529628,-0.4749038785546199],[-0.17785362937257151,-0.3749680295859873]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.34790063060086696,-1.7360413594942536,0.71338606911949],"aabb_xy":[[0.3304006313227801,-1.7533794595605996],[0.36540062987895383,-1.7187032594279077]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.20650934552282685,-1.5525996144399428,0.71338606911949],"aabb_xy":[[-0.27150934652332737,-1.6033859795946177],[-0.14150934452232633,-1.5018132492852678]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.2587932875799738,-1.3836137510872881,0.71338606911949],"aabb_xy":[[0.16910621127185826,-1.4736137513417387],[0.3484803638880892,-1.2936137508328376]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.35358179306570636,1.6032526468341,0.71338606911949],"aabb_xy":[[0.30359884287822697,1.5532526471915393],[0.40356474325318564,1.6532526464766601]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.17177402002233333,-1.9800661314679364,0.71338606911949],"aabb_xy":[[-0.22176885295027493,-2.0300661303631804],[-0.12177918709439173,-1.930066132572693]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[0.19397420348824823,-2.2963744225042344,0.71338606911949],"aabb_xy":[[0.16897420421628595,-2.3127197861003967],[0.2189742027602105,-2.280029058908072]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.4658644891565133,-1.1279718282615836,0.71338606911949],"aabb_xy":[[-0.47562047866568713,-1.1377343623208178],[-0.45610849964733935,-1.118209294202349]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.03140880702885451,-2.203359894287455,0.71338606911949],"aabb_xy":[[-0.0325911962608536,-2.2466948132913727],[0.09540881031856262,-2.1600249752835374]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.44030760360256693,-1.5679142915319528,0.71338606911949],"aabb_xy":[[-0.530307605936586,-1.6453966461170655],[-0.3503076012685479,-1.4904319369468402]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.07068372624511066,0.8749680292575803,0.71338606911949],"aabb_xy":[[-0.019316272349359273,0.8587174429441593],[0.1606837248395806,0.8912186155710013]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.5066645731271695,0.37732072347513057,0.71338606911949],"aabb_xy":[[0.5025486230150966,0.373205168442285],[0.510780523239242,0.381436278507976]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.6166588909689874,-0.6551899751351455,0.71338606911949],"aabb_xy":[[0.5916588910364695,-0.662072643356069],[0.6416588909015053,-0.6483073069142223]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.23135209409013313,-2.371533371642357,0.71338606911949],"aabb_xy":[[0.21434199680008248,-2.3876678601406307],[0.24836219138018378,-2.355398883144083]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.5152584249255596,-2.3929102648941347,0.71338606911949],"aabb_xy":[[-0.595258423512879,-2.472225866832295],[-0.43525842633824025,-2.3135946629559734]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[0.40299942112522125,-1.8798642475985825,0.71338606911949],"aabb_xy":[[0.312999424389611,-1.933047710915877],[0.4929994178608314,-1.826680784281288]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.49947608799914867,0.004300717311399804,0.71338606911949],"aabb_xy":[[0.466035912803129,-0.02914290851953027],[0.5329162631951682,0.03774434314232988]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[-0.05518826301888535,0.6071079230760348,0.71338606911949],"aabb_xy":[[-0.08040909987872501,0.5818841722231478],[-0.02996742615904568,0.6323316739289213]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[-0.2514390064990635,0.16570095235897542,0.71338606911949],"aabb_xy":[[-0.26854108445743163,0.14859414682770566],[-0.23433692854069532,0.18280775789024517]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.19926964334012287,-1.7218285723877558,0.71338606911949],"aabb_xy":[[0.14926964376378818,-1.771809151339862],[0.24926964291645762,-1.67184799343565]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.01017388355802018,-0.9848908262858278,0.71338606911949],"aabb_xy":[[-0.05382611714544917,-1.0309092087587488],[0.07417388426148953,-0.9388724438129069]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.6344224083597978,-0.14781935752342656,0.71338606911949],"aabb_xy":[[0.6295231160532343,-0.17549627682599533],[0.6393217006663613,-0.1201424382208578]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[0.6918960250271173,0.541635665161639,0.71338606911949],"aabb_xy":[[0.671837613413877,0.5215705782524814],[0.7119544366403576,0.5617007520707965]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.07539120964033663,-2.408144357804932,0.71338606911949],"aabb_xy":[[0.02541240113002073,-2.4581443578106508],[0.12537001815065252,-2.358144357799213]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[-0.541454605531793,-1.881608954215515,0.71338606911949],"aabb_xy":[[-0.6054546019591149,-1.9287785780376114],[-0.47745460910447113,-1.8344393303934186]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[0.6028597499829671,-1.7509057633947336,0.71338606911949],"aabb_xy":[[0.5765709256625263,-1.7771771970493846],[0.6291485743034076,-1.7246343297400821]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[0.309706972113746,1.38144804212725,0.71338606911949],"aabb_xy":[[0.24570697481139964,1.3370816151593932],[0.37370696941609244,1.4258144690951067]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_32","position":[0.3632181962578154,-2.2784648487294263,0.71338606911949],"aabb_xy":[[0.3583746014965854,-2.2833165012084105],[0.36806179101904535,-2.2736131962504422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677729540179027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2882.png","name":"2882"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2882.png","name":"2882"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7888.png","name":"7888"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/935.png","name":"935"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.057191941261,"rotation_z_degrees":97.61647083595416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010274869895499718,-0.012325350446605578,0.01562186005319149]},{"name":"camera_2","offset_m":[0.01862087733082807,0.0068428309060921365,-0.010534928001907425]},{"name":"camera_3","offset_m":[0.01156299771377418,0.014334817886658222,-0.01671116383855755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004579649553137378,8.424970603010439e-05,0.00019609161256164053],"end_effector_yaw_offset_degrees":-0.38225381615331977},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011586082449313796,0.0015965231356992828,0.001938726557782126],"end_effector_yaw_offset_degrees":-0.5620588955264847},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0012353660100781374,-0.0015944003607000648,-0.0005334146528140345],"end_effector_yaw_offset_degrees":0.36852947776590894}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002251352996233944,-0.002820496105402659],"position_m":[0.34854864700376603,0.15637950389459734,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003525933166412116,-0.0004571749840146322],"position_m":[0.3353259331664121,-0.05175717498401463,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016303740270790556,0.0037588743739883227],"position_m":[0.32153037402707907,0.3098588743739883,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012142275443316288,0.004630684982538615],"position_m":[0.2118857724556684,-0.3822693150174614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e9194cfb6f7fcc80313b441cb06c1188617a579ca83d44cdd34dfc93ea9eed3","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2882/tex_ceiling_textures_3083/tex_floor_textures_935/tex_table_textures_7219/tex_wall_textures_7888","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1972072147914770760,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1972072147914770760,"visual_seed":1972072147914770760,"scene_id":"lab_003","finished_at":"2026-09-03T00:44:28"} +{"episode_id":"ep_000028","started_at":"2026-09-03T00:44:30","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.46975583763672346,1.3522741464758283,0.71338606911949],"aabb_xy":[[0.44453500077688374,1.3270503956229411],[0.4949766744965631,1.3774978973287146]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.3851486563161223,1.1551269900380734,0.71338606911949],"aabb_xy":[[-0.4751486586501413,1.0776446354529607],[-0.29514865398210316,1.232609344623186]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.6605453002209865,-2.444095776155335,0.71338606911949],"aabb_xy":[[0.6557017054597566,-2.4489474286343196],[0.6653888949822165,-2.4392441236763514]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.48133308914410344,-1.685716968942247,0.71338606911949],"aabb_xy":[[-0.5235175033049342,-1.7497169692194585],[-0.4391486749832727,-1.6217169686650361]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.16397804054393617,1.3800901533122807,0.71338606911949],"aabb_xy":[[-0.1719715303392182,1.372092021371805],[-0.15598455074865414,1.3880882852527563]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.3836139127060232,1.1482621707481542,0.71338606911949],"aabb_xy":[[0.3603320705078919,1.063262169450926],[0.4068957549041546,1.2332621720453822]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.1969998177592992,-2.36202342199828,0.71338606911949],"aabb_xy":[[0.18830185546858394,-2.374148396305755],[0.20569778005001452,-2.3498984476908054]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.6374920368863346,-0.320840855491034,0.71338606911949],"aabb_xy":[[0.5999920365381067,-0.3326322510721175],[0.6749920372345622,-0.3090494599099504]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.055797419172500584,1.7276944923332755,0.71338606911949],"aabb_xy":[[0.021481141997882647,1.6776944923600976],[0.09011369634711852,1.777694492306453]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.612534540865914,1.3757962567261202,0.71338606911949],"aabb_xy":[[-0.6500345392893142,1.3626320427582892],[-0.5750345424425135,1.3889604706939507]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.4623167427466861,-2.3489944178110926,0.71338606911949],"aabb_xy":[[-0.503334686133057,-2.39899441844205],[-0.4212987993603152,-2.2989944171801353]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.32339492621849775,-0.2605915058977808,0.71338606911949],"aabb_xy":[[-0.34794114184124847,-0.29084040244681786],[-0.298848710595747,-0.23034260934874376]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.670510887418708,-2.380378328115228,0.71338606911949],"aabb_xy":[[0.6526417796642525,-2.3942112360924392],[0.6883799951731635,-2.366545420138017]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.6293304392525265,1.6402290744731576,0.71338606911949],"aabb_xy":[[-0.6652439436775162,1.604315566256403],[-0.5934169348275369,1.6761425826899121]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.11386438415688427,1.7240149084008185,0.71338606911949],"aabb_xy":[[-0.1513643846542425,1.7200462248527],[-0.07636438365952601,1.727983591948937]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.5730460639733513,-0.35311908347259546,0.71338606911949],"aabb_xy":[[-0.6230302996815286,-0.40311908228609106],[-0.5230618282651741,-0.30311908465909987]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.5877988986595963,-1.8391828044222733,0.71338606911949],"aabb_xy":[[0.522798897553653,-1.8641481774904016],[0.6527988997655396,-1.814217431354145]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.3202963066150688,0.5457097288520187,0.71338606911949],"aabb_xy":[[0.302718004426122,0.5281352392779138],[0.3378746088040157,0.5632842184261236]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.659744214259701,-1.5660366184230583,0.71338606911949],"aabb_xy":[[-0.6716162972712021,-1.6510366181167087],[-0.6478721312481999,-1.481036618729408]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.43293126758313116,0.6773286334867987,0.71338606911949],"aabb_xy":[[-0.4554449594065883,0.6073286328857911],[-0.4104175757596739,0.7473286340878061]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.6423065730352215,-1.9663406056078294,0.71338606911949],"aabb_xy":[[0.5783065738654516,-2.013107292726792],[0.7063065722049915,-1.919573918488867]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.6747886061099557,-0.9220751609667088,0.71338606911949],"aabb_xy":[[-0.68350257515989,-0.9445751616258968],[-0.666074637060021,-0.8995751603075204]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.4820618450577774,-2.445492240424331,0.71338606911949],"aabb_xy":[[0.43206184339628256,-2.495490682680033],[0.532061846719272,-2.3954937981686277]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[0.30484412411402007,1.173695160036205,0.71338606911949],"aabb_xy":[[0.2934823894607339,1.1623266936299168],[0.3162058587673062,1.185063626442493]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.5361360583503496,0.693736678551494,0.71338606911949],"aabb_xy":[[0.5125509348864548,0.6287366763060623],[0.5597211818142445,0.7587366807969259]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[-0.33899180436653237,1.6985039894317793,0.71338606911949],"aabb_xy":[[-0.39398501570366923,1.6435039890929861],[-0.2839985930293957,1.7535039897705733]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.6256811384335401,-1.3393459011793494,0.71338606911949],"aabb_xy":[[0.540681140016117,-1.4242201966416344],[0.7106811368509635,-1.2544716057170644]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[0.6814574975160161,1.009490343344409,0.71338606911949],"aabb_xy":[[0.6402086864861013,0.9544903438321913],[0.7227063085459308,1.0644903428566261]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.4159610855511888,0.5684519516975737,0.71338606911949],"aabb_xy":[[0.40954727190800383,0.5620421314499052],[0.4223748991943737,0.5748617719452419]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[-0.3931872191941862,-1.126789073968809,0.71338606911949],"aabb_xy":[[-0.45718721630629194,-1.1758214437632193],[-0.32918722208208057,-1.077756704174398]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[0.5176700722575034,1.0698565414618315,0.71338606911949],"aabb_xy":[[0.5075883651789298,0.9898565435697166],[0.5277517793360768,1.149856539353946]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[-0.5904187953847482,0.5558734088681181,0.71338606911949],"aabb_xy":[[-0.5969204318927528,0.5461055868418083],[-0.5839171588767436,0.5656412308944279]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_32","position":[0.044863891575572246,0.7031140056906922,0.71338606911949],"aabb_xy":[[0.009863891679553377,0.6947397701787522],[0.07986389147159112,0.7114882412026321]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_33","position":[-0.5089099177665088,0.9233676571588116,0.71338606911949],"aabb_xy":[[-0.519062933320658,0.8872981155860711],[-0.49875690221235924,0.9594371987315518]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_34","position":[-0.23217941684743992,-1.9507602539829652,0.71338606911949],"aabb_xy":[[-0.24411215120926796,-1.9631424067908243],[-0.22024668248561183,-1.9383781011751056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668677376501661,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9173.png","name":"9173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9173.png","name":"9173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3507.png","name":"3507"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/228.png","name":"228"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":617.798350827994,"rotation_z_degrees":19.01411327786935,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017872903645763483,-0.003022912155368679,-0.0077409316639720956]},{"name":"camera_2","offset_m":[0.003984429208288964,0.008509249795731092,0.012572910850581171]},{"name":"camera_3","offset_m":[-0.003169403371498545,-0.008495403595035197,0.016478386926715476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019621021422937994,-0.001530071827396088,0.0018272992258810041],"end_effector_yaw_offset_degrees":0.9198630056177544},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008643461715310931,-0.0001118430523553125,-0.00046927350325292813],"end_effector_yaw_offset_degrees":0.44633059915158557},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017588039285502308,0.000907322081441148,0.00025450560436439265],"end_effector_yaw_offset_degrees":-0.6687679548950201}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021134284996833794,-0.003697322646225074],"position_m":[0.3529134284996834,0.15550267735377493,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015028795636343184,0.003076106407904295],"position_m":[0.33029712043636567,-0.0482238935920957,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002111800027590971,0.004788162801417208],"position_m":[0.322011800027591,0.3108881628014172,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004638926789855736,-0.0001318218543443243],"position_m":[0.2084610732101443,-0.38703182185434437,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c83c540b9bc1b55124fd31b50314b82956032843b56bb6be502991b4133df402","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9173/tex_ceiling_textures_4772/tex_floor_textures_228/tex_table_textures_5752/tex_wall_textures_3507","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8087044673705771077,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8087044673705771077,"visual_seed":8087044673705771077,"scene_id":"lab_003","finished_at":"2026-09-03T00:47:02"} +{"episode_id":"ep_000029","started_at":"2026-09-03T00:57:42","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.4842308381264462,1.1858339884899989,0.71338606911949],"aabb_xy":[[0.4302152418445461,1.1218339855977415],[0.5382464344083462,1.2498339913822558]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.2538252730283749,1.3914625997555343,0.71338606911949],"aabb_xy":[[0.18882527207124764,1.3395143878218287],[0.31882527398550203,1.44341081168924]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.007968207977525066,1.5880929741437622,0.71338606911949],"aabb_xy":[[-0.03296820724948734,1.5717476105475996],[0.017031791294437208,1.6044383377399243]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.4065541933832017,-0.9901518657059722,0.71338606911949],"aabb_xy":[[-0.45436036099697036,-1.0551518684130312],[-0.3587480257694331,-0.9251518629989132]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.7028216396581353,-0.7053561705108502,0.71338606911949],"aabb_xy":[[0.6948983594193869,-0.7278561707488536],[0.7107449198968836,-0.6828561702728468]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.2723730884477607,1.7056361717558608,0.71338606911949],"aabb_xy":[[-0.3323730890437769,1.6508236992106373],[-0.21237308785174452,1.7604486443010843]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.6042263520891563,-0.5939263661948324,0.71338606911949],"aabb_xy":[[-0.6388174349432015,-0.6589263664798634],[-0.5696352692351111,-0.5289263659098012]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.052471620949301356,-2.196876212024421,0.71338606911949],"aabb_xy":[[0.0447684302752243,-2.2045855827231593],[0.060174811623378385,-2.189166841325683]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.24277711544286562,0.40797394982949386,0.71338606911949],"aabb_xy":[[-0.306777117120863,0.3594565583501797],[-0.17877711376486824,0.45649134130880814]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.5265767285856966,1.7718779375280982,0.71338606911949],"aabb_xy":[[0.48157672711946775,1.7268780806666175],[0.5715767300519254,1.8168777943895789]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.025075038950379214,-2.4080562712620477,0.71338606911949],"aabb_xy":[[-0.06725945311120995,-2.4720562715392593],[0.017109375210451527,-2.344056270984837]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.5036331007890269,0.8621256186413842,0.71338606911949],"aabb_xy":[[0.4537504039113307,0.8121256193951095],[0.5535157976667231,0.912125617887659]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.5995460520463227,1.4270097501071803,0.71338606911949],"aabb_xy":[[0.5645460521503038,1.4186355145952403],[0.6345460519423416,1.4353839856191204]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.30344874033763775,0.785492091608428,0.71338606911949],"aabb_xy":[[-0.3834487436016509,0.7719320592995147],[-0.22344873707362461,0.7990521239173414]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.45530033712175155,0.616749912297506,0.71338606911949],"aabb_xy":[[-0.47747286409840234,0.5945742451413828],[-0.43312781014510066,0.6389255794536292]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.4018964520065818,-1.599232103589005,0.71338606911949],"aabb_xy":[[-0.4361933630243224,-1.633528989798946],[-0.3675995409888411,-1.5649352173790634]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.43546150623072455,-2.0532824082327172,0.71338606911949],"aabb_xy":[[-0.46068234309056416,-2.0785061590856033],[-0.4102406693708848,-2.0280586573798294]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.0832110468718944,1.7587947028678834,0.71338606911949],"aabb_xy":[[0.045711048296273586,1.7460584072043253],[0.1207110454475152,1.7715309985314411]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.08617259660680332,-0.5547867272930067,0.71338606911949],"aabb_xy":[[-0.14617259824972517,-0.6067868765849509],[-0.026172594963881454,-0.5027865780010625]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.21975667976236646,1.2675507445047187,0.71338606911949],"aabb_xy":[[-0.27475215758302585,1.2125507430708116],[-0.16476120194170704,1.3225507459386254]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.23889677574967805,1.2663884401108176,0.71338606911949],"aabb_xy":[[0.16889677311309165,1.246283575114952],[0.30889677838626434,1.286493305106683]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.4781454859112618,0.9384212819494735,0.71338606911949],"aabb_xy":[[-0.5421454873192525,0.8866323304255488],[-0.4141454845032712,0.9902102334733982]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.42525626023140767,1.2022897293849923,0.71338606911949],"aabb_xy":[[-0.431350888119526,1.1937203348333234],[-0.41916163234328935,1.2108591239366608]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.3431250314029556,-0.775746303764393,0.71338606911949],"aabb_xy":[[-0.3606250306810424,-0.793084403830739],[-0.32562503212486865,-0.7584082036980471]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.4345207769721946,0.6166748346930673,0.71338606911949],"aabb_xy":[[0.3845215018037584,0.5666748334171202],[0.4845200521406307,0.6666748359690146]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[-0.20727628847497526,-0.894143613967183,0.71338606911949],"aabb_xy":[[-0.24858083153871122,-0.9581436135353],[-0.16597174541123924,-0.8301436143990658]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[0.08085204942835766,1.2148756275452604,0.71338606911949],"aabb_xy":[[0.07282577879773168,1.2061241325679077],[0.08887832005898368,1.223627122522613]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.36762430766252263,-0.006240228953896754,0.71338606911949],"aabb_xy":[[-0.37691792589967316,-0.043740227442030655],[-0.358330689425372,0.03125976953423715]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.2358717910750846,1.7385898979909062,0.71338606911949],"aabb_xy":[[0.2008717918822663,1.7276228519932437],[0.27087179026790287,1.7495569439885688]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[0.32493442275271156,-0.6901362834450813,0.71338606911949],"aabb_xy":[[0.24493442573846352,-0.7102708351184925],[0.4049344197669595,-0.67000173177167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666809389151991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5399.png","name":"5399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5399.png","name":"5399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/123.png","name":"123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4716.png","name":"4716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9949.png","name":"9949"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5073.png","name":"5073"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":507.8762729515564,"rotation_z_degrees":331.4054473663981,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006823343179059532,0.005903102309296374,-0.014896291373840099]},{"name":"camera_2","offset_m":[-0.01952406871107217,0.009233785246024535,-0.016487547301012855]},{"name":"camera_3","offset_m":[0.019593154417054195,-0.01698478406351062,-0.0013666066739526223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011064284945069849,0.0013334468226219578,-0.0016067522289291158],"end_effector_yaw_offset_degrees":0.48003665284890196},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017468319543115728,0.0011247869860581544,-0.0011416916284415568],"end_effector_yaw_offset_degrees":0.5447481542785293},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010574850879901403,-0.0016031854708722162,0.0017074140382979538],"end_effector_yaw_offset_degrees":0.7235129044986723}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014851986802498296,0.0017805218763652462],"position_m":[0.3493148013197502,0.16098052187636525,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005969300831783434,-0.0004833062212923865],"position_m":[0.33239693008317833,-0.05178330622129239,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027343720703751455,-0.0007347062335842256],"position_m":[0.32263437207037515,0.30536529376641575,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019488291342446861,-0.0018502704699788698],"position_m":[0.21115117086575533,-0.3887502704699789,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a5f86c49b0b5a5ee8c1a9a4f6d4d7849103f4d9fc310b597af62d4dffbcd5b3","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5399/tex_ceiling_textures_5073/tex_floor_textures_9949/tex_table_textures_123/tex_wall_textures_4716","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8108181819656032624,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8108181819656032624,"visual_seed":8108181819656032624,"scene_id":"lab_003","finished_at":"2026-09-03T01:00:25"} +{"episode_id":"ep_000030","started_at":"2026-09-03T01:01:50","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.2817183892236266,0.6902465976669632,0.71338606911949],"aabb_xy":[[-0.28913084476501505,0.6843953872453352],[-0.2743059336822381,0.6960978080885911]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.6111078493036667,-1.4068940009348514,0.71338606911949],"aabb_xy":[[-0.6410754062134922,-1.4368940012327371],[-0.5811402923938409,-1.3768940006369657]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.3406311499919814,-2.116632298293582,0.71338606911949],"aabb_xy":[[0.3170460265280865,-2.1816323005390137],[0.3642162734558762,-2.05163229604815]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.01346872201650895,0.9192697006708817,0.71338606911949],"aabb_xy":[[0.002223666445891115,0.9080279029467865],[0.024713777587126784,0.930511498394977]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.13872316723484923,1.5921923555642983,0.71338606911949],"aabb_xy":[[0.058723170271810066,1.5151167139205246],[0.2187231641978884,1.6692679972080715]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.4703268240467754,1.233218109959703,0.71338606911949],"aabb_xy":[[-0.505326825398257,1.212858374002882],[-0.43532682269529366,1.2535778459165237]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.43461918875446504,-1.1883052409209043,0.71338606911949],"aabb_xy":[[0.43054103084741524,-1.1923862211691676],[0.4386973466615147,-1.184224260672641]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[-0.2520006151003291,-1.3821847962608762,0.71338606911949],"aabb_xy":[[-0.25733312975494216,-1.3875091245061115],[-0.2466681004457162,-1.3768604680156404]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.22091850117453715,-0.7264814330045224,0.71338606911949],"aabb_xy":[[0.18747832597851746,-0.7599250588354524],[0.25435867637055665,-0.6930378071735922]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.5724522486867224,-0.9031880258449381,0.71338606911949],"aabb_xy":[[-0.609783525211965,-0.9378410806397904],[-0.5351209721614798,-0.8685349710500859]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[0.495149749833677,0.560525642352157,0.71338606911949],"aabb_xy":[[0.47908782237515934,0.4755256405395652],[0.5112116772921946,0.6455256441647488]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.6433374080318559,0.3496081054507445,0.71338606911949],"aabb_xy":[[-0.6904667870336915,0.28560810440634254],[-0.5962080290300201,0.41360810649514645]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.39428057151304596,1.4090770773473644,0.71338606911949],"aabb_xy":[[0.37994614638688246,1.3970168617928256],[0.40861499663920936,1.4211372929019033]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.5108022432727787,1.6202978156694,0.71338606911949],"aabb_xy":[[-0.5327109254121297,1.598397148849309],[-0.48889356113342763,1.6421984824894904]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.08591590644873115,1.0073321059780485,0.71338606911949],"aabb_xy":[[-0.1337220740624998,0.9423321032709893],[-0.03810973883496251,1.0723321086851072]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.6268344998579067,1.444313881496273,0.71338606911949],"aabb_xy":[[-0.6908345020783138,1.3999407973709845],[-0.5628344976374997,1.488686965621561]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.05397504963460198,1.4899847057231255,0.71338606911949],"aabb_xy":[[-0.06474802355596976,1.4549847075040865],[-0.0432020757132342,1.5249847039421645]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.6645003239842624,0.5965804168551947,0.71338606911949],"aabb_xy":[[-0.681510421274313,0.5804459283569207],[-0.6474902266942117,0.6127149053534685]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.2770242461453596,-2.280592421143331,0.71338606911949],"aabb_xy":[[-0.3183287892090956,-2.344592420711448],[-0.2357197030816236,-2.2165924215752137]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.3423272378618558,0.784662358439959,0.71338606911949],"aabb_xy":[[0.2823272376104546,0.7303810334034943],[0.40232723811325694,0.8389436834764236]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.42621757333799654,0.13422050470946534,0.71338606911949],"aabb_xy":[[-0.48023316961989654,0.07022050181720818],[-0.37220197705609653,0.1982205076017225]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.31670513201638456,-1.27286782484277,0.71338606911949],"aabb_xy":[[-0.38170513057345734,-1.3026203582566527],[-0.25170513345931167,-1.2431152914288874]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.5007937222476316,0.8515048245938073,0.71338606911949],"aabb_xy":[[-0.5707937256391936,0.8161890508903763],[-0.4307937188560697,0.886820598297238]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.24669812706189542,-2.3231567900647416,0.71338606911949],"aabb_xy":[[0.23899493638781838,-2.3308661607634797],[0.25440131773597247,-2.3154474193660035]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.38598444059166986,-0.9486122935642438,0.71338606911949],"aabb_xy":[[-0.4499844409692035,-0.9983575604150562],[-0.32198444021413625,-0.8988670267134317]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.5931087288702197,0.21740612748948918,0.71338606911949],"aabb_xy":[[0.551859917840305,0.1624061279772717],[0.6343575399001344,0.2724061270017066]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.5498733110029905,-0.5307707591826794,0.71338606911949],"aabb_xy":[[0.5123733108311185,-0.5634714945655864],[0.5873733111748624,-0.49807002379977205]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.6066707035267263,-1.2493831432731395,0.71338606911949],"aabb_xy":[[0.56987607040182,-1.2862890183697215],[0.6434653366516325,-1.212477268176557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634299476708537,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9301.png","name":"9301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4364.png","name":"4364"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.1338509632359,"rotation_z_degrees":62.064011861527916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006611005283650533,-0.010350294392874231,0.007613643096095909]},{"name":"camera_2","offset_m":[0.004342106468942397,0.01418024855112036,0.0011711594779940833]},{"name":"camera_3","offset_m":[0.004687579840567686,0.005929653481214291,-0.01402846319512991]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018700470194282998,0.0010868492640431467,0.00014583973882151746],"end_effector_yaw_offset_degrees":0.3375564359210468},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018908454517623473,0.00044595089937975695,0.0007586668076955713],"end_effector_yaw_offset_degrees":-0.17527735519266519},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012045286804268731,0.0004652564265632828,0.0004224751847785161],"end_effector_yaw_offset_degrees":-0.865821858500454}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021557623483596223,-0.0016891992732817975],"position_m":[0.3486442376516404,0.15751080072671822,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002531473258076106,-0.0010178412164369242],"position_m":[0.32926852674192386,-0.05231784121643692,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00048464736740040995,-0.003469448087041519],"position_m":[0.3203846473674004,0.30263055191295846,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029269555381561817,0.0022526829648990302],"position_m":[0.21017304446184382,-0.38464731703510097,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"220a4d68055e0afe5adeca34147faf3d8af484f7575c4d99ddae42d6cde9a95d","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1406/tex_ceiling_textures_4364/tex_floor_textures_44/tex_table_textures_4015/tex_wall_textures_9301","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3916965648710272803,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3916965648710272803,"visual_seed":3916965648710272803,"scene_id":"lab_003","finished_at":"2026-09-03T01:04:28"} +{"episode_id":"ep_000031","started_at":"2026-09-03T01:05:51","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5218171332327949,-2.4369470725209914,0.71338606911949],"aabb_xy":[[-0.5918171366243568,-2.4722628462244223],[-0.45181712984123285,-2.4016312988175605]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.6780772341938726,0.4740784616007754,0.71338606911949],"aabb_xy":[[0.661400098200777,0.45737853762684505],[0.6947543701869681,0.4907783855747056]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.2149999748015879,-0.19536585820086305,0.71338606911949],"aabb_xy":[[-0.21907813270863763,-0.19944683844912636],[-0.21092181689453815,-0.19128487795259974]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.33698125031160875,0.5471216215849815,0.71338606911949],"aabb_xy":[[0.2569812533485696,0.470045979941208],[0.4169812472746479,0.6241972632287549]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.6919464770038535,-1.7739734813610026,0.71338606911949],"aabb_xy":[[0.6800137426420254,-1.7863556341688618],[0.7038792113656815,-1.761591328553143]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.6800679038281578,1.0927563644527014,0.71338606911949],"aabb_xy":[[0.662567904550071,1.0754182643863555],[0.6975679031062447,1.1100944645190474]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.521522094987719,-0.48690783270436766,0.71338606911949],"aabb_xy":[[-0.5333941779992201,-0.5719078323980179],[-0.5096500119762178,-0.4019078330107172]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.5216926320536007,-1.8880784598461577,0.71338606911949],"aabb_xy":[[-0.5591926327181793,-1.90376551784638],[-0.48419263138902197,-1.8723914018459356]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.43681325772851887,-2.1490923459330857,0.71338606911949],"aabb_xy":[[0.3868132581521842,-2.199072924885192],[0.48681325730485364,-2.0991117669809802]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.02013153658846567,0.7350178237284064,0.71338606911949],"aabb_xy":[[-0.10013153517578509,0.6557022217902455],[0.05986846199885375,0.8143334256665673]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.5944075280866731,-1.1707866414607047,0.71338606911949],"aabb_xy":[[-0.6288700060997608,-1.1774503186436271],[-0.5599450500735853,-1.1641229642777817]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.5468247558340287,-1.8546858972804747,0.71338606911949],"aabb_xy":[[0.48282475442603806,-1.9064748488043992],[0.6108247572420193,-1.8028969457565498]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.6129735056957926,-0.3302745732807586,0.71338606911949],"aabb_xy":[[0.5329735024317794,-0.34383460558967194],[0.6929735089598057,-0.31671454097184526]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.592352638196679,-1.7706402028263404,0.71338606911949],"aabb_xy":[[-0.6623526397989585,-1.784072996027998],[-0.5223526365943996,-1.7572074096246828]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.4102404619645519,-0.46598772730376536,0.71338606911949],"aabb_xy":[[0.36893591890081584,-0.5299877268718824],[0.4515450050282878,-0.4019877277356483]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.15983802595560592,1.1663870084491537,0.71338606911949],"aabb_xy":[[0.15570216962290573,1.1288870090047967],[0.16397388228830612,1.2038870078935107]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.4846444711142259,0.7182033019392535,0.71338606911949],"aabb_xy":[[-0.49234766178830297,0.7104939312405154],[-0.4769412804401489,0.7259126726379914]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.6871930939260262,-2.394899690163729,0.71338606911949],"aabb_xy":[[0.6817351482890062,-2.474899693471388],[0.6926510395630463,-2.31489968685607]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.11975790965807631,-2.1738896903617033,0.71338606911949],"aabb_xy":[[0.11379137071734052,-2.1798508350210675],[0.1257244485988121,-2.167928545702339]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.6373565986212157,-1.523503416791821,0.71338606911949],"aabb_xy":[[0.5573565981509998,-1.5318141244061698],[0.7173565990914317,-1.5151927091774728]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.25671789847893445,-2.4534491177621103,0.71338606911949],"aabb_xy":[[-0.32071789576458304,-2.4949558367149542],[-0.19271790119328575,-2.4119423988092663]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.4589877186734217,-1.63267643597518,0.71338606911949],"aabb_xy":[[0.4039922408527622,-1.687676437409087],[0.513983196494081,-1.577676434541273]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.6169042514445124,1.2080527069516203,0.71338606911949],"aabb_xy":[[0.5992714158509848,1.190429760935997],[0.6345370870380399,1.225675652967243]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.5206327264097377,-0.9542906694319664,0.71338606911949],"aabb_xy":[[-0.5315385024973004,-1.0342906658307955],[-0.509726950322175,-0.8742906730331372]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.35450754004826907,0.9263031065035023,0.71338606911949],"aabb_xy":[[-0.3770039614821332,0.9038031066967549],[-0.332011118614405,0.9488031063102498]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.1947783562207247,-1.6307158560129358,0.71338606911949],"aabb_xy":[[-0.20127999272872932,-1.6404836780392456],[-0.1882767197127201,-1.620948033986626]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[0.37052081134997805,-0.674399293749975,0.71338606911949],"aabb_xy":[[0.31552081172823226,-0.7293829865374477],[0.42552081097172395,-0.6194156009625023]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[0.5890375994320798,-1.3222041303255323,0.71338606911949],"aabb_xy":[[0.5515375993264868,-1.3290262921785134],[0.6265375995376727,-1.3153819684725512]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[-0.5612694256767355,0.4608020187303712,0.71338606911949],"aabb_xy":[[-0.6112694266958708,0.4243358029925433],[-0.5112694246576003,0.4972682344681992]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_29","position":[-0.5081243523326937,1.4601383948299422,0.71338606911949],"aabb_xy":[[-0.525799982921292,1.4424581785505393],[-0.49044872174409543,1.4778186111093448]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.27420218394726803,0.5480670396719658,0.71338606911949],"aabb_xy":[[-0.2791582041321492,0.5255670394698443],[-0.26924616376238686,0.5705670398740875]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_31","position":[-0.17893222582526758,1.4817940366031608,0.71338606911949],"aabb_xy":[[-0.21572685895017385,1.4448881615065787],[-0.1421375927003613,1.5186999116997433]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_32","position":[-0.21259329605926752,0.40441318932471404,0.71338606911949],"aabb_xy":[[-0.2494438439962551,0.3669131885016803],[-0.17574274812227988,0.44191319014774777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612901856172771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4.png","name":"4"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4.png","name":"4"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6876.png","name":"6876"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6650.png","name":"6650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9157.png","name":"9157"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":526.9692674884127,"rotation_z_degrees":128.08346453256223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008039276564672253,0.0033704459559858527,0.009609699220958876]},{"name":"camera_2","offset_m":[-0.006353084087150922,-0.01567027039822445,-0.007702235727780117]},{"name":"camera_3","offset_m":[-0.0010370975676366571,-0.004748681300983581,-0.008708869143305136]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022102986233027509,0.0013757333540440424,0.00030659143316772754],"end_effector_yaw_offset_degrees":0.2910821268598469},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005904780545279388,-0.0003317896547631908,-0.0010986820689035217],"end_effector_yaw_offset_degrees":-0.8165667183959788},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012629275616376223,-0.0011002425331695961,-0.0018019866017977804],"end_effector_yaw_offset_degrees":-0.944689934079461}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042447689930382336,0.0009373413920399512],"position_m":[0.3465552310069618,0.16013734139203997,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004221643033559362,0.0021155472945443054],"position_m":[0.33602164303355936,-0.04918445270545569,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012066906892217164,-0.0048610839641248585],"position_m":[0.3186933093107783,0.3012389160358751,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015095678337810913,0.0032422796196083263],"position_m":[0.21159043216621892,-0.3836577203803917,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"87917028912c99539de3e392e1bbfe092be2cde27637dae478932dcd558ec33d","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4/tex_ceiling_textures_9157/tex_floor_textures_6650/tex_table_textures_7126/tex_wall_textures_6876","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4411061770508585602,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4411061770508585602,"visual_seed":4411061770508585602,"scene_id":"lab_003","finished_at":"2026-09-03T01:08:28"} +{"episode_id":"ep_000032","started_at":"2026-09-03T01:09:59","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.10739179828620504,-1.0514428362562511,0.71338606911949],"aabb_xy":[[-0.1713918015048429,-1.0981659481552595],[-0.043391795067567185,-1.0047197243572428]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.2797746612441969,1.3365385132393097,0.71338606911949],"aabb_xy":[[0.2685296056735791,1.3252967155152142],[0.29101971681481476,1.3477803109634048]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.2824396213820112,0.9063727075740067,0.71338606911949],"aabb_xy":[[0.24493962019721835,0.9019544848779459],[0.3199396225668039,0.910790930270067]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.3751921287108501,-1.7725312940885618,0.71338606911949],"aabb_xy":[[-0.4126921272864709,-1.78526758975212],[-0.3376921301352293,-1.759794998425004]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.6234564855407077,-1.3545044731017342,0.71338606911949],"aabb_xy":[[0.6009564855305592,-1.3686006927413374],[0.6459564855508558,-1.3404082534621309]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.5800680884797509,0.733510324183742,0.71338606911949],"aabb_xy":[[-0.5952402577613843,0.7183414672555386],[-0.5648959191981177,0.7486791811119453]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.5054386833651974,-0.8372633946075474,0.71338606911949],"aabb_xy":[[-0.5854386855279597,-0.917218578233691],[-0.4254386812024348,-0.7573082109814038]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.599875472711989,1.1850519798407704,0.71338606911949],"aabb_xy":[[0.5918814841342857,1.1770518997456798],[0.6078694612896924,1.1930520599358605]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.557588338951239,-0.20733702206830262,0.71338606911949],"aabb_xy":[[0.5075933279917871,-0.25733702110389434],[0.6075833499106912,-0.1573370230327109]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.1276349487996148,-1.408266885417619,0.71338606911949],"aabb_xy":[[0.12166840985887897,-1.414228030076983],[0.13360148774035055,-1.4023057407582546]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.30342936772842855,1.6054016633094368,0.71338606911949],"aabb_xy":[[0.27842936817669,1.5952591794443023],[0.328429367280167,1.6155441471745717]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.6321846063400689,-1.3045039673818768,0.71338606911949],"aabb_xy":[[-0.6402209410413537,-1.3125420866862936],[-0.6241482716387841,-1.29646584807746]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.36118511034650524,-2.3870307001615165,0.71338606911949],"aabb_xy":[[-0.42518080774160183,-2.451030698462225],[-0.29718941295140866,-2.323030701860808]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.33174641102249836,-2.1065142479588053,0.71338606911949],"aabb_xy":[[0.30341670107395813,-2.1109749901525223],[0.3600761209710386,-2.102053505765088]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.501811774059395,-1.3586126964829375,0.71338606911949],"aabb_xy":[[0.47931177381587964,-1.3708173311427094],[0.5243117743029104,-1.3464080618231655]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.5294326816223109,-1.5073950480295473,0.71338606911949],"aabb_xy":[[0.46443268374066327,-1.5585187117360886],[0.5944326795039588,-1.4562713843230066]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.00213734008056099,-1.4865098018288931,0.71338606911949],"aabb_xy":[[-0.05786266078025181,-1.5379362318353793],[0.06213734094137379,-1.4350833718224065]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.46935142363976357,-0.8817926720118063,0.71338606911949],"aabb_xy":[[0.4343514244469453,-0.8927597180094687],[0.5043514228325818,-0.8708256260141435]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.6100120944829477,-2.522044936752828,0.71338606911949],"aabb_xy":[[-0.6378571312635548,-2.55282943549114],[-0.5821670577023406,-2.4912604380145167]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.306462240259306,-1.8959921479705557,0.71338606911949],"aabb_xy":[[-0.32201800966957134,-1.9115425812149631],[-0.2909064708490408,-1.8804417147261487]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[0.18212721470410442,0.9793797614195889,0.71338606911949],"aabb_xy":[[0.16084920656063215,0.9143797590935159],[0.20340522284757664,1.044379763745662]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.24594131525548524,0.5494030740163698,0.71338606911949],"aabb_xy":[[0.21347961437355778,0.5192702419014671],[0.2784030161374127,0.5795359061312723]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.4322261623015531,-0.2854138351770703,0.71338606911949],"aabb_xy":[[-0.48221927441074497,-0.33541383585126594],[-0.3822330501923612,-0.23541383450287467]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.1265719924705766,-0.8838078338998048,0.71338606911949],"aabb_xy":[[0.11886880179649956,-0.8915172045985428],[0.13427518314465364,-0.8760984632010668]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.42264578362556965,-1.253697298984104,0.71338606911949],"aabb_xy":[[-0.42754507593213303,-1.2813742182866728],[-0.41774649131900604,-1.2260203796815352]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[-0.00666649997926394,-1.6279647721197512,0.71338606911949],"aabb_xy":[[-0.07066650232206549,-1.6729056233638837],[0.05733350236353762,-1.5830239208756187]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.24966858097122668,-1.1509560851272838,0.71338606911949],"aabb_xy":[[0.18566858385912102,-1.1999884549216944],[0.31366857808333237,-1.1019237153328731]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675575110669258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9326.png","name":"9326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2583.png","name":"2583"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":684.1228141773006,"rotation_z_degrees":107.54018774391554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014499080974889857,0.013223275396758643,-0.009243845750368945]},{"name":"camera_2","offset_m":[0.004454244877554442,-0.01500884999958017,-0.011656144332347292]},{"name":"camera_3","offset_m":[-0.004836012223210302,0.015881832767452756,-0.0005164456594883432]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006917096449285149,0.0018179347413930513,0.0011832876162722692],"end_effector_yaw_offset_degrees":0.4711470260933175},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017700764754476443,-0.00132905123438466,-0.00184537296157275],"end_effector_yaw_offset_degrees":0.3849128807016853},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001971021426150259,-0.001715535207831397,-0.0010939224666001667],"end_effector_yaw_offset_degrees":0.4554109414076437}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001961864138640218,-0.002582833035240765],"position_m":[0.3488381358613598,0.15661716696475925,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034294716725219443,0.00026792674572584906],"position_m":[0.32837052832747804,-0.05103207325427415,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004054141248282533,-0.0013845656501613435],"position_m":[0.32395414124828253,0.30471543434983867,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038131605910722644,-0.0001613415923132685],"position_m":[0.20928683940892776,-0.3870613415923133,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4ef39effc910cfcbd93837a093995afdcc2f1951dd648f59deab55b3ebeef76b","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4266/tex_ceiling_textures_8118/tex_floor_textures_2583/tex_table_textures_9326/tex_wall_textures_1608","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6214522230458732710,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6214522230458732710,"visual_seed":6214522230458732710,"scene_id":"lab_003","finished_at":"2026-09-03T01:12:51"} +{"episode_id":"ep_000033","started_at":"2026-09-03T01:14:20","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.22416001244681272,-2.397203342165157,0.71338606911949],"aabb_xy":[[-0.2791554902674721,-2.4522033435990633],[-0.16916453462615333,-2.3422033407312495]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.5361987182745932,1.396305560210307,0.71338606911949],"aabb_xy":[[-0.5456161928444561,1.386889383072588],[-0.5267812437047306,1.405721737348026]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.63043168331357,0.9301400205263612,0.71338606911949],"aabb_xy":[[-0.6463161765788952,0.9157870802275374],[-0.6145471900482449,0.9444929608251855]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[0.49556662267196416,-1.0587144567221973,0.71338606911949],"aabb_xy":[[0.4105666239798895,-1.0907003201170762],[0.5805666213640388,-1.0267285933273185]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.3375050778258245,-0.8375489816070432,0.71338606911949],"aabb_xy":[[-0.3573961177061648,-0.8502047928917401],[-0.3176140379454843,-0.8248931703223464]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.44162308712412585,-0.4916190019935791,0.71338606911949],"aabb_xy":[[-0.4523960610454936,-0.5266190002126181],[-0.43085011320275807,-0.4566190037745402]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.3115837179974714,0.9835071268895894,0.71338606911949],"aabb_xy":[[0.24758371658948072,0.9317181753656647],[0.37558371940546204,1.0352960784135141]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.12167882076891634,-0.47885600000733053,0.71338606911949],"aabb_xy":[[-0.15917882106109116,-0.4828974754079341],[-0.08417882047674152,-0.47481452460672685]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.6738540055686844,-1.314949901027608,0.71338606911949],"aabb_xy":[[0.6388540042172026,-1.3353096369844286],[0.7088540069201661,-1.294590165070787]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.3109266186861509,0.12398332496670017,0.71338606911949],"aabb_xy":[[-0.3453890966992386,0.11731964778377735],[-0.2764641406730631,0.130647002149623]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.5866969981307717,-0.703326075802537,0.71338606911949],"aabb_xy":[[0.5542352972488441,-0.7334589079174394],[0.619158699012699,-0.6731932436876342]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.18842290736068867,0.9660684831516146,0.71338606911949],"aabb_xy":[[0.1695385235921785,0.9471825583712619],[0.2073072911291989,0.9849544079319674]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.32805846594247196,-2.1482316023016876,0.71338606911949],"aabb_xy":[[-0.33814017302104543,-2.228231600193802],[-0.3179767588638985,-2.0682316044095725]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.6133506734476151,0.4483407585574275,0.71338606911949],"aabb_xy":[[-0.6773506737215933,0.3982746583601395],[-0.5493506731736368,0.4984068587547154]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.4446886866961477,-1.1149044496542655,0.71338606911949],"aabb_xy":[[-0.46827381016004255,-1.1799044518996973],[-0.42110356323225284,-1.0499044474088337]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.34926945490910555,-2.120391429354575,0.71338606911949],"aabb_xy":[[0.3418569993677171,-2.1262426397762026],[0.356681910450494,-2.1145402189329467]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.598678853920841,0.2325717683574422,0.71338606911949],"aabb_xy":[[-0.6164723608557574,0.21477202276164456],[-0.5808853469859245,0.25037151395323987]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.02340613734233732,-1.1262495674893223,0.71338606911949],"aabb_xy":[[-0.03151979201571442,-1.1343553839433511],[-0.015292482668960213,-1.118143751035293]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.39148844046874287,1.7452257018143835,0.71338606911949],"aabb_xy":[[0.3364952291316061,1.69022570147559],[0.4464816518058797,1.8002257021531771]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.49787517080152804,0.2111275163861963,0.71338606911949],"aabb_xy":[[-0.5160809944627759,0.20010211580420467],[-0.4796693471402805,0.22215291696818795]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.1562310529717985,1.703202450705652,0.71338606911949],"aabb_xy":[[0.10623105432587732,1.6532829070461896],[0.2062310516177197,1.7531219943651144]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.2933377123365377,-0.3314231390494844,0.71338606911949],"aabb_xy":[[-0.30263133057368824,-0.3689231375376183],[-0.2840440940993871,-0.2939231405613505]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.5691844016124346,0.587674368270171,0.71338606911949],"aabb_xy":[[0.5531224741539168,0.5026743664575791],[0.5852463290709521,0.6726743700827628]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[-0.6723583330708467,-2.070487935298137,0.71338606911949],"aabb_xy":[[-0.6893684303608972,-2.086622423796411],[-0.6553482357807959,-2.054353446799863]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.35308437141774573,0.7614440922874963,0.71338606911949],"aabb_xy":[[-0.3611207061190306,0.7534059729830795],[-0.3450480367164609,0.7694822115919131]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[0.1129206058033344,-1.2033323206803264,0.71338606911949],"aabb_xy":[[0.05292060555193322,-1.2576136457167906],[0.17292060605473558,-1.1490509956438613]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[-0.37551448621026934,-1.6734475440809389,0.71338606911949],"aabb_xy":[[-0.3795926441173191,-1.6775285243292022],[-0.3714363283032196,-1.6693665638326756]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[0.03197565897613852,1.1272274334185486,0.71338606911949],"aabb_xy":[[-0.005524341195733418,1.0945266980356414],[0.06947565914801046,1.1599281688014558]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[0.6408973101868223,-1.7017345255129541,0.71338606911949],"aabb_xy":[[0.6233973099274858,-1.7158260677017272],[0.658397310446159,-1.687642983324182]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[-0.36518938749240576,-1.9396826142507329,0.71338606911949],"aabb_xy":[[-0.4151886626608419,-1.98968261552668],[-0.3151901123239696,-1.8896826129747857]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[-0.6789807378565155,-1.5947968781043729,0.71338606911949],"aabb_xy":[[-0.685292837392854,-1.6005638173575918],[-0.672668638320177,-1.589029938851154]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_31","position":[-0.6609979870501543,-0.1715329908231773,0.71338606911949],"aabb_xy":[[-0.6801102944081333,-0.19066776970041932],[-0.6418856796921756,-0.15239821194593528]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_32","position":[0.39017819587185154,-2.4934624127514047,0.71338606911949],"aabb_xy":[[0.310178198468258,-2.573454983949587],[0.47017819327544486,-2.4134698415532214]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_33","position":[-0.2765639112782228,0.5375566533844562,0.71338606911949],"aabb_xy":[[-0.29411060619434165,0.500056651820205],[-0.2590172163621038,0.5750566549487075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667151374978304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9180.png","name":"9180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6494.png","name":"6494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5097.png","name":"5097"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":732.5670821746304,"rotation_z_degrees":284.76620855808284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015480443327841355,0.01993102876255697,0.014306616435216812]},{"name":"camera_2","offset_m":[0.012875685859536318,0.010539356493653004,0.013738621725933719]},{"name":"camera_3","offset_m":[0.014810089626209662,-0.019246247439600735,0.0017106816395215316]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017908853179995808,-0.0016133410324450205,-0.0013539588366979114],"end_effector_yaw_offset_degrees":-0.6478322504356204},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002716318663821878,0.001473131821680095,0.00032727609590858927],"end_effector_yaw_offset_degrees":0.5676383316808296},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001912988636351226,0.000686087027380133,0.0011638046692571654],"end_effector_yaw_offset_degrees":-0.790126815940859}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002182046162301549,-0.004522905688448871],"position_m":[0.35298204616230155,0.15467709431155113,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019439996910178472,-0.004838304861324203],"position_m":[0.32985600030898216,-0.0561383048613242,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034839511340705445,-0.0021188354969481327],"position_m":[0.32338395113407054,0.30398116450305185,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003908176499535366,-0.0007327207792423617],"position_m":[0.20919182350046464,-0.3876327207792424,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5e65f046227ae4007812ab98153f46b0abc581f482dce84f91ab14b00b375bc0","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5109/tex_ceiling_textures_2900/tex_floor_textures_5097/tex_table_textures_9180/tex_wall_textures_6494","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2470757261806236013,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2470757261806236013,"visual_seed":2470757261806236013,"scene_id":"lab_003","finished_at":"2026-09-03T01:17:01"} +{"episode_id":"ep_000034","started_at":"2026-09-03T01:17:05","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.233825550934471,0.28442014141301586,0.71338606911949],"aabb_xy":[[-0.2988255488161188,0.23329647770647505],[-0.1688255530528232,0.3355438051195568]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.39626260159206694,-2.129959961847807,0.71338606911949],"aabb_xy":[[0.3684175648114599,-2.160744460586119],[0.4241076383726741,-2.0991754631094954]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.4635929189689802,-0.8068323793065133,0.71338606911949],"aabb_xy":[[-0.5275929153963023,-0.8540020031286097],[-0.3995929225416584,-0.7596627554844169]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.49494174831927573,-2.480890046745272,0.71338606911949],"aabb_xy":[[0.4249417519093139,-2.501327982396953],[0.5649417447292374,-2.4604521110935895]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.36286511589220805,1.7410671576374397,0.71338606911949],"aabb_xy":[[0.3534476413223453,1.7316509804997207],[0.3722825904620708,1.7504833347751587]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.08584069670687133,-2.088439079758849,0.71338606911949],"aabb_xy":[[-0.16584069529419077,-2.16775468169701],[-0.0058406981195519144,-2.009123477820688]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.11075100843165786,-0.5698356362417423,0.71338606911949],"aabb_xy":[[-0.12681293589017545,-0.6548356380543341],[-0.09468908097314019,-0.4848356344291505]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.5135099385518058,-1.926881989895799,0.71338606911949],"aabb_xy":[[0.5016378555403047,-2.0118819895894493],[0.5253820215633069,-1.8418819902021486]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.32347539327142405,1.3257390402890574,0.71338606911949],"aabb_xy":[[0.29350783636159833,1.2957390399911717],[0.35344295018124966,1.3557390405869432]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.13318407016326916,-0.7961615114080287,0.71338606911949],"aabb_xy":[[-0.1717297629884702,-0.8347072824642174],[-0.09463837733806812,-0.7576157403518402]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.6270886099938199,1.7714300935756504,0.71338606911949],"aabb_xy":[[-0.6331256229944847,1.7654033925067028],[-0.6210515969931553,1.777456794644599]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.29548806381028964,0.09872397050123638,0.71338606911949],"aabb_xy":[[-0.3241373961707058,0.0700784112241606],[-0.26683873144987336,0.12736952977831217]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.19096162720705967,1.5762790961497921,0.71338606911949],"aabb_xy":[[-0.201114642761209,1.5402095545770516],[-0.18080861165291026,1.6123486377225322]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.2761682420010728,0.5720849831386299,0.71338606911949],"aabb_xy":[[0.26888592562440905,0.4820849795291207],[0.28345055837773636,0.6620849867481386]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.25432478230465905,-1.3991602834314447,0.71338606911949],"aabb_xy":[[-0.2623182720999411,-1.4071584153719205],[-0.24633129250937702,-1.3911621514909693]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.5618425972237524,0.2530204524141988,0.71338606911949],"aabb_xy":[[-0.6258425943358581,0.20398808261978818],[-0.4978426001116467,0.3020528222086094]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.3010405452126599,-1.5360366166910147,0.71338606911949],"aabb_xy":[[0.2370405428698583,-1.5809774679351472],[0.3650405475554614,-1.4910957654468822]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.23226778019748695,-0.1366712768571987,0.71338606911949],"aabb_xy":[[-0.24039546839080014,-0.14558488526790636],[-0.2241400920041737,-0.12775766844649106]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.24357490961841566,-0.9187558768540016,0.71338606911949],"aabb_xy":[[0.17957490794041828,-0.9672732683333158],[0.307574911296413,-0.8702384853746874]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.6544584048333861,1.049768813525576,0.71338606911949],"aabb_xy":[[0.604458403549546,0.999789959134954],[0.704458406117226,1.0997476679161982]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.16116287097277116,-0.0023527856088163546,0.71338606911949],"aabb_xy":[[-0.19866287176476657,-0.008720626567006451],[-0.12366287018077568,0.004015055349373742]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.13434679465724186,-1.257037837001622,0.71338606911949],"aabb_xy":[[0.09934679546442357,-1.2680048829992845],[0.1693467938500601,-1.246070791003959]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[-0.6050628503404938,0.4013578744737756,0.71338606911949],"aabb_xy":[[-0.6143564685776445,0.3638578759856417],[-0.5957692321033433,0.4388578729619095]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.25664888271358466,1.460675725687453,0.71338606911949],"aabb_xy":[[0.22015306208630592,1.4241917832606952],[0.2931447033408634,1.4971596681142103]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[-0.5617300255771226,0.7091185078125282,0.71338606911949],"aabb_xy":[[-0.631730027708552,0.6863565421868323],[-0.49173002344569294,0.7318804734382236]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.2333746107004283,-2.3489070518646296,0.71338606911949],"aabb_xy":[[0.2263343007668914,-2.4289070512643014],[0.24041492063396538,-2.2689070524649586]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[0.33343725148399783,0.9367044979825394,0.71338606911949],"aabb_xy":[[0.2434372478070796,0.8752720914054347],[0.4234372551609159,0.9981369045596434]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[-0.5272013707315835,0.9130302945604791,0.71338606911949],"aabb_xy":[[-0.564701371916376,0.9086120718644185],[-0.4897013695467905,0.9174485172565395]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[-0.3193481735410441,-2.3047664223059248,0.71338606911949],"aabb_xy":[[-0.3843481744981713,-2.35671463423963],[-0.2543481725839169,-2.2528182103722187]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_29","position":[0.4912595319530495,-1.6484940463959945,0.71338606911949],"aabb_xy":[[0.4835563412789724,-1.6562034170947324],[0.4989627226271265,-1.6407846756972562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624501297905627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9828.png","name":"9828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7416.png","name":"7416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5225.png","name":"5225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/403.png","name":"403"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":705.5065993314829,"rotation_z_degrees":258.9578980942329,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009298860217761447,0.013155241039404724,0.01734431011049489]},{"name":"camera_2","offset_m":[-0.014794452175603538,0.008041300420690532,0.010172593901908847]},{"name":"camera_3","offset_m":[-0.015528657825672566,0.014771199809320481,-0.00813837688550127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001754059801364892,0.0012791429682682547,0.00023340995941713424],"end_effector_yaw_offset_degrees":-0.0871847901595828},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004665050756660061,0.0006188710100715495,0.001687868576230012],"end_effector_yaw_offset_degrees":-0.3727581458214262},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009535178294342835,-0.0010770514776618084,0.0011818073662560637],"end_effector_yaw_offset_degrees":-0.6458282797840067}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004044415006376039,-0.0032483549489478038],"position_m":[0.34675558499362397,0.15595164505105222,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004381502912933784,0.001328444081801764],"position_m":[0.33618150291293375,-0.049971555918198234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003961487669195943,-0.0013970929139501542],"position_m":[0.31593851233080406,0.30470290708604986,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004720807203678315,0.004437818090651749],"position_m":[0.21782080720367833,-0.3824621819093483,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b167c294ce2ee129b2bb2a26f9a3e4cbb40355c4895f266704b3bc50d2c9360","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9314/tex_ceiling_textures_403/tex_floor_textures_5225/tex_table_textures_9828/tex_wall_textures_7416","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":508031623808340911,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":508031623808340911,"visual_seed":508031623808340911,"scene_id":"lab_003","finished_at":"2026-09-03T01:19:44"} +{"episode_id":"ep_000035","started_at":"2026-09-03T01:19:47","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.18385453921350248,-0.9440321749177016,0.71338606911949],"aabb_xy":[[-0.1973010658475458,-0.9575020265707928],[-0.17040801257945914,-0.9305623232646103]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.6747477188820403,-2.2746602303216683,0.71338606911949],"aabb_xy":[[0.6638961126331647,-2.285519521049319],[0.6855993251309159,-2.2638009395940175]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.3969414081617113,-1.8789346128789666,0.71338606911949],"aabb_xy":[[0.389697642115466,-1.958934611082569],[0.40418517420795663,-1.7989346146753642]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.5273050722307437,0.5442746328376336,0.71338606911949],"aabb_xy":[[0.4887593794055427,0.5057288617814448],[0.5658507650559448,0.5828204038938221]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.6149583309026585,1.4911321121684877,0.71338606911949],"aabb_xy":[[0.6055408563327956,1.4817159350307687],[0.6243758054725211,1.5005482893062068]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.22727133298803914,-0.7952826527489796,0.71338606911949],"aabb_xy":[[0.18977133288244616,-0.8021048146019608],[0.26477133309363204,-0.7884604908959986]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.057101195820702055,0.8809462551617568,0.71338606911949],"aabb_xy":[[0.04422929231976191,0.8009462547479206],[0.06997309932164218,0.9609462555755929]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.48909965665385075,0.8344755136262774,0.71338606911949],"aabb_xy":[[-0.5136458722766015,0.8042266170772403],[-0.4645534410311,0.8647244101753144]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.2420943674598176,1.6833052704701514,0.71338606911949],"aabb_xy":[[-0.29709436566156244,1.6427833038437138],[-0.18709436925807277,1.723827237096589]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.43970594993477197,-0.9666174525965587,0.71338606911949],"aabb_xy":[[0.4347499297498909,-0.9891174527986806],[0.44466197011965325,-0.9441174523944373]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.05735089086738232,0.7153785506228321,0.71338606911949],"aabb_xy":[[-0.07985089039108972,0.6928826031722111],[-0.03485089134367492,0.7378744980734526]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.19220397594090277,-0.5884122156612266,0.71338606911949],"aabb_xy":[[0.12220397413215733,-0.609765984425414],[0.2622039777496482,-0.5670584468970392]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.5648582053068762,-1.2637975821304293,0.71338606911949],"aabb_xy":[[0.48485820732609125,-1.2713991230922812],[0.6448582032876613,-1.2561960411685773]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.5444314304242484,-0.3479349539336849,0.71338606911949],"aabb_xy":[[0.5373911204907115,-0.42793495333335635],[0.5514717403577855,-0.2679349545340135]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.6392892870926685,-1.7477497133540454,0.71338606911949],"aabb_xy":[[0.5752892850429365,-1.7878441964433534],[0.7032892891424005,-1.7076552302647374]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.40194001103344434,1.225306839218415,0.71338606911949],"aabb_xy":[[0.3519400097496043,1.1753279848277929],[0.45194001231728426,1.275285693609037]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.3069185288585302,-2.162899166446592,0.71338606911949],"aabb_xy":[[-0.3482230719222662,-2.226899166014709],[-0.2656139857947942,-2.098899166878475]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.24677409934572042,0.29754652189668285,0.71338606911949],"aabb_xy":[[-0.2568558064242939,0.21754652400456814],[-0.23669239226714694,0.37754651978879744]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.3238266422839917,-0.9618716508221123,0.71338606911949],"aabb_xy":[[0.25382664587402987,-0.9823095864737938],[0.39382663869395346,-0.9414337151704304]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.6897854804725234,1.3602478890170704,0.71338606911949],"aabb_xy":[[0.678216499725587,1.335247888900139],[0.7013544612194601,1.3852478891340023]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.10104232854746009,1.0621530169534235,0.71338606911949],"aabb_xy":[[-0.12354232905950069,1.039661158588025],[-0.0785423280354195,1.0846448753188218]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.6761472748370201,-1.9131543304752756,0.71338606911949],"aabb_xy":[[0.6647855401837338,-1.9245227968815637],[0.6875090094903061,-1.9017858640689875]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.17513192578746362,-1.1271597803531697,0.71338606911949],"aabb_xy":[[-0.22501462266515987,-1.1771597795994446],[-0.12524922890976745,-1.0771597811068951]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.16593089237299397,-1.8865583427734398,0.71338606911949],"aabb_xy":[[-0.18356372796652154,-1.9041812887890628],[-0.1482980567794664,-1.8689353967578168]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.4233383218111195,1.0108413639972786,0.71338606911949],"aabb_xy":[[0.3336512455030041,0.9208413637428283],[0.513025398119235,1.1008413642517294]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[0.4301561425519702,-2.2506332576417907,0.71338606911949],"aabb_xy":[[0.413054064593602,-2.26774006317306],[0.4472582205103383,-2.2335264521105205]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.4023279155817625,-0.761235463200818,0.71338606911949],"aabb_xy":[[0.3123279132477435,-0.8387178177859307],[0.4923279179157816,-0.6837531086157054]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.48530985681268635,-1.1971221159164538,0.71338606911949],"aabb_xy":[[-0.5028565517288053,-1.234622117480705],[-0.46776316189656736,-1.1596221143522025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664002097668035,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/985.png","name":"985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/985.png","name":"985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7394.png","name":"7394"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4829.png","name":"4829"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":668.425964548176,"rotation_z_degrees":355.73196702741313,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014637599408472795,-0.007284618356261761,0.007702840278769808]},{"name":"camera_2","offset_m":[3.1504964085500575e-05,0.0177637809654043,-0.0017921518465485765]},{"name":"camera_3","offset_m":[0.010454619932409252,-0.006035114598033676,-0.014764311492968845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001862452433810674,0.0018332709273423588,0.0005611628167515614],"end_effector_yaw_offset_degrees":0.7529563379245785},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001738006030096551,-0.0008489318881187465,-0.0009536765537999337],"end_effector_yaw_offset_degrees":-0.3280633543558773},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003443867849036342,-0.0006341795590349185,-0.0013323045790706299],"end_effector_yaw_offset_degrees":0.5690244768158486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014506994246158865,-8.613064712462409e-05],"position_m":[0.3493493005753841,0.1591138693528754,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036577620985624414,-0.00022493757563230715],"position_m":[0.32814223790143754,-0.051524937575632306,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004611288045202602,-0.0021715369755119897],"position_m":[0.3203611288045203,0.303928463024488,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035777857971522973,0.003119424504660832],"position_m":[0.20952221420284772,-0.38378057549533917,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8abb4863ceb8aa785692095be4ea2b852e5dc61460b9351bc7012de6bc241a59","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_985/tex_ceiling_textures_4829/tex_floor_textures_7394/tex_table_textures_7196/tex_wall_textures_6273","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6036925325357630081,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6036925325357630081,"visual_seed":6036925325357630081,"scene_id":"lab_003","finished_at":"2026-09-03T01:22:24"} +{"episode_id":"ep_000036","started_at":"2026-09-03T01:28:26","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.5079636715752236,-1.5319218690547796,0.71338606911949],"aabb_xy":[[-0.5532422864563727,-1.5959218684029632],[-0.4626850566940742,-1.4679218697065959]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[0.1911967561836202,-1.7446623353827428,0.71338606911949],"aabb_xy":[[0.1261967576265474,-1.7744148687966255],[0.25619675474069303,-1.7149098019688602]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.0394768389028205,1.0036496195789382,0.71338606911949],"aabb_xy":[[-0.07447683879883937,0.9952753840669983],[-0.004476839006801631,1.0120238550908782]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.44014029015206035,1.337575115117564,0.71338606911949],"aabb_xy":[[-0.44806357039080874,1.3150751148795605],[-0.4322170099133121,1.3600751153555672]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.3628681986846407,-2.2947860035245404,0.71338606911949],"aabb_xy":[[-0.41268497814947547,-2.344786002008844],[-0.31305141921980595,-2.244786005040237]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.04032445550458674,1.4436985567486151,0.71338606911949],"aabb_xy":[[0.028755474757650168,1.4186985566316834],[0.05189343625152332,1.4686985568655468]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.2709045579918893,-0.5422014241281743,0.71338606911949],"aabb_xy":[[0.18090455857351834,-0.5755769209723639],[0.3609045574102601,-0.5088259272839845]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.45592319436154516,0.4704859823576837,0.71338606911949],"aabb_xy":[[0.38592319096998323,0.43517020865425277],[0.5259231977531071,0.5058017560611144]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.22957915926977984,-0.8709439373978531,0.71338606911949],"aabb_xy":[[-0.2795722713789718,-0.9209439380720489],[-0.17958604716058796,-0.8209439367236576]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.19857408233393936,1.5527959121438797,0.71338606911949],"aabb_xy":[[0.16107408081830765,1.5415691391277344],[0.23607408384957107,1.5640226851600245]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.3374743393614683,1.0895679396433184,0.71338606911949],"aabb_xy":[[0.32158984609614316,1.0752149993444944],[0.35335883262679346,1.1039208799421425]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.11140602053210535,-1.7279969169805713,0.71338606911949],"aabb_xy":[[-0.16140103149155738,-1.7779969160161633],[-0.06141100957265333,-1.6779969179449798]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.2709356781562403,0.45812341173892124,0.71338606911949],"aabb_xy":[[-0.3509356786264563,0.44981270412457286],[-0.19093567768602443,0.4664341193532696]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.31424137100595273,0.3409087088484135,0.71338606911949],"aabb_xy":[[-0.37924137200645325,0.2901223436937385],[-0.2492413700054522,0.3916950740030884]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.12136255879790747,-2.3228651973068857,0.71338606911949],"aabb_xy":[[-0.18536256208761556,-2.3662001163108033],[-0.057362555508199346,-2.279530278302968]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.3386236412734671,-1.648389938658961,0.71338606911949],"aabb_xy":[[0.32920616670360425,-1.65780611579668],[0.34804111584332975,-1.6389737615212419]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.06107029967216315,0.3518673971498867,0.71338606911949],"aabb_xy":[[-0.06978426872209761,0.32936739649069835],[-0.05235633062222865,0.3743673978090748]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.13851563366738084,-1.8924963201715774,0.71338606911949],"aabb_xy":[[0.11601563385347846,-1.8969709365420584],[0.16101563348128323,-1.888021703801097]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.5370842098884159,0.19596935672576388,0.71338606911949],"aabb_xy":[[-0.549956113389356,0.11596935631192774],[-0.5242123063874757,0.2759693571396]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.039165213431681334,-2.3292345979953906,0.71338606911949],"aabb_xy":[[0.02028082966317113,-2.348120522775743],[0.05804959720019154,-2.3103486732150373]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.6062352601390057,1.1251893709217033,0.71338606911949],"aabb_xy":[[0.6018046307841657,1.1197409991870209],[0.610665889493846,1.1306377426563858]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.2381098156969622,-1.3269502509666793,0.71338606911949],"aabb_xy":[[0.2006098145121694,-1.3313684736627396],[0.27560981688175495,-1.3225320282706186]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.53124755065228,-0.7613177693522377,0.71338606911949],"aabb_xy":[[0.49475173002500117,-0.7978017117789953],[0.5677433712795587,-0.7248338269254802]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.4990901707717881,-2.2228625228722785,0.71338606911949],"aabb_xy":[[-0.5365901705888216,-2.22750073418342],[-0.46159017095475446,-2.218224311561136]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.44698382592158437,-1.6846247292042666,0.71338606911949],"aabb_xy":[[0.41266754874696643,-1.7346247291774444],[0.4813001030962023,-1.634624729231089]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.24579111038690082,0.670566471900659,0.71338606911949],"aabb_xy":[[-0.32579111146002115,0.6607884255632746],[-0.16579110931378052,0.6803445182380434]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.35125605680461347,-1.4320956445519801,0.71338606911949],"aabb_xy":[[0.2872560547548815,-1.4721901276412883],[0.41525605885434547,-1.3920011614626724]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[-0.5810724593331522,-1.8146958595782903,0.71338606911949],"aabb_xy":[[-0.5908284488423261,-1.8244583936375245],[-0.5713164698239783,-1.8049333255190556]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.5289861681820942,1.7506027360469392,0.71338606911949],"aabb_xy":[[0.4649861678045605,1.700857469196127],[0.5929861685596277,1.8003480028977514]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[-0.5863488688603588,-0.9008597687074966,0.71338606911949],"aabb_xy":[[-0.5902627420557812,-0.9096087841140534],[-0.5824349956649361,-0.8921107533009398]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.14772741898204833,-0.4512801937698905,0.71338606911949],"aabb_xy":[[-0.1611739456160917,-0.4647500454229817],[-0.13428089234800503,-0.43781034211679926]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_31","position":[-0.12496299201660477,1.309039889728405,0.71338606911949],"aabb_xy":[[-0.17995846983726416,1.254039888294498],[-0.06996751419594537,1.364039891162312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665171386907988,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8810.png","name":"8810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8810.png","name":"8810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9826.png","name":"9826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3956.png","name":"3956"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7680.png","name":"7680"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":718.5056104284158,"rotation_z_degrees":97.3283176028015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00730979613460327,0.019661148133817214,-0.009252278693985785]},{"name":"camera_2","offset_m":[-0.01806219832527561,0.0050907678743431495,0.01053000716505472]},{"name":"camera_3","offset_m":[-0.01099540543573732,-0.018372564798862335,0.004166278726865459]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003360763304099371,0.00021238480263487645,-0.0005595698652795646],"end_effector_yaw_offset_degrees":0.2033630527862771},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001915645407398821,-0.0018739131104009035,6.0298800033287744e-05],"end_effector_yaw_offset_degrees":-0.09063176862446709},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000759424710711186,-0.00026782333101737295,-0.0004994072236895039],"end_effector_yaw_offset_degrees":-0.6218731290103556}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004112744714926736,-0.00015628637565695113],"position_m":[0.34668725528507327,0.15904371362434305,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012282703591848364,0.0002463892679424066],"position_m":[0.3330282703591848,-0.051053610732057594,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004287801174126553,-0.00412990155556964],"position_m":[0.32418780117412654,0.30197009844443035,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018464261799384573,-0.004576209421188453],"position_m":[0.21125357382006155,-0.3914762094211885,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3fffb8e83671e95ad501fef704ad8411c3a626adfdeab146b2279d4249e1d030","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8810/tex_ceiling_textures_7680/tex_floor_textures_3956/tex_table_textures_825/tex_wall_textures_9826","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8648864996126755387,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8648864996126755387,"visual_seed":8648864996126755387,"scene_id":"lab_003","finished_at":"2026-09-03T01:31:04"} +{"episode_id":"ep_000037","started_at":"2026-09-03T01:31:07","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.26124512461477745,-2.4661019944042044,0.71338606911949],"aabb_xy":[[0.22624512463828161,-2.475566610451821],[0.2962451245912733,-2.456637378356587]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.2795112596805165,0.27453269731843566,0.71338606911949],"aabb_xy":[[-0.3138275368551344,0.22453269734525788],[-0.24519498250589855,0.3245326972916133]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.3002189078783767,-1.5392616628431963,0.71338606911949],"aabb_xy":[[-0.36421890427394976,-1.6032249512619299],[-0.2362189114828036,-1.4752983744244628]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.643428307350064,0.26809929668482413,0.71338606911949],"aabb_xy":[[-0.6784283065428821,0.25713225068716145],[-0.6084283081572456,0.2790663426824867]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[-0.2169252755803764,0.6686114874923508,0.71338606911949],"aabb_xy":[[-0.25817408661029106,0.6136114879801332],[-0.17567646455046163,0.7236114870045681]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.08523444954855153,1.2219834724821728,0.71338606911949],"aabb_xy":[[-0.12273445004590976,1.218014788934054],[-0.04773444905119327,1.225952156030291]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.2032728339270663,-1.4674195384986226,0.71338606911949],"aabb_xy":[[0.19505828881138226,-1.4760961287962635],[0.21148737904275022,-1.4587429482009808]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.027110658409013166,-2.272980589337838,0.71338606911949],"aabb_xy":[[-0.0007343783715939578,-2.3037650880761498],[0.05495569518962029,-2.2421960905995264]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.27071935075527664,-1.0905942008473073,0.71338606911949],"aabb_xy":[[-0.33471934805762305,-1.134960627815164],[-0.20671935345293024,-1.0462277738794505]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.373432450058659,-2.072780897003386,0.71338606911949],"aabb_xy":[[-0.3923168338271692,-2.091666821783739],[-0.3545480662901488,-2.0538949722230333]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.05956455340028821,-2.5234674916655684,0.71338606911949],"aabb_xy":[[0.030915221039871987,-2.5521130509426437],[0.08821388576070444,-2.494821932388492]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.07339940112216936,1.298324787640761,0.71338606911949],"aabb_xy":[[0.0184061897850326,1.2433247873019675],[0.1283926124593061,1.3533247879795547]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.42053687231750464,1.3769529842745025,0.71338606911949],"aabb_xy":[[-0.4580368724230976,1.3701308224215212],[-0.3830368722119117,1.3837751461274834]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[-0.10947051313580758,-1.0437103163511432,0.71338606911949],"aabb_xy":[[-0.13137919527515862,-1.0656109831712337],[-0.08756183099645652,-1.0218096495310522]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.48890728198450195,-1.4826215821990052,0.71338606911949],"aabb_xy":[[0.43890728062361467,-1.532599486774421],[0.5389072833453891,-1.4326436776235898]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.6447468472204272,0.7039992019262491,0.71338606911949],"aabb_xy":[[0.5647468457902999,0.6244820469136395],[0.7247468486505543,0.7835163569388585]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.5713910653676861,-0.07586111195041045,0.71338606911949],"aabb_xy":[[0.5163910671659413,-0.11638307857684803],[0.626391063569431,-0.03533914532397286]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.08993040159708132,-0.26855843524592515,0.71338606911949],"aabb_xy":[[-0.09363366292622018,-0.27226045355464296],[-0.08622714026794244,-0.26485641693720724]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.28106636728612056,-1.8245062073807166,0.71338606911949],"aabb_xy":[[-0.3450663637134425,-1.871675831202813],[-0.2170663708587987,-1.7773365835586201]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.4317358726230814,-2.4849453927568,0.71338606911949],"aabb_xy":[[-0.4546515855081313,-2.507849689893224],[-0.4088201597380315,-2.462041095620377]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.02590216886511454,-2.39542584641549,0.71338606911949],"aabb_xy":[[-0.06340217004990732,-2.3998440691115497],[0.011597832319678257,-2.3910076237194287]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.43250160162540224,1.6606813050364369,0.71338606911949],"aabb_xy":[[-0.492501601471969,1.6038626828433982],[-0.3725016017788354,1.7174999272294755]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.5993420231636546,-0.8868622802465977,0.71338606911949],"aabb_xy":[[0.5493420228030884,-0.9368422674562005],[0.6493420235242205,-0.8368822930369946]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[-0.13411577456072454,-2.137644724190049,0.71338606911949],"aabb_xy":[[-0.148450199686888,-2.1497049397445878],[-0.11978134943456109,-2.1255845086355105]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[0.3405904452398585,1.7637422833040692,0.71338606911949],"aabb_xy":[[0.32053203362661814,1.743677196394912],[0.3606488568530987,1.7838073702132269]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.2658713555105633,-0.8982352436527743,0.71338606911949],"aabb_xy":[[-0.2810342284875004,-0.9134007009478933],[-0.25070848253362626,-0.8830697863576558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667819553416994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7279.png","name":"7279"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8383.png","name":"8383"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4792.png","name":"4792"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":748.9797929115371,"rotation_z_degrees":75.17608597241959,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027049587290821665,0.01458670461311964,-0.014582198925364755]},{"name":"camera_2","offset_m":[0.00022900691625753894,-0.005321116017360775,-0.011170693583239558]},{"name":"camera_3","offset_m":[-0.004342920099442069,-0.0006855117374748726,-0.01710007233507882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010839629202599932,0.000576960614079869,-0.0008701729488510602],"end_effector_yaw_offset_degrees":0.65385157777175},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011125319946283857,-0.0012184386946149837,0.0015040663129118398],"end_effector_yaw_offset_degrees":-0.009885567351394231},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017041021718789428,-0.0014085717748969794,-9.55108047670974e-05],"end_effector_yaw_offset_degrees":-0.6416327490422491}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011278603846166047,0.004908505916337341],"position_m":[0.3496721396153834,0.16410850591633735,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005858968255612815,0.00028240073506722446],"position_m":[0.33238589682556124,-0.051017599264932774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033124258001513912,0.0006278289842890682],"position_m":[0.3232124258001514,0.3067278289842891,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032218949834704217,-0.00280020040958601],"position_m":[0.21632189498347043,-0.38970020040958603,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bc3af10db23679d84c9f20e0a38d850e75752e2ae3fd4923f33e70242c572bd0","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1200/tex_ceiling_textures_4792/tex_floor_textures_4788/tex_table_textures_7279/tex_wall_textures_8383","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7508138662083368654,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7508138662083368654,"visual_seed":7508138662083368654,"scene_id":"lab_003","finished_at":"2026-09-03T01:33:54"} +{"episode_id":"ep_000038","started_at":"2026-09-03T01:35:29","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.019782691231562177,-1.8481576574400616,0.71338606911949],"aabb_xy":[[-0.030190374300953293,-1.8981576572525949],[0.06975575676407765,-1.798157657627529]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.5346732258069956,1.563823291116527,0.71338606911949],"aabb_xy":[[-0.544754932885569,1.483823293224412],[-0.524591518728422,1.6438232890086413]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.4344163354120253,-0.5242874371158042,0.71338606911949],"aabb_xy":[[-0.49841633269767394,-0.5657941560686481],[-0.37041633812637664,-0.4827807181629602]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.5251607504758684,-0.971212373847665,0.71338606911949],"aabb_xy":[[-0.562492027001111,-1.0058654286425173],[-0.4878294739506258,-0.9365593190528128]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.20008468403445379,-0.1027058213248071,0.71338606911949],"aabb_xy":[[-0.22508468330641607,-0.11905118492096944],[-0.1750846847624915,-0.08636045772864476]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.6100743601727553,-1.171960549742876,0.71338606911949],"aabb_xy":[[-0.6600743597490901,-1.221941128694982],[-0.5600743605964207,-1.12197997079077]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.5644360700628261,-0.7236987566094981,0.71338606911949],"aabb_xy":[[-0.6144353452312624,-0.7736987578854454],[-0.5144367948943901,-0.6736987553335511]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.06156814885118522,-1.5293105453160507,0.71338606911949],"aabb_xy":[[-0.06969583704449844,-1.5382241537267585],[-0.053440460657871995,-1.520396936905343]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.208973803210244,0.718796905495902,0.71338606911949],"aabb_xy":[[-0.24012072205382712,0.6487969068090949],[-0.1778268843666609,0.7887969041827092]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.6315762441224799,1.6700554748059138,0.71338606911949],"aabb_xy":[[0.609077108396253,1.6475554740276508],[0.6540753798487069,1.6925554755841767]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.44950806956112965,-1.6479182174252742,0.71338606911949],"aabb_xy":[[-0.4840991524151748,-1.7129182177103053],[-0.4149169867070844,-1.5829182171402432]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.05044352817861486,1.1422220526478277,0.71338606911949],"aabb_xy":[[-0.08490587557675663,1.1077281702500046],[-0.01598118078047305,1.17671593504565]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.19921266916025626,-1.4318052397436718,0.71338606911949],"aabb_xy":[[0.14421945782311954,-1.4868052400824654],[0.25420588049739307,-1.3768052394048782]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.14137154867828194,0.9265281067747488,0.71338606911949],"aabb_xy":[[-0.206371546834201,0.9002318622248366],[-0.07637155052236289,0.952824351324661]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.03948770670578128,1.2550494343570784,0.71338606911949],"aabb_xy":[[0.009089595606637689,1.2246425323554087],[0.06988581780492485,1.2854563363587477]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.35437915055448,0.6668346338766495,0.71338606911949],"aabb_xy":[[0.2643791468775617,0.6054022272995451],[0.444379154231398,0.7282670404537538]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.5755901344421628,0.4877249222279736,0.71338606911949],"aabb_xy":[[0.5604179651605296,0.47255606529977023],[0.5907623037237962,0.502893779156177]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.3280767853162878,1.4951723641788521,0.71338606911949],"aabb_xy":[[0.24307678689886458,1.410298068716567],[0.41307678373371104,1.5800466596411369]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.47389353019220426,1.2402574910477266,0.71338606911949],"aabb_xy":[[-0.5538935334562174,1.226697458738813],[-0.39389352692819113,1.2538175233566398]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.11825164256918663,0.4469922254518228,0.71338606911949],"aabb_xy":[[-0.1527141205822744,0.4403285482688999],[-0.08378916455609886,0.45365590263474553]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.39815301138954884,-2.4539762640792606,0.71338606911949],"aabb_xy":[[-0.4781530083525879,-2.5310519057230336],[-0.31815301442650956,-2.3769006224354867]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.3919914025743296,-0.07684112234145068,0.71338606911949],"aabb_xy":[[-0.47199139973390486,-0.08838872329926772],[-0.3119914054147543,-0.06529352138363365]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.5302631655977004,0.22758799084280312,0.71338606911949],"aabb_xy":[[0.5222368949670745,0.2188364958654505],[0.5382894362283265,0.23633948582015574]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.36592306901036536,0.8024051096647251,0.71338606911949],"aabb_xy":[[-0.37403672368374247,0.794299293210696],[-0.35780941433698826,0.8105109261187542]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.638834734550112,-2.233957772988013,0.71338606911949],"aabb_xy":[[0.610989697769505,-2.2647422717263246],[0.6666797713307192,-2.203173274249701]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.2412856201895211,1.4729247985362979,0.71338606911949],"aabb_xy":[[-0.2637503901609262,1.4504247976574374],[-0.21882085021811598,1.4954247994151584]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[0.23096473616776503,0.5284605777544664,0.71338606911949],"aabb_xy":[[0.22334046807758687,0.5208273542179227],[0.23858900425794335,0.5360938012910101]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.5050220236421017,-1.3502362980815747,0.71338606911949],"aabb_xy":[[0.4804758080193509,-1.3804851946306118],[0.5295682392648523,-1.3199874015325377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621713941002635,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2395.png","name":"2395"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4504.png","name":"4504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2617.png","name":"2617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4443.png","name":"4443"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":743.0684390116872,"rotation_z_degrees":314.0738845208538,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010850071223255289,0.007780453543422678,0.005970259056570639]},{"name":"camera_2","offset_m":[-0.0013387632350721768,0.0006267748843203566,0.0024356517015559354]},{"name":"camera_3","offset_m":[0.0005483525813374523,-0.018327984626589605,0.004427490067646474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.6011604215375045e-05,-0.0014930389105934979,0.001839751455660068],"end_effector_yaw_offset_degrees":0.029642874707714872},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000149250718688718,0.0006854362973003577,-0.0010261729138628418],"end_effector_yaw_offset_degrees":-0.8870374807902202},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014912537889850133,0.0015979560637290513,0.0007109788033575234],"end_effector_yaw_offset_degrees":0.5623490220649385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009830082645020614,0.0017663890280257086],"position_m":[0.35178300826450204,0.1609663890280257,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001347001870879566,-0.00355491822928104],"position_m":[0.33314700187087953,-0.05485491822928104,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003297781795813969,0.0010950197765202683],"position_m":[0.31660221820418605,0.30719501977652025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002654765764828794,0.0016258154829550484],"position_m":[0.2133654765764829,-0.385274184517045,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f10377432871ba6b0a503df5ed038c16805f7e620ed56ec6eba4e7e643e72df0","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_901/tex_ceiling_textures_4443/tex_floor_textures_2617/tex_table_textures_2395/tex_wall_textures_4504","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3641994291093653665,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3641994291093653665,"visual_seed":3641994291093653665,"scene_id":"lab_003","finished_at":"2026-09-03T01:38:11"} +{"episode_id":"ep_000039","started_at":"2026-09-03T01:39:47","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.22719724101343136,1.586410566976887,0.71338606911949],"aabb_xy":[[-0.3171972404318022,1.5530350701326971],[-0.13719724159506044,1.6197860638210766]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.52798129806508,-1.323256552456016,0.71338606911949],"aabb_xy":[[-0.592981296220999,-1.3495527970059285],[-0.4629812999091609,-1.296960307906104]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.1398375568924225,-1.2466313510178524,0.71338606911949],"aabb_xy":[[-0.17483755608524074,-1.2575983970155147],[-0.1048375576996042,-1.2356643050201896]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.07546377738375543,-2.3742551250500017,0.71338606911949],"aabb_xy":[[-0.139459474778852,-2.4382551233507104],[-0.011468079988658841,-2.310255126749293]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.3500937878708786,1.4728418443193276,0.71338606911949],"aabb_xy":[[-0.4300937850304538,1.4612942433615104],[-0.27009379071130324,1.4843894452771444]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.0029270982352089803,-1.543043635500861,0.71338606911949],"aabb_xy":[[-0.011716307318824004,-1.5577023551576452],[0.017570503789241965,-1.5283849158440768]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.5765200853357361,-0.3299738196868862,0.71338606911949],"aabb_xy":[[-0.5899666119697794,-0.34344367133997744],[-0.5630735587016927,-0.316503968033795]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.3840394298852818,-0.9982364595862436,0.71338606911949],"aabb_xy":[[-0.43903490770594117,-1.0532364610201506],[-0.3290439520646224,-0.9432364581523366]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.03441921365509881,0.3382209883651188,0.71338606911949],"aabb_xy":[[-0.05191921391443545,0.32412944617634626],[-0.016919213395762193,0.3523125305538915]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.5399316247541721,0.8751308683891001,0.71338606911949],"aabb_xy":[[-0.5486295870448874,0.8630058940816256],[-0.5312336624634568,0.8872558426965751]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.020163980953175398,-2.2473313971933004,0.71338606911949],"aabb_xy":[[-0.025120001138056604,-2.2698313973954227],[-0.015207960768294202,-2.224831396991179]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.424388620410181,0.38593948564491765,0.71338606911949],"aabb_xy":[[0.3744153264069205,0.33593948509037025],[0.4743619144134414,0.43593948619946493]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.21827621598290992,0.42447653306901945,0.71338606911949],"aabb_xy":[[-0.22553746355331736,0.41168952280551],[-0.21101496841250253,0.437263543332529]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.43721891461610163,0.7051160388066751,0.71338606911949],"aabb_xy":[[-0.44280058625023033,0.6926160389888996],[-0.4316372429819728,0.7176160386244506]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.46469822571313557,-1.9164634845720618,0.71338606911949],"aabb_xy":[[0.4146982270672143,-1.9663830282315244],[0.5146982243590568,-1.8665439409125997]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.22480353940104758,0.6260311381048007,0.71338606911949],"aabb_xy":[[-0.24243637499457515,0.6084081920891776],[-0.20717070380752,0.6436540841204236]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.250210827316818,-1.6569081648710653,0.71338606911949],"aabb_xy":[[-0.27271082684052533,-1.679404112321686],[-0.22771082779311055,-1.6344122174204445]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.1837570385231695,-0.5972819677822621,0.71338606911949],"aabb_xy":[[-0.20564678611211032,-0.6872819650715111],[-0.16186729093422872,-0.5072819704930128]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.5133028935624389,0.3307724972040056,0.71338606911949],"aabb_xy":[[-0.5933028909660322,0.25077992600582266],[-0.4333028961588454,0.4107650684021883]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.292691944884664,-2.1469709175377094,0.71338606911949],"aabb_xy":[[0.2697762319996141,-2.1698752146741334],[0.3156076577697139,-2.1240666204012864]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.31211693202658264,-1.8149230143003263,0.71338606911949],"aabb_xy":[[0.2571237206894459,-1.8699230146391204],[0.3671101433637194,-1.7599230139615332]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.23454922639884845,1.6923299729671197,0.71338606911949],"aabb_xy":[[0.15455540282029023,1.6123299703742782],[0.3145430499774067,1.7723299755599613]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.3986932391677486,0.7728237515142626,0.71338606911949],"aabb_xy":[[-0.4336932374784441,0.765108736590717],[-0.36369324085705323,0.7805387664378083]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.5779945054965312,-0.7164708521321785,0.71338606911949],"aabb_xy":[[0.5605637904175246,-0.7337429667960294],[0.5954252205755376,-0.6991987374683277]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.008816125115378659,-0.8468726801324078,0.71338606911949],"aabb_xy":[[-0.013356401861272179,-0.8690483472885308],[0.030988652092029494,-0.8246970129762844]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.38784652398167374,1.1038232751072106,0.71338606911949],"aabb_xy":[[0.30784652701863463,1.026747633463437],[0.46784652094471296,1.1808989167509838]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.1726706315947686,0.8563565530551904,0.71338606911949],"aabb_xy":[[-0.210170631538535,0.8480634630203537],[-0.13517063165100218,0.8646496430900269]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[-0.5681834257131129,-0.765465211278799,0.71338606911949],"aabb_xy":[[-0.6531834244051874,-0.7974510746736777],[-0.4831834270210381,-0.73347934788392]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.6295997349473088,-0.8389416773734053,0.71338606911949],"aabb_xy":[[0.5655997385517357,-0.9029049657921387],[0.6935997313428819,-0.7749783889546716]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.628311852016554,-1.1178625588241287,0.71338606911949],"aabb_xy":[[0.5633118510160535,-1.1686489239788034],[0.6933118530170546,-1.0670761936694535]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_30","position":[-0.5668202757474246,-1.8703352701822453,0.71338606911949],"aabb_xy":[[-0.6568202722482963,-1.9162469126007036],[-0.47682027924655285,-1.824423627763787]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[-0.6225529372899464,1.2740279785735114,0.71338606911949],"aabb_xy":[[-0.6635708806763172,1.224027977942554],[-0.5815349939035754,1.3240279792044687]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_32","position":[-0.09406603396503932,1.2046015659589604,0.71338606911949],"aabb_xy":[[-0.104477592645523,1.1992558326230618],[-0.08365447528455558,1.2099472992948586]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_33","position":[-0.5334957118702409,0.7456007931676325,0.71338606911949],"aabb_xy":[[-0.5806250908720765,0.6816007921232304],[-0.48636633286840514,0.8096007942120343]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_34","position":[-0.4788102363590516,1.042014051118981,0.71338606911949],"aabb_xy":[[-0.5163102365309236,1.0093133157360736],[-0.44131023618717974,1.074714786501888]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669030019965897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/808.png","name":"808"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/808.png","name":"808"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7461.png","name":"7461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6428.png","name":"6428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8189.png","name":"8189"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.2754924580508,"rotation_z_degrees":145.73271420843986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018633112895605947,-0.014336900875567516,-0.014669435290870494]},{"name":"camera_2","offset_m":[-0.0005814555974365393,-0.018254719737133912,-0.013267610228695274]},{"name":"camera_3","offset_m":[0.019343378350397507,-0.008924197734739084,-0.016991114678319236]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001338412470958941,-0.0013812283109230065,0.001986449509663645],"end_effector_yaw_offset_degrees":0.6794152038416499},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005078107283287723,0.0015921264213776061,-0.0003639445827024743],"end_effector_yaw_offset_degrees":0.7256532477641224},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00041241717522794456,-0.0003888453427081009,-0.0015187851210058177],"end_effector_yaw_offset_degrees":-0.05965852354493806}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022977676361053477,-0.0016067579433034752],"position_m":[0.34850223236389466,0.15759324205669653,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00018836097545421333,0.00020798971247930256],"position_m":[0.3319883609754542,-0.051092010287520695,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004217749382626147,-0.0031417500839391534],"position_m":[0.32411774938262616,0.30295824991606085,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.051490915432242e-05,0.003473844162373569],"position_m":[0.21318051490915432,-0.38342615583762646,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4b2a1d13b67debd84cbdc9b3acf4c0d6d29433838afb39e8296b6cea1590816a","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_808/tex_ceiling_textures_8189/tex_floor_textures_7237/tex_table_textures_7461/tex_wall_textures_6428","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2419641791835104886,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2419641791835104886,"visual_seed":2419641791835104886,"scene_id":"lab_003","finished_at":"2026-09-03T01:42:34"} +{"episode_id":"ep_000040","started_at":"2026-09-03T01:42:37","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.42201353526403734,0.10859296139731445,0.71338606911949],"aabb_xy":[[-0.45631044628177786,0.07429607518737306],[-0.3877166242462966,0.14288984760725582]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.43647862432487017,-0.8074193083387973,0.71338606911949],"aabb_xy":[[-0.5164786229121896,-0.8867349102769583],[-0.3564786257375508,-0.7281037064006365]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[0.3387641532393726,-1.5781659349309296,0.71338606911949],"aabb_xy":[[0.3274024185860864,-1.5895344013372175],[0.3501258878926587,-1.5667974685246413]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[0.43842954093641473,-2.478822884017294,0.71338606911949],"aabb_xy":[[0.42056043318195924,-2.4926557919945047],[0.4562986486908702,-2.4649899760400826]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.09213126798505245,-1.1532335188339056,0.71338606911949],"aabb_xy":[[-0.12804477241004214,-1.18914702705066],[-0.056217763560062764,-1.117320010617151]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.009109113821805681,-1.2442708600523937,0.71338606911949],"aabb_xy":[[-0.012168894321666568,-1.3092708623784668],[0.03038712196527793,-1.1792708577263207]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.40287042423712205,-0.19847866785323998,0.71338606911949],"aabb_xy":[[-0.4628704247449749,-0.25532540153916117],[-0.34287042372926907,-0.14163193416731862]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.3697204874457394,1.0251535224170727,0.71338606911949],"aabb_xy":[[-0.43972049008232567,1.0050486574212072],[-0.299720484809153,1.0452583874129382]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.005085927089242714,0.9792587447247971,0.71338606911949],"aabb_xy":[[-0.056504832134750105,0.9152587466157504],[0.06667668631323553,1.043258742833844]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.5584472684295922,-1.086661780585557,0.71338606911949],"aabb_xy":[[-0.5934472675595479,-1.0924070016612208],[-0.5234472692996366,-1.0809165595098926]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.2273900554431993,-2.33702172712228,0.71338606911949],"aabb_xy":[[-0.24489005568824868,-2.354521514961847],[-0.2098900551981499,-2.3195219392827133]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.34939125265112403,1.5607440226849092,0.71338606911949],"aabb_xy":[[0.34135491794983913,1.5527059033804924],[0.3574275873524088,1.568782141989326]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.08275837220639859,-2.11517759967093,0.71338606911949],"aabb_xy":[[0.07406040991568331,-2.1273025739784046],[0.09145633449711389,-2.103052625363455]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.6463632202108788,0.14272801592018558,0.71338606911949],"aabb_xy":[[-0.6589900074980751,0.13318194221861268],[-0.6337364329236824,0.15227408962175848]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.5311180819045556,0.03635878732777664,0.71338606911949],"aabb_xy":[[0.45111808324766955,0.021853928403513856],[0.6111180805614416,0.05086364625203943]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.2528514166344452,-0.8647326577197101,0.71338606911949],"aabb_xy":[[0.19785820529730846,-0.9197326580585037],[0.30784462797158196,-0.8097326573809165]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[0.16255818688437496,-1.163345002581697,0.71338606911949],"aabb_xy":[[0.1474558854233568,-1.1784465242127584],[0.177660488345393,-1.148243480950635]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.6127926336277802,-1.6236437116695626,0.71338606911949],"aabb_xy":[[0.5477926357461326,-1.6747673753761037],[0.6777926315094281,-1.572520047963022]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.4644070659679831,1.6263673077251286,0.71338606911949],"aabb_xy":[[0.4473969686779325,1.6102328192268547],[0.4814171632580338,1.6425017962234025]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.6158497806175878,-1.6993601552728923,0.71338606911949],"aabb_xy":[[-0.6380223075942385,-1.721535822429015],[-0.5936772536409368,-1.6771844881167688]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.01630334523441812,-1.962004997614024,0.71338606911949],"aabb_xy":[[-0.0011966550249185028,-1.9760965398027968],[0.03380334549375475,-1.9479134554252515]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.04218152671032527,1.7685433546906935,0.71338606911949],"aabb_xy":[[-0.054648884820060924,1.7560780300573702],[-0.029714168600589626,1.7810086793240172]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.04397789397327012,-0.6702352410273544,0.71338606911949],"aabb_xy":[[-0.07396955670714045,-0.7002352403641549],[-0.013986231239399793,-0.6402352416905538]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.05871491672665796,-0.9589889240495426,0.71338606911949],"aabb_xy":[[0.03882387684631772,-0.9716447353342396],[0.0786059566069982,-0.9463331127648459]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.6112744739719992,0.6376904969405928,0.71338606911949],"aabb_xy":[[-0.6752744712743456,0.593324069972736],[-0.5472744766696528,0.6820569239084495]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.5374324539555568,-0.32139729033541187,0.71338606911949],"aabb_xy":[[0.5173740423423165,-0.34146237724456935],[0.5574908655687971,-0.3013322034262543]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.2280612844892277,0.6542433261053362,0.71338606911949],"aabb_xy":[[0.20306128521726544,0.6378979625091739],[0.25306128376118997,0.6705886897014985]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[-0.39590345323021975,-1.1859844298064102,0.71338606911949],"aabb_xy":[[-0.45990345360775337,-1.2357296966572224],[-0.33190345285268613,-1.136239162955598]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_28","position":[-0.18633614004030774,-0.9026982317919321,0.71338606911949],"aabb_xy":[[-0.23633613948050336,-0.9526661562762483],[-0.13633614060011212,-0.8527303073076157]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648031556206411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1579.png","name":"1579"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1579.png","name":"1579"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6677.png","name":"6677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7905.png","name":"7905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5787.png","name":"5787"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5351.png","name":"5351"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":825.3532435002397,"rotation_z_degrees":214.58089575835126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004785533244622015,-0.0017155688667116684,0.01972254112598325]},{"name":"camera_2","offset_m":[-0.011677724808168253,0.016604847903056896,0.019077707839098897]},{"name":"camera_3","offset_m":[-0.000329188471903219,-0.0004060077085039221,0.010339778433779784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007948574949214681,-0.001032429491816282,-0.001557929917587963],"end_effector_yaw_offset_degrees":0.8835600354250599},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016519042937447122,-0.0004151254397917112,0.000763313571679902],"end_effector_yaw_offset_degrees":-0.6115128288798124},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011929191960801462,-0.0003924758431662304,-0.0013346870602731144],"end_effector_yaw_offset_degrees":-0.8859385046576487}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.0694333553345915e-05,-0.0013892802175606723],"position_m":[0.35083069433355335,0.15781071978243932,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026464570084007676,3.463432985055786e-05],"position_m":[0.3291535429915992,-0.05126536567014944,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013457855422550043,-0.0021400616612020106],"position_m":[0.321245785542255,0.303959938338798,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.2980897436878445e-05,-0.0007041539424753754],"position_m":[0.21306701910256312,-0.3876041539424754,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"536a8666018a239a276feaad02c3c574b0470ff62d42d0445068f99c2543bb0c","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1579/tex_ceiling_textures_5351/tex_floor_textures_5787/tex_table_textures_6677/tex_wall_textures_7905","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6899767402753977525,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6899767402753977525,"visual_seed":6899767402753977525,"scene_id":"lab_003","finished_at":"2026-09-03T01:45:22"} +{"episode_id":"ep_000041","started_at":"2026-09-03T01:46:46","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.22516873649943925,-1.2355590480273893,0.71338606911949],"aabb_xy":[[0.14516873851865422,-1.2431605889892412],[0.3051687344802243,-1.2279575070655373]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.6504878971377978,-1.9308296647427459,0.71338606911949],"aabb_xy":[[-0.6577316631840431,-2.0108296629463482],[-0.6432441310915524,-1.8508296665391435]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.38309963573783457,-0.27652341321298346,0.71338606911949],"aabb_xy":[[-0.4005996348722017,-0.2864030402505713],[-0.36559963660346734,-0.26664378617539564]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.5124289490773868,1.692504173248031,0.71338606911949],"aabb_xy":[[0.4672576312292178,1.628504176103493],[0.5576002669255558,1.75650417039257]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.3493816233975102,0.20345963153317337,0.71338606911949],"aabb_xy":[[-0.39938089856594644,0.15345963025722623],[-0.2993823482290741,0.25345963280912054]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.020640539201323582,1.217759541536609,0.71338606911949],"aabb_xy":[[-0.04335945791078211,1.1687271717421983],[0.08464053631342927,1.2667919113310195]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.42688266908099487,1.651716809040877,0.71338606911949],"aabb_xy":[[-0.49688267068327435,1.6382840158392191],[-0.3568826674787154,1.6651496022425343]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.5423441736430341,-2.2573182662911444,0.71338606911949],"aabb_xy":[[0.5389034974029769,-2.2611796992655093],[0.5457848498830913,-2.2534568333167804]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.340798019285248,-1.1142553090719383,0.71338606911949],"aabb_xy":[[0.30965110044166483,-1.1842553077587457],[0.37194493812883106,-1.0442553103851313]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.037385958759617255,-1.2997881077639917,0.71338606911949],"aabb_xy":[[0.011097134439176598,-1.3260595414186427],[0.06367478308005792,-1.2735166741093402]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.17504644727827856,-0.41181131781806846,0.71338606911949],"aabb_xy":[[-0.17989004203950856,-0.41666297029705257],[-0.17020285251704861,-0.40695966533908434]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.5672208210432224,-1.9106936398564978,0.71338606911949],"aabb_xy":[[0.5539898755085411,-1.9239210588784972],[0.5804517665779036,-1.8974662208344983]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.5389466461212635,0.7794163189252856,0.71338606911949],"aabb_xy":[[0.48395116830060414,0.7244163174913787],[0.5939421239419229,0.8344163203591926]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.559085776563371,1.5952579542689267,0.71338606911949],"aabb_xy":[[-0.5709578595748721,1.5102579545752761],[-0.5472136935518699,1.6802579539625768]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.3039594075368989,-0.7834499562518003,0.71338606911949],"aabb_xy":[[0.22395941013330542,-0.8634425274499828],[0.38395940494049224,-0.7034573850536172]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.1217687960350392,0.7229749948423656,0.71338606911949],"aabb_xy":[[0.08322310320983817,0.684429223786177],[0.16031448886024025,0.7615207658985542]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.5399518616565098,-2.4097196152423654,0.71338606911949],"aabb_xy":[[0.48495961102099894,-2.4647196169856787],[0.5949441122920208,-2.354719613499053]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.5082961566356877,-2.305704372267888,0.71338606911949],"aabb_xy":[[-0.5457961578204804,-2.310122594963948],[-0.47079615545089487,-2.301286149571827]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.5549082032212691,-0.44811488446449976,0.71338606911949],"aabb_xy":[[-0.6449082029444432,-0.47118823699967954],[-0.46490820349809486,-0.42504153192931987]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.36003083639283573,-1.9708401702666012,0.71338606911949],"aabb_xy":[[-0.36802482497053907,-1.9788402503616913],[-0.3520368478151323,-1.9628400901715106]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.4468918416374985,-0.3349363029373684,0.71338606911949],"aabb_xy":[[0.40587389825112763,-0.38493630356832576],[0.4879097850238694,-0.2849363023064111]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689358641681443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4876.png","name":"4876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5965.png","name":"5965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.2333922140775,"rotation_z_degrees":56.59203107017695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010180649321225302,0.01054591815869408,0.012441758286190593]},{"name":"camera_2","offset_m":[0.015385151561523761,-0.017225588205620077,-0.017504380741781574]},{"name":"camera_3","offset_m":[0.014777550781110895,-0.010746173238134737,-0.010470042948865737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014353457534613547,0.001675249626336998,-7.29526040238607e-05],"end_effector_yaw_offset_degrees":0.6076396735944141},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00032860875268966036,7.128860482961356e-05,0.0019670473147761613],"end_effector_yaw_offset_degrees":-0.42415890816975255},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016788397846947867,0.0015893139035772753,0.0014155420127876539],"end_effector_yaw_offset_degrees":-0.13206472394584523}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011193197800071818,-0.002646882522814582],"position_m":[0.3496806802199928,0.15655311747718542,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019986810258641585,0.004930528983678839],"position_m":[0.33379868102586413,-0.04636947101632116,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004626697980141015,0.000515692687202576],"position_m":[0.32452669798014105,0.30661569268720257,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007442393124016088,0.0020889750403014964],"position_m":[0.21384423931240162,-0.38481102495969854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb355972adcfeff55c225abd45362bb40e3286d5b79aa7737027fa866b6e9aa2","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8838/tex_ceiling_textures_9559/tex_floor_textures_3739/tex_table_textures_4876/tex_wall_textures_5965","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2700797237296569185,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2700797237296569185,"visual_seed":2700797237296569185,"scene_id":"lab_003","finished_at":"2026-09-03T01:49:27"} +{"episode_id":"ep_000042","started_at":"2026-09-03T01:52:21","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[0.2137667494881451,-1.1421774755603682,0.71338606911949],"aabb_xy":[[0.14876674838220183,-1.1671428486284965],[0.2787667505940884,-1.11721210249224]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.5447433736099057,-1.9415699174757273,0.71338606911949],"aabb_xy":[[-0.5527797083111905,-1.9496080367801443],[-0.5367070389086208,-1.9335317981713107]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.06840407438651086,1.3190765016862422,0.71338606911949],"aabb_xy":[[0.01841096227731898,1.2690765010120468],[0.11839718649570277,1.369076502360438]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.24246594324122994,1.737155856653644,0.71338606911949],"aabb_xy":[[0.2074659418897482,1.716796120696823],[0.2774659445927117,1.7575155926104646]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.46784259410239715,0.3705467064099843,0.71338606911949],"aabb_xy":[[0.4605813465319898,0.3577596961464748],[0.4751038416728046,0.38333371667349375]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.15925834348854784,1.1443454824233643,0.71338606911949],"aabb_xy":[[0.0742583447964732,1.1123596190284855],[0.24425834218062248,1.1763313458182432]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.4146099603791211,1.5706442115279482,0.71338606911949],"aabb_xy":[[0.3841257102520909,1.5206442117464525],[0.4450942105061512,1.6206442113094444]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.4305633828201192,1.2512764449295015,0.71338606911949],"aabb_xy":[[0.4136526503837774,1.2378042393368867],[0.44747411525646097,1.264748650522116]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.29641619776287503,0.6504916992636449,0.71338606911949],"aabb_xy":[[-0.3332667456998627,0.6129916984406112],[-0.2595656498258875,0.6879917000866786]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.5042324864856154,-0.7736441270529646,0.71338606911949],"aabb_xy":[[-0.515084092734491,-0.7845034177806156],[-0.49338088023673976,-0.7627848363253136]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.46709631661510653,-2.3451810401596265,0.71338606911949],"aabb_xy":[[0.40309632021953345,-2.4091443285783605],[0.5310963130106796,-2.2812177517408934]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.45796729398982405,-0.6356343303183603,0.71338606911949],"aabb_xy":[[-0.5229672966276175,-0.6871139290178072],[-0.3929672913520306,-0.5841547316189133]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.5396141037361513,-1.1437034143876987,0.71338606911949],"aabb_xy":[[0.4796141028753383,-1.195129844394185],[0.5996141045969638,-1.0922769843812121]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.03539952471102459,-1.296481067662891,0.71338606911949],"aabb_xy":[[0.012899524467509194,-1.308685702322663],[0.05789952495453998,-1.2842764330031191]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.450443905115554,-1.5205942945868298,0.71338606911949],"aabb_xy":[[0.3854439069596349,-1.546890539136742],[0.515443903271473,-1.4942980500369176]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.10298054733273221,1.5256419191575366,0.71338606911949],"aabb_xy":[[0.08308950745239196,1.51298610787284],[0.12287158721307247,1.5382977304422336]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.21695457803573054,-1.3753449629187087,0.71338606911949],"aabb_xy":[[-0.28095458037853205,-1.420285814162841],[-0.15295457569292895,-1.330404111674576]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.36940284161795645,1.0856069322753528,0.71338606911949],"aabb_xy":[[-0.3775164962913335,1.0775011158213237],[-0.3612891869445793,1.0937127487293818]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.3616524546850229,1.5327939667370507,0.71338606911949],"aabb_xy":[[-0.3991524532606437,1.5200576710734923],[-0.3241524561094021,1.5455302624006082]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.3594662584957361,0.12049341768139232,0.71338606911949],"aabb_xy":[[-0.3674597482910182,0.11249528574091669],[-0.35147276870045413,0.128491549621868]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.47086049699471955,-1.7309436203232382,0.71338606911949],"aabb_xy":[[-0.5158604984609485,-1.7759434771847191],[-0.42586049552849076,-1.6859437634617578]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.1082942541957862,-0.17260812450369345,0.71338606911949],"aabb_xy":[[-0.15346557204395517,-0.2366081216482319],[-0.06312293634761723,-0.10860812735915504]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.6100831223750409,1.2811696290165968,0.71338606911949],"aabb_xy":[[0.6018685772593567,1.272493038718955],[0.6182976674907247,1.2898462193142377]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[-0.01120058806167612,-1.6845287788541998,0.71338606911949],"aabb_xy":[[-0.059006755675444764,-1.7495287815612588],[0.03660557955209253,-1.6195287761471409]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.3256404189301234,-2.572059935119948,0.71338606911949],"aabb_xy":[[0.3006404193783849,-2.5822024189850827],[0.3506404184818619,-2.5619174512548133]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.10202754366069,-0.8340741692473452,0.71338606911949],"aabb_xy":[[0.044397074773419136,-0.8940741681740556],[0.15965801254796083,-0.7740741703206344]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[-0.16905375234230835,0.3454272336126012,0.71338606911949],"aabb_xy":[[-0.23405375329943554,0.29347902167889556],[-0.10405375138518112,0.3973754455463067]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.35914274505427546,-2.0752343182521407,0.71338606911949],"aabb_xy":[[0.3466753869445398,-2.0876996428854646],[0.3716101031640111,-2.0627689936188176]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[0.43695677695423485,0.9584131058564873,0.71338606911949],"aabb_xy":[[0.41445677743052733,0.9359171584058664],[0.45945677647794214,0.980909053307108]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[-0.05939418890971937,-0.79456136853155,0.71338606911949],"aabb_xy":[[-0.12098494813371219,-0.8585613666405969],[0.0021965703142734425,-0.7305613704225031]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[-0.5004828147152588,0.8421095852179823,0.71338606911949],"aabb_xy":[[-0.521760822858731,0.7771095828919092],[-0.47920480657178655,0.9071095875440554]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[0.2672876201142832,0.8875287828658025,0.71338606911949],"aabb_xy":[[0.21780719890032446,0.8235287849529508],[0.31676804132824204,0.9515287807786544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665880275156541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5122.png","name":"5122"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5122.png","name":"5122"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5756.png","name":"5756"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4622.png","name":"4622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/921.png","name":"921"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.247279575766,"rotation_z_degrees":9.680853643522855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015864379597707676,0.011717443090754533,0.01584011803561661]},{"name":"camera_2","offset_m":[0.0032447075912841357,-0.01743009386882369,0.010682944402217974]},{"name":"camera_3","offset_m":[-0.006506931479485858,0.004730012108960947,-0.007933701575325225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000998643382852761,0.000277589068662148,-0.0002750721478538055],"end_effector_yaw_offset_degrees":0.6207298537254902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001877522114639512,0.0006719853069174888,0.001389872612480234],"end_effector_yaw_offset_degrees":-0.019292572707060307},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006290841850351003,-0.00018736795518696113,-0.0013966842738058177],"end_effector_yaw_offset_degrees":0.09898551130297872}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029654311151645412,0.0008129417122018133],"position_m":[0.35376543111516456,0.16001294171220182,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004674467177699557,0.002585248421166023],"position_m":[0.32712553282230045,-0.048714751578833974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014683014657977554,-2.8014717745055914e-05],"position_m":[0.32136830146579776,0.30607198528225493,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019834175177365133,-0.0031866928488376925],"position_m":[0.2111165824822635,-0.39008669284883773,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dd8270d5d73a953885d3980d200a09819e7112d8ab0ccbc2dcba1df7b07082ed","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5122/tex_ceiling_textures_921/tex_floor_textures_4622/tex_table_textures_5756/tex_wall_textures_4987","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2954044196649830760,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2954044196649830760,"visual_seed":2954044196649830760,"scene_id":"lab_003","finished_at":"2026-09-03T01:54:59"} +{"episode_id":"ep_000043","started_at":"2026-09-03T01:59:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.28573685190428877,-1.481484968901697,0.71338606911949],"aabb_xy":[[0.24823685155606096,-1.49327636448278],[0.32323685225251647,-1.469693573320613]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.323892192806571,1.09685939328969,0.71338606911949],"aabb_xy":[[-0.3331858110437215,1.059359394801556],[-0.31459857456942036,1.1343593917778239]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.03787004795708249,-0.9869328891310707,0.71338606911949],"aabb_xy":[[0.029172085666367198,-0.9990578634385455],[0.046568010247797775,-0.9748079148235961]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.0018739467521162734,-0.7566083165857707,0.71338606911949],"aabb_xy":[[-0.039373945327737074,-0.7693446122493286],[0.03562605182350453,-0.7438720209222127]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.5953272480196599,-2.5606811301983075,0.71338606911949],"aabb_xy":[[-0.6128272472977468,-2.578019230264654],[-0.5778272487415731,-2.543343030131962]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.6450057306135133,0.11801433620616919,0.71338606911949],"aabb_xy":[[0.6275057303684638,0.10051454836660233],[0.6625057308585626,0.135514124045736]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.33347256658939917,0.5713438329579201,0.71338606911949],"aabb_xy":[[-0.3399742030974038,0.5615760109316104],[-0.32697093008139455,0.5811116549842299]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.5505269131872843,0.8153767692895721,0.71338606911949],"aabb_xy":[[0.4705269110245218,0.7354215856634285],[0.6305269153500468,0.8953319529157158]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.3712872137401281,-1.478856022382607,0.71338606911949],"aabb_xy":[[-0.37921049397887646,-1.5013560226206104],[-0.3633639335013798,-1.4563560221446037]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.5209139831314614,-2.12167197958038,0.71338606911949],"aabb_xy":[[-0.5533756840133888,-2.151804811695282],[-0.4884522822495339,-2.0915391474654763]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.1826985461460202,-0.6899643960313386,0.71338606911949],"aabb_xy":[[0.1492193788849793,-0.7234435094024457],[0.21617771340706118,-0.6564852826602318]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.650249656900373,-1.1883942066510524,0.71338606911949],"aabb_xy":[[-0.6576621124417614,-1.1942454170726804],[-0.6428372013589845,-1.1825429962294245]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.01407220195040626,1.7409835895034864,0.71338606911949],"aabb_xy":[[-0.056256616111237,1.6769835892262752],[0.02811221221042448,1.8049835897806976]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.47235705042683396,-1.9948393536333588,0.71338606911949],"aabb_xy":[[0.44852083278622895,-2.0848393544418453],[0.4961932680674391,-1.9048393528248722]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.1019392760397102,0.41459976161200274,0.71338606911949],"aabb_xy":[[-0.11440663414944585,0.4021344369786793],[-0.08947191792997455,0.4270650862453263]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.06897904308640135,-1.5414302640876412,0.71338606911949],"aabb_xy":[[0.004979046659079445,-1.5885998879097376],[0.13297903951372325,-1.4942606402655447]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.4925972967410388,1.1180430533589303,0.71338606911949],"aabb_xy":[[0.4810283159941022,1.0930430532419986],[0.5041662774879754,1.143043053475862]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.3986851874655627,-1.6439307166338257,0.71338606911949],"aabb_xy":[[-0.4057266384163103,-1.6509574683716202],[-0.3916437365148151,-1.6369039648960313]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.30941743036506497,-1.8798126156581265,0.71338606911949],"aabb_xy":[[-0.3195704459192143,-1.9158821572308664],[-0.29926441481091554,-1.8437430740853857]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.2612311914150534,-1.6727964771113273,0.71338606911949],"aabb_xy":[[-0.2763334928760714,-1.6878979987423888],[-0.24612888995403523,-1.657694955480265]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[0.5532772019426881,1.6691595331361264,0.71338606911949],"aabb_xy":[[0.5404052984417479,1.58915953272229],[0.5661491054436282,1.7491595335499623]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.18309199113261232,-2.2159375521817113,0.71338606911949],"aabb_xy":[[-0.19121967932592554,-2.224851160592419],[-0.1749643029392991,-2.2070239437710035]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.5168662903980203,0.17881763443704202,0.71338606911949],"aabb_xy":[[0.4518662922421014,0.15252138988712982],[0.5818662885539395,0.2051138789869542]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.13506677281318935,-1.1814200315504364,0.71338606911949],"aabb_xy":[[-0.17256677123658967,-1.1945842455182667],[-0.09756677438978897,-1.1682558175826057]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686963060305656,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4482.png","name":"4482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/200.png","name":"200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8971.png","name":"8971"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":717.7788488119427,"rotation_z_degrees":289.277024933034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017754597699797398,-0.005407511715629037,0.0009813392303143556]},{"name":"camera_2","offset_m":[-0.010020106031086202,-0.0193093815898053,-0.011750306711771179]},{"name":"camera_3","offset_m":[-0.007998064722863539,0.0031786501065520674,0.014234945684784141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005056150936573066,-0.001645786869813486,-0.00018502432596546382],"end_effector_yaw_offset_degrees":0.5240971009000326},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008063019352941288,-0.00019145556188816522,-0.0007081923818982969],"end_effector_yaw_offset_degrees":0.058017847424050695},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017067200788752537,0.0018572418598237217,0.0012445841567680308],"end_effector_yaw_offset_degrees":0.8674194307401057}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024407788372221607,0.004693535030987308],"position_m":[0.34835922116277784,0.1638935350309873,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015191898878023657,0.0018463997081235037],"position_m":[0.3302808101121976,-0.049453600291876496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004523286399285709,0.00019347614707114318],"position_m":[0.32442328639928575,0.30629347614707114,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002484292639951612,-0.0032197023254338752],"position_m":[0.2106157073600484,-0.3901197023254339,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8287e7394ef0cc5ffc9888aae4698f8722447532b7608e8768af216cc69631e5","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4774/tex_ceiling_textures_8971/tex_floor_textures_9478/tex_table_textures_4482/tex_wall_textures_200","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":109385059624322407,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":109385059624322407,"visual_seed":109385059624322407,"scene_id":"lab_003","finished_at":"2026-09-03T02:01:56"} +{"episode_id":"ep_000044","started_at":"2026-09-03T02:01:59","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.3420992157915548,-1.6944534853768438,0.71338606911949],"aabb_xy":[[0.304599215126976,-1.7101405433770656],[0.3795992164561334,-1.6787664273766212]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.5106293008645657,-0.6213959783584622,0.71338606911949],"aabb_xy":[[0.49361920357451494,-0.6375304668567361],[0.5276393981546162,-0.6052614898601882]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.12674568744778036,-2.580568424041964,0.71338606911949],"aabb_xy":[[0.0917456883178247,-2.586313645117628],[0.16174568657773603,-2.5748232029662996]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.5167185960325016,-1.9237167197292175,0.71338606911949],"aabb_xy":[[-0.596718594619821,-2.003032321667378],[-0.4367185974451822,-1.8444011177910566]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.3748476518634576,0.7465638959239413,0.71338606911949],"aabb_xy":[[0.34038530446531573,0.7120700135261184],[0.40930999926159933,0.7810577783217638]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.05388686280144939,-1.4743993549872068,0.71338606911949],"aabb_xy":[[-0.08437111292847954,-1.524399354768703],[-0.02340261267441924,-1.424399355205711]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.40449986561542584,-0.5341170900875256,0.71338606911949],"aabb_xy":[[-0.44199986543245934,-0.5387553013986675],[-0.3669998657983922,-0.5294788787763838]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.3771294060426737,-1.2603035441168309,0.71338606911949],"aabb_xy":[[-0.45712940300571286,-1.3373791857606043],[-0.29712940907963453,-1.1832279024730574]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.6933449191297769,-1.6183981700976502,0.71338606911949],"aabb_xy":[[0.6839979115474818,-1.6327017923152944],[0.7026919267120723,-1.6040945478800064]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.5149266707259057,1.130417971097346,0.71338606911949],"aabb_xy":[[-0.5316038067190012,1.1137180471234158],[-0.4982495347328102,1.1471178950712764]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.3177685775016019,-2.507123458810658,0.71338606911949],"aabb_xy":[[0.23776858034202658,-2.518671059768475],[0.39776857466117715,-2.495575857852841]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.31832458908682254,1.604697637335677,0.71338606911949],"aabb_xy":[[-0.3683177011960144,1.5546976366614815],[-0.26833147697763066,1.6546976380098728]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.0874732497761942,1.3454063288348337,0.71338606911949],"aabb_xy":[[0.06992655486007525,1.3079063272705824],[0.10501994469231311,1.382906330399085]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.24918857320811016,-0.8628070293126358,0.71338606911949],"aabb_xy":[[0.24360690157398138,-0.8753070291304113],[0.25477024484223887,-0.8503070294948603]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.3053644830282092,1.0515462641061157,0.71338606911949],"aabb_xy":[[0.22536448504742415,1.0439447231442638],[0.38536448100899423,1.0591478050679677]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.09613166754128133,-2.2277824574776415,0.71338606911949],"aabb_xy":[[-0.18613166613575127,-2.2440330437910623],[-0.0061316689468114,-2.2115318711642207]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.3052062161873882,-1.0008506384771323,0.71338606911949],"aabb_xy":[[-0.3553036801684618,-1.064850638986944],[-0.25510875220631457,-0.9368506379673205]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.030855679569021577,-1.7348548101838137,0.71338606911949],"aabb_xy":[[-0.09485568097701225,-1.7866437617077382],[0.03314432183896908,-1.6830658586598888]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.012655573687392563,0.7438903302694881,0.71338606911949],"aabb_xy":[[-0.07665557008296564,0.6799270418507546],[0.051344422708180515,0.8078536186882217]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.6107245659136806,0.44916755117040896,0.71338606911949],"aabb_xy":[[-0.6148604222463808,0.411667551726052],[-0.6065887095809804,0.486667550614766]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.639765777253379,-1.4428014914181146,0.71338606911949],"aabb_xy":[[-0.6515339640480367,-1.5278014913233362],[-0.6279975904587216,-1.3578014915128929]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.6126143561171846,1.334215814482067,0.71338606911949],"aabb_xy":[[0.5873935192573448,1.30899206362918],[0.6378351929770242,1.3594395653349536]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.5517267227285465,-0.4625984201874189,0.71338606911949],"aabb_xy":[[0.46800449722846393,-0.5525984237221149],[0.6354489482286289,-0.372598416652723]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.4051290782903282,0.5898728591637212,0.71338606911949],"aabb_xy":[[-0.42424138564830705,0.5707380802864792],[-0.3860167709323493,0.6090076380409633]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.6602672533448788,0.02880013874037557,0.71338606911949],"aabb_xy":[[0.6227672521600859,0.024381916044315024],[0.6977672545296715,0.033218361436436104]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664161144240122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4364.png","name":"4364"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4364.png","name":"4364"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6423.png","name":"6423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7425.png","name":"7425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3031.png","name":"3031"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":724.1768537832868,"rotation_z_degrees":153.1010744829665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014127554542378391,0.000266531393871651,-0.002189139034450883]},{"name":"camera_2","offset_m":[0.009251179062673962,-0.012366854444753429,-0.014809211125519748]},{"name":"camera_3","offset_m":[0.002220040299640673,-0.014146642003422296,0.0029800277324477653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001173152948671426,-0.0007381742198429287,0.00022872570739079084],"end_effector_yaw_offset_degrees":0.43234261141848096},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006003835242583649,-0.0017062735069635494,-0.0004912252472128041],"end_effector_yaw_offset_degrees":0.2388525534780046},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001435668370392431,-0.0002530961136281008,0.000245717788555581],"end_effector_yaw_offset_degrees":-0.08103634527568415}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00011377974766745881,-0.0009055485589870606],"position_m":[0.35068622025233254,0.15829445144101295,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010491888536405406,0.0022952933782937127],"position_m":[0.3328491888536405,-0.049004706621706286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004529932776384075,-0.0048302208511799795],"position_m":[0.3244299327763841,0.30126977914882,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.346200117247514e-05,0.0024106684629805553],"position_m":[0.2131734620011725,-0.3844893315370195,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b3a876cc5540be20a07c55a0f7c1276ab8d92475eab48b58fc0f2a86a27e50dc","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4364/tex_ceiling_textures_3031/tex_floor_textures_7425/tex_table_textures_422/tex_wall_textures_6423","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8622869697899542336,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8622869697899542336,"visual_seed":8622869697899542336,"scene_id":"lab_003","finished_at":"2026-09-03T02:04:44"} +{"episode_id":"ep_000045","started_at":"2026-09-03T02:18:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.5881136935038835,-2.462756795722431,0.71338606911949],"aabb_xy":[[-0.6015602201379269,-2.476226647375522],[-0.5746671668698402,-2.4492869440693394]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.5166829116079772,-0.6946853274377731,0.71338606911949],"aabb_xy":[[0.4991829781739938,-0.7121853273580075],[0.5341828450419606,-0.6771853275175385]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.32513488460299206,-2.0597815969105904,0.71338606911949],"aabb_xy":[[-0.38913488694579357,-2.1047224481547224],[-0.26113488226019044,-2.0148407456664574]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.5495446144747341,-2.2666410220853717,0.71338606911949],"aabb_xy":[[-0.5609063491280202,-2.278009488491659],[-0.5381828798214479,-2.2552725556790834]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.5741389305349005,0.5015809807751843,0.71338606911949],"aabb_xy":[[0.49413893006468457,0.49327027316083605],[0.6541389310051164,0.5098916883895328]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.5173867143913538,-1.1572454850766862,0.71338606911949],"aabb_xy":[[-0.5813867176810618,-1.2005804040806036],[-0.4533867111016456,-1.1139105660727684]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.5963232575877215,-0.2988940975355412,0.71338606911949],"aabb_xy":[[0.5463301454785296,-0.3488940982097368],[0.6463163696969134,-0.24889409686134556]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.42889759377060943,1.1768107716866432,0.71338606911949],"aabb_xy":[[0.40672506679395853,1.1546351045305199],[0.4510701207472602,1.198986438842766]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.5525374797797047,1.195187321796853,0.71338606911949],"aabb_xy":[[-0.6175374798140074,1.1484866451165257],[-0.48753747974540196,1.2418879984771802]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.602315305248029,-0.4415239746028301,0.71338606911949],"aabb_xy":[[-0.6235933133915011,-0.5065239769289032],[-0.5810372971045566,-0.376523972276757]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.26700880587037185,-1.0922468130449512,0.71338606911949],"aabb_xy":[[-0.33100880792010384,-1.1323412961342592],[-0.20300880382063985,-1.0521523299556432]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.3455684725178767,-0.4285091865052002,0.71338606911949],"aabb_xy":[[0.33233752698319535,-0.44173660552719957],[0.35879941805255794,-0.4152817674832007]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.08640476500607908,-2.480002478952596,0.71338606911949],"aabb_xy":[[-0.09237130394681486,-2.4859636236119598],[-0.08043822606534329,-2.4740413342932315]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.005276910456698092,-1.3423751507168178,0.71338606911949],"aabb_xy":[[-0.08472309187732097,-1.4198575053019304],[0.09527691279071715,-1.2648927961317051]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.48737643251983,-1.7695031301387045,0.71338606911949],"aabb_xy":[[0.44987643234795804,-1.8022038655216117],[0.5248764326917019,-1.7368023947557973]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.11301060008208175,-0.03127019835246303,0.71338606911949],"aabb_xy":[[-0.128566369492347,-0.04682063159687022],[-0.0974548306718165,-0.015719765108055835]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.40440589141555117,1.7356469529103022,0.71338606911949],"aabb_xy":[[-0.43225092819615835,1.7048624541719906],[-0.3765608546349441,1.766431451648614]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.03153877208151046,0.15434822286226302,0.71338606911949],"aabb_xy":[[-0.05653877124714357,0.14739597715690644],[-0.0065387729158773444,0.1613004685676196]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.17681422770951727,0.8434435988545483,0.71338606911949],"aabb_xy":[[0.1650460409148598,0.758443598949327],[0.18858241450417487,0.9284435987597701]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.6913676589503883,-2.0766954143413647,0.71338606911949],"aabb_xy":[[0.678216412979099,-2.1016954140980513],[0.7045189049216777,-2.051695414584678]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.36577753880716873,1.0619026188990266,0.71338606911949],"aabb_xy":[[-0.4457775374640547,1.0473977599747637],[-0.28577754015028267,1.0764074778232895]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.1747035047003267,-1.8674797335426532,0.71338606911949],"aabb_xy":[[0.1528137571113859,-1.9574797308319023],[0.1965932522892675,-1.777479736253404]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5804143529134089,-0.5860880317012258,0.71338606911949],"aabb_xy":[[0.5104143502768226,-0.6061928966970913],[0.6504143555499953,-0.5659831667053603]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.3258076506311567,-1.1540632547388008,0.71338606911949],"aabb_xy":[[0.2912165677771114,-1.2190632550238318],[0.36039873348520185,-1.0890632544537697]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[-0.19768241695033312,-0.26463769670009407,0.71338606911949],"aabb_xy":[[-0.26168241624450134,-0.3286238370689483],[-0.1336824176561649,-0.20065155633123993]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.5774130550177925,0.8272307073461742,0.71338606911949],"aabb_xy":[[0.5596195480828761,0.8094309617503765],[0.5952065619527089,0.8450304529419719]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_26","position":[-0.45083974963997475,-0.6799629614620932,0.71338606911949],"aabb_xy":[[-0.4918576930263456,-0.7299629620930504],[-0.4098218062536038,-0.6299629608311358]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.6231969253067804,1.334741665561189,0.71338606911949],"aabb_xy":[[-0.6401076577431222,1.321269459968574],[-0.6062861928704386,1.3482138711538032]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_28","position":[-0.010984212815351113,-0.6554759660057423,0.71338606911949],"aabb_xy":[[-0.0809842144176306,-0.6689087592073999],[0.05901578878692837,-0.6420431728040847]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[0.5743849064971205,-2.489567798510406,0.71338606911949],"aabb_xy":[[0.5368849062049457,-2.4936092739110096],[0.6118849067892953,-2.485526323109802]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_30","position":[-0.25779733643042885,0.44039374413573595,0.71338606911949],"aabb_xy":[[-0.2617578202001633,0.43272587955021535],[-0.2538368526606945,0.44806160872125655]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.5704245454034614,-2.0870814599148164,0.71338606911949],"aabb_xy":[[-0.6344245456639321,-2.132090259267744],[-0.5064245451429905,-2.042072660561888]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_32","position":[-0.24753983198984797,-1.6310126199571087,0.71338606911949],"aabb_xy":[[-0.29742252886754417,-1.6810126192033839],[-0.1976571351121518,-1.5810126207108344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663193604798343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6440.png","name":"6440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6440.png","name":"6440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5412.png","name":"5412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.3648751985131,"rotation_z_degrees":76.10451131706974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019800089016196464,-0.016844417146023295,0.0032538438233802452]},{"name":"camera_2","offset_m":[-0.004023234466761543,-0.016008505150083324,-0.0004328694753999579]},{"name":"camera_3","offset_m":[-0.0003258807916265566,-0.018584336936878294,-0.01642883591213301]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009723538656019807,0.0006659311024417528,-0.0007078355423033266],"end_effector_yaw_offset_degrees":-0.7627810255935905},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003927339396895993,-0.0014229272073576437,-0.0005086583812928534],"end_effector_yaw_offset_degrees":0.1350038908186204},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009343791529942869,-0.001283186384409371,-0.0014159433620103106],"end_effector_yaw_offset_degrees":0.8172919711514404}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004744833954519176,0.0027219183097076287],"position_m":[0.3460551660454808,0.16192191830970765,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030529981178402813,0.0012365464938025508],"position_m":[0.33485299811784025,-0.050063453506197446,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00038449099338853324,0.0009090669190533144],"position_m":[0.32028449099338857,0.3070090669190533,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030057808265457784,-0.004598172102587629],"position_m":[0.2161057808265458,-0.39149817210258764,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"94d34664c1a60dff7b735d6805b13ecc0e12ae7685475963eb78a02e518228f8","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0103.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6440/tex_ceiling_textures_5768/tex_floor_textures_6475/tex_table_textures_7862/tex_wall_textures_5412","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1931867057734027064,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1931867057734027064,"visual_seed":1931867057734027064,"scene_id":"lab_003","finished_at":"2026-09-03T02:20:55"} +{"episode_id":"ep_000046","started_at":"2026-09-03T02:25:17","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.33413504615044665,-1.9935852394693518,0.71338606911949],"aabb_xy":[[-0.3991350447075194,-2.0233377728832345],[-0.26913504759337376,-1.963832706055469]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.25061583057945563,-2.212968741531153,0.71338606911949],"aabb_xy":[[-0.3006108415389077,-2.262968740566745],[-0.20062081962000367,-2.1629687424955617]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.526936052965949,0.9317684459882627,0.71338606911949],"aabb_xy":[[-0.5370890685200983,0.8956989044155221],[-0.5167830374117995,0.9678379875610028]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.4599410712655674,-0.5788009562848382,0.71338606911949],"aabb_xy":[[0.40231060237829636,-0.6388009552115486],[0.517571540152838,-0.5188009573581274]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.23833034813794002,-2.399179878549416,0.71338606911949],"aabb_xy":[[-0.2669796804983562,-2.427825437826492],[-0.20968101577752377,-2.3705343192723403]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.5685866708883995,-1.0505286579508406,0.71338606911949],"aabb_xy":[[0.5045866744610776,-1.0976982817729373],[0.6325866673157214,-1.0033590341287444]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.5352466120432613,0.26975099148203174,0.71338606911949],"aabb_xy":[[0.5119647698451298,0.1847509901848037],[0.5585284542413925,0.3547509927792598]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.16062078721358308,-2.168451996600705,0.71338606911949],"aabb_xy":[[0.12562078894346315,-2.175526124295693],[0.19562078548370296,-2.1613778689057166]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.31125443198390257,0.7885730061138823,0.71338606911949],"aabb_xy":[[0.30312674379058935,0.7796593977031746],[0.3193821201772158,0.7974866145245899]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.598402453877444,-1.9175374456549519,0.71338606911949],"aabb_xy":[[-0.6359024524530646,-1.9302737413185094],[-0.560902455301823,-1.9048011499913935]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.43128003259599124,-0.4102335055691615,0.71338606911949],"aabb_xy":[[-0.4405736508331418,-0.44773350405729545],[-0.42198641435884066,-0.37273350708102765]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.026031502555209363,-1.0717729897917538,0.71338606911949],"aabb_xy":[[0.01803751397750597,-1.0797730698868442],[0.034025491132912755,-1.0637729096966635]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.22226918778480764,-2.3059235930121824,0.71338606911949],"aabb_xy":[[0.17226991261637153,-2.35592359428813],[0.27226846295324386,-2.2559235917362357]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.4021429248025772,-1.271320720985767,0.71338606911949],"aabb_xy":[[0.3678266476279592,-1.3213207209589448],[0.43645920197719507,-1.2213207210125894]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.07091961051565177,-1.3437679088701031,0.71338606911949],"aabb_xy":[[-0.12089290451891221,-1.3937679094246502],[-0.020946316512391316,-1.2937679083155555]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.5903779073511918,1.4589944293240404,0.71338606911949],"aabb_xy":[[-0.6403727402791334,1.408994430428797],[-0.5403830744232502,1.508994428219284]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.49300246725999053,-1.9045518211642087,0.71338606911949],"aabb_xy":[[-0.5149111493993415,-1.926452487984299],[-0.47109378512063943,-1.8826511543441176]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.6344400664011256,-0.761997588855281,0.71338606911949],"aabb_xy":[[-0.6719400665067184,-0.7688197507082621],[-0.5969400662955325,-0.7551754270022999]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.02860225571387187,1.0748619069729348,0.71338606911949],"aabb_xy":[[-0.006397743478946394,1.063894860975272],[0.06360225490669014,1.0858289529705971]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.22437045643307885,-0.2990577878994456,0.71338606911949],"aabb_xy":[[-0.24104759242617435,-0.31575771187337587],[-0.20769332043998334,-0.2823578639255153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660233909797009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2880.png","name":"2880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9301.png","name":"9301"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":595.7501364421885,"rotation_z_degrees":299.2549887105737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00541301340195143,-0.012965954107446588,-0.01351807455759444]},{"name":"camera_2","offset_m":[0.0004329671975096226,-0.01931725579426121,-0.0029380114066703024]},{"name":"camera_3","offset_m":[-0.013053410147106526,0.00134039344465604,-0.01460142525221413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001385189953019755,0.0009923389863244537,0.00045077058613177514],"end_effector_yaw_offset_degrees":0.6084276217536961},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007230333817051298,0.001286306327608123,-0.0014898286350913236],"end_effector_yaw_offset_degrees":-0.8827650964982969},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011341035550778379,0.0004072734062773786,0.0005353034050563739],"end_effector_yaw_offset_degrees":0.7993862972115642}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003325397672072597,-0.0008265495331758587],"position_m":[0.3541253976720726,0.15837345046682416,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003130907937750447,-0.00407211821239306],"position_m":[0.32866909206224953,-0.05537211821239306,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024333870262249558,-0.00478325356645087],"position_m":[0.31746661297377504,0.3013167464335491,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004427537012371623,0.004009862111659125],"position_m":[0.2086724629876284,-0.3828901378883409,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"085bdf9b325711f3f768df5011e0af2548b848ac84d69e8652f94f7a9769da8f","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2130/tex_ceiling_textures_9301/tex_floor_textures_6964/tex_table_textures_8786/tex_wall_textures_2880","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1780310609981724801,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1780310609981724801,"visual_seed":1780310609981724801,"scene_id":"lab_003","finished_at":"2026-09-03T02:28:03"} +{"episode_id":"ep_000047","started_at":"2026-09-03T02:29:33","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.32643154251493306,-0.18808962133473495,0.71338606911949],"aabb_xy":[[-0.33034541571035553,-0.19683863674129168],[-0.3225176693195105,-0.17934060592817816]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.25991584275664836,-1.9691953482579219,0.71338606911949],"aabb_xy":[[0.2473131436195719,-1.9817907444827874],[0.2725185418937248,-1.9565999520330564]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.11158979451717266,-1.334843936714504,0.71338606911949],"aabb_xy":[[-0.12714556392743792,-1.3503943699589112],[-0.09603402510690741,-1.3192935034700968]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.5000867801532205,-2.191967510325793,0.71338606911949],"aabb_xy":[[-0.5450793668716708,-2.2369675096002415],[-0.45509419343477,-2.146967511051344]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.15362203190944457,1.3974065501007016,0.71338606911949],"aabb_xy":[[-0.15965904491010932,1.3913798490317535],[-0.14758501890877987,1.4034332511696497]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.4137758371610652,0.42368000092098557,0.71338606911949],"aabb_xy":[[-0.46377583818020046,0.38721378518315774],[-0.3637758361419299,0.4601462166588136]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.6589504542409195,-2.2686160562815174,0.71338606911949],"aabb_xy":[[0.6415197391619128,-2.285888170945368],[0.6763811693199259,-2.251343941617667]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.09248156859884271,-0.3154896730715664,0.71338606911949],"aabb_xy":[[-0.17248156725572872,-0.32999453199582923],[-0.012481569941956705,-0.30098481414730366]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.1556610850846143,-1.6612373024452372,0.71338606911949],"aabb_xy":[[0.0906610824468208,-1.7127169011446841],[0.22066108772240778,-1.6097577037457902]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[0.5303999131300348,-0.379862038958795,0.71338606911949],"aabb_xy":[[0.48039991276946864,-0.4298420261683979],[0.5803999134906007,-0.329882051749192]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.2305340177482591,-2.2580404112739654,0.71338606911949],"aabb_xy":[[0.19303401725090086,-2.262009094822084],[0.26803401824561734,-2.254071727725847]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.27078579705620054,-0.8846985910466338,0.71338606911949],"aabb_xy":[[0.2594240624029143,-0.8960670574529219],[0.28214753170948664,-0.8733301246403458]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.514058337926147,-1.4802277145834704,0.71338606911949],"aabb_xy":[[0.4642415584613122,-1.5302277130677737],[0.5638751173909817,-1.430227716099167]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.21694138427538323,1.7179911173160511,0.71338606911949],"aabb_xy":[[0.20260695914921975,1.705930901761512],[0.23127580940154666,1.7300513328705898]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.09633807868866884,-2.1802553293761457,0.71338606911949],"aabb_xy":[[-0.15633807894007,-2.2345366544126106],[-0.03633807843726766,-2.125974004339681]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[0.022614675219114755,1.0712369101707715,0.71338606911949],"aabb_xy":[[-0.042385322936804304,1.0449406656208595],[0.08761467337503381,1.097533154720684]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.20723745290224604,-2.0702915118293914,0.71338606911949],"aabb_xy":[[0.1992011182009612,-2.0783296311338084],[0.2152737876035309,-2.0622533925249744]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.11883242063472299,-2.42399510462087,0.71338606911949],"aabb_xy":[[-0.17382789845538238,-2.4789951060547764],[-0.06383694281406359,-2.3689951031869625]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.18669443458117263,-1.7640420176892744,0.71338606911949],"aabb_xy":[[-0.21169443451369055,-1.7709246859101977],[-0.16169443464865477,-1.757159349468351]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.4512598944747639,1.1749479842006423,0.71338606911949],"aabb_xy":[[0.4475566331456249,1.171245965891924],[0.4549631558039027,1.1786500025093596]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.5531501780126038,0.8974967025204426,0.71338606911949],"aabb_xy":[[-0.643150180346623,0.8200143479353299],[-0.46315017567858485,0.9749790571055552]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.31637353486118447,-1.6678488868598045,0.71338606911949],"aabb_xy":[[0.30911228729077705,-1.680635897123314],[0.3236347824315919,-1.655061876596295]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.055215442143134785,-2.3424104918464423,0.71338606911949],"aabb_xy":[[-0.00978455885736574,-2.393196857001117],[0.1202154431436353,-2.291624126691767]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.53413964813865,-2.136686542841558,0.71338606911949],"aabb_xy":[[0.4841566979511706,-2.186686542484118],[0.5841225983261292,-2.086686543198997]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.02081177385471189,1.7015695065947196,0.71338606911949],"aabb_xy":[[-0.06887530245340356,1.6115695063402689],[0.11049885016282734,1.79156950684917]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.4051175546528494,-1.0856309265796062,0.71338606911949],"aabb_xy":[[0.3798967177930096,-1.1108546774324926],[0.43033839151268893,-1.060407175726719]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.42789985469155145,-1.7275868740939984,0.71338606911949],"aabb_xy":[[-0.4918998579812595,-1.7709217930979158],[-0.3638998514018433,-1.6842519550900805]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[-0.660264343385298,1.599280656357457,0.71338606911949],"aabb_xy":[[-0.6734155893565874,1.5742806566007705],[-0.6471130974140087,1.6242806561141436]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.18034613017976386,0.5180121443823253,0.71338606911949],"aabb_xy":[[-0.20281090015116898,0.49551214350346484],[-0.15788136020835875,0.5405121452611859]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.20065951661713843,0.6203200829191995,0.71338606911949],"aabb_xy":[[0.15935497355340245,0.5563200833510825],[0.24196405968087442,0.6843200824873167]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.03712073210423239,1.4807278211838795,0.71338606911949],"aabb_xy":[[-0.08212073357046124,1.4357279643223988],[0.007879269361996464,1.5257276780453604]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_31","position":[0.6353800335432984,-1.0550384262558203,0.71338606911949],"aabb_xy":[[0.585406739540038,-1.1050384268103677],[0.6853533275465589,-1.005038425701273]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_32","position":[-0.5553639695479147,1.4171636168890367,0.71338606911949],"aabb_xy":[[-0.5730396001365129,1.3994834006096337],[-0.5376883389593162,1.4348438331684392]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[0.3957689299448004,-1.7488168998327245,0.71338606911949],"aabb_xy":[[0.38232240331075706,-1.7622867514858156],[0.40921545657884373,-1.735347048179633]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_34","position":[0.43349696178732233,-1.8848116126917804,0.71338606911949],"aabb_xy":[[0.3924790184009515,-1.9348116133227378],[0.47451490517369327,-1.834811612060823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66661018626174,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6605.png","name":"6605"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/521.png","name":"521"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":786.9659746775303,"rotation_z_degrees":276.6199766797161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016030718551659804,0.01813731653254431,-0.010989169687488759]},{"name":"camera_2","offset_m":[-0.011278961281387319,0.011908139732963102,-0.00857422898246401]},{"name":"camera_3","offset_m":[0.012635306183363258,-0.00817689559974082,0.014199144731423658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008910296728495584,-0.0009915948882393453,-0.0008404049021512869],"end_effector_yaw_offset_degrees":0.5373660020520707},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009242236020393976,0.00028048985194041674,0.001151142442662973],"end_effector_yaw_offset_degrees":0.19425615252946016},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011912916341309536,0.001534125292181884,-0.00011638872629047246],"end_effector_yaw_offset_degrees":-0.9546112970911609}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010796395067981055,-0.004168322510526031],"position_m":[0.3518796395067981,0.15503167748947397,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004629112809475244,-0.00039048418327270254],"position_m":[0.33642911280947524,-0.0516904841832727,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00019347445823267306,0.004730084624444196],"position_m":[0.3197065255417674,0.31083008462444417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003781752727476777,0.004032143016864473],"position_m":[0.20931824727252324,-0.3828678569831355,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64e36cb6c54bb3ddc216d9d2dd1396c74a64a7d63e62f4a6bcaa9d9d206c5592","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0109.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5961/tex_ceiling_textures_2932/tex_floor_textures_7400/tex_table_textures_6605/tex_wall_textures_521","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7868243842208249673,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7868243842208249673,"visual_seed":7868243842208249673,"scene_id":"lab_003","finished_at":"2026-09-03T02:32:08"} +{"episode_id":"ep_000048","started_at":"2026-09-03T02:32:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.13274174445326847,1.7030226576608585,0.71338606911949],"aabb_xy":[[0.12511747636309023,1.695389434124315],[0.14036601254344672,1.7106558811974024]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.3400474685415222,1.6594170472384318,0.71338606911949],"aabb_xy":[[-0.3822318827023529,1.5954170469612208],[-0.29786305438069144,1.7234170475156432]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.03146084948804606,-2.4138102602338627,0.71338606911949],"aabb_xy":[[-0.005034971139232687,-2.4502942026606203],[0.0679566701153248,-2.377326317807105]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.5007824138329678,0.37479902013168287,0.71338606911949],"aabb_xy":[[-0.5378165232610275,0.3404218127979734],[-0.463748304404908,0.40917622746539234]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.12786185392221772,-2.2088714455678407,0.71338606911949],"aabb_xy":[[-0.13801486947636707,-2.2449409871405805],[-0.11770883836806831,-2.1728019039951]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.0386320776717779,-2.2535353249126597,0.71338606911949],"aabb_xy":[[0.03329956301716491,-2.2588596531578955],[0.04396459232639088,-2.248210996667424]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.6386996117030186,0.29206858641987665,0.71338606911949],"aabb_xy":[[-0.6938248173326093,0.23206858497858948],[-0.5835744060734277,0.35206858786116374]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.6897481956463634,-1.472372389741556,0.71338606911949],"aabb_xy":[[0.6645273587865236,-1.4975961405944427],[0.7149690325062029,-1.4471486388886692]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.0354076820546001,-0.9173836670901165,0.71338606911949],"aabb_xy":[[-0.043451041980555265,-1.002383668185483],[-0.027364322128644918,-0.83238366599475]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.652485532171835,-1.0975971831942013,0.71338606911949],"aabb_xy":[[0.6411237975185486,-1.1089656496004894],[0.663847266825121,-1.0862287167879132]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.5700376819477033,-2.046741951112602,0.71338606911949],"aabb_xy":[[0.5541531886823782,-2.061094891411426],[0.5859221752130285,-2.0323890108137777]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.55368544473897,-2.165599308195937,0.71338606911949],"aabb_xy":[[-0.5737438563522103,-2.1856643951050945],[-0.5336270331257297,-2.1455342212867796]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.5970780285803936,-2.487541872521375,0.71338606911949],"aabb_xy":[[0.5635988613193528,-2.521020985892482],[0.6305571958414347,-2.454062759150268]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.5361842167504631,1.2118231740724719,0.71338606911949],"aabb_xy":[[0.49868421640223526,1.2000317784913879],[0.5736842170986908,1.223614569653555]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.24734441263577706,-0.3074627390105982,0.71338606911949],"aabb_xy":[[-0.2624467140967951,-0.3225642606416599],[-0.23224211117475893,-0.29236121737953624]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.2772671398983025,-0.7265469142882972,0.71338606911949],"aabb_xy":[[-0.3272671408488353,-0.7580960612918186],[-0.22726713894776968,-0.6949977672847758]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.11434174211963233,1.2209914546474212,0.71338606911949],"aabb_xy":[[-0.16432469230711166,1.1709914550048606],[-0.06435879193215299,1.2709914542899814]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.45080314545455047,-0.05054366818981926,0.71338606911949],"aabb_xy":[[0.44354189788414305,-0.06333067845332874],[0.4580643930249579,-0.03775665792630978]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.16469355817408027,-2.322855637542853,0.71338606911949],"aabb_xy":[[-0.18289938183532795,-2.333881038124845],[-0.1464877345128326,-2.3118302369608617]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.1887890478288501,-1.403934849563986,0.71338606911949],"aabb_xy":[[-0.1948260608295148,-1.4099615506329346],[-0.18275203482818533,-1.397908148495038]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[-0.5068503678343576,-1.1576996961706576,0.71338606911949],"aabb_xy":[[-0.5331391921547981,-1.1839711298253086],[-0.48056154351391683,-1.1314282625160061]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.5043165058659416,-0.08934551620005626,0.71338606911949],"aabb_xy":[[-0.539316504176637,-0.0970605311236019],[-0.4693165075552461,-0.0816305012765106]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.6132665685021508,0.7995874814728916,0.71338606911949],"aabb_xy":[[0.5492665699155783,0.7525805180733829],[0.6772665670887232,0.8465944448724003]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.4990933415424683,-0.8342846120782701,0.71338606911949],"aabb_xy":[[0.4903121143952322,-0.8430643593668004],[0.5078745686897047,-0.8255048647897401]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[0.2894025596492853,-2.4734268686063126,0.71338606911949],"aabb_xy":[[0.2519025598322517,-2.4780650799174544],[0.3269025594663188,-2.4687886572951707]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[0.5494837761776714,0.004917966307750099,0.71338606911949],"aabb_xy":[[0.5295927362973313,-0.007737844976946741],[0.5693748160580118,0.01757377759244694]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[0.1396270458860145,0.7200231429644033,0.71338606911949],"aabb_xy":[[0.1219942102924869,0.7024001969487803],[0.15725988147954204,0.7376460889800263]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.11153844816808178,-1.3594513283735314,0.71338606911949],"aabb_xy":[[0.07420717164283915,-1.3941043831683835],[0.14886972469332438,-1.324798273578679]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[-0.6200130337730306,0.7930544600122027,0.71338606911949],"aabb_xy":[[-0.6850130347301578,0.741106248078497],[-0.5550130328159034,0.8450026719459082]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_29","position":[-0.5998828606728694,-1.8078641086165264,0.71338606911949],"aabb_xy":[[-0.6173828599509563,-1.825202208682872],[-0.5823828613947826,-1.7905260085501802]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[0.16743036250553245,-2.215160863451268,0.71338606911949],"aabb_xy":[[0.16092872599752786,-2.224928685477578],[0.1739319990135371,-2.2053930414249585]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_31","position":[-0.13241786752020435,-0.5752653247079262,0.71338606911949],"aabb_xy":[[-0.16921250064511062,-0.6121711998045085],[-0.09562323439529807,-0.538359449611344]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[0.5215056845686965,-1.3334949339385596,0.71338606911949],"aabb_xy":[[0.5012213818452977,-1.3537775590812682],[0.5417899872920953,-1.3132123087958505]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_33","position":[-0.4279969497933571,1.3335225958190837,0.71338606911949],"aabb_xy":[[-0.507996950263573,1.3252118882047355],[-0.3479969493231412,1.341833303433432]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_34","position":[0.5855786289997802,-1.8030910349123954,0.71338606911949],"aabb_xy":[[0.5055786320367409,-1.8801666765561684],[0.6655786259628192,-1.7260153932686215]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625687881705777,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5364.png","name":"5364"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5364.png","name":"5364"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3252.png","name":"3252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7985.png","name":"7985"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5127.png","name":"5127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7487.png","name":"7487"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.3056690188107,"rotation_z_degrees":132.18617670507632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005395620831759384,-0.013480424956111018,0.006943270430865317]},{"name":"camera_2","offset_m":[0.005274312209677633,-0.019436974069095156,0.019731230417071022]},{"name":"camera_3","offset_m":[0.009026019300210453,-0.005240615332847875,-0.0034291984831424233]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.461897345071908e-05,0.00012882746495139876,-0.0006189198188171923],"end_effector_yaw_offset_degrees":-0.15735399660448346},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014549589387052755,0.001236161941431206,-0.0019570891718809],"end_effector_yaw_offset_degrees":0.6733894416493338},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003099364354403715,0.00046692610320618047,0.0014204866344218994],"end_effector_yaw_offset_degrees":0.09386646444081759}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004254890905657188,0.0021511141047696513],"position_m":[0.3550548909056572,0.16135111410476966,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005711336111759039,0.004150272766433865],"position_m":[0.3323711336111759,-0.047149727233566134,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00010213207007702188,-0.0042128333508431575],"position_m":[0.319797867929923,0.3018871666491568,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021803754363909633,0.0004967272802686882],"position_m":[0.21091962456360905,-0.38640327271973135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c74522bc9b3d5d76aa60a8962cd7d0e94f9667f857ef1a4c5244e3ebf37a0aa7","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5364/tex_ceiling_textures_7487/tex_floor_textures_5127/tex_table_textures_3252/tex_wall_textures_7985","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6414798346443941890,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6414798346443941890,"visual_seed":6414798346443941890,"scene_id":"lab_003","finished_at":"2026-09-03T02:34:44"} +{"episode_id":"ep_000049","started_at":"2026-09-03T02:36:02","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.43001509169291435,-1.6933130547414177,0.71338606911949],"aabb_xy":[[-0.4469258241292561,-1.7067852603340319],[-0.4131043592565725,-1.679840849148803]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.598025309241987,0.8853333336040725,0.71338606911949],"aabb_xy":[[-0.6193033173854593,0.8203333312779995],[-0.5767473010985148,0.9503333359301456]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.026482058853645518,-2.056711512450333,0.71338606911949],"aabb_xy":[[-0.04236655211897067,-2.071064452749157],[-0.010597565588320368,-2.0423585721515085]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.5018706782126211,0.5706039028161931,0.71338606911949],"aabb_xy":[[-0.5162051033387846,0.5585436872616542],[-0.48753625308645765,0.5826641183707318]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.09836221966550207,-2.3040151465746814,0.71338606911949],"aabb_xy":[[0.06336222047268378,-2.314982192572344],[0.1333622188583203,-2.293048100577019]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.33997177781765936,-0.13050112975111539,0.71338606911949],"aabb_xy":[[-0.35121683338827714,-0.14174292747521067],[-0.32872672224704147,-0.1192593320270201]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.622123718745802,0.13829624351000147,0.71338606911949],"aabb_xy":[[0.5621237188992352,0.08147762131696276],[0.6821237185923688,0.19511486570304012]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.3525011176826922,-2.3111574257406944,0.71338606911949],"aabb_xy":[[0.2975079063455554,-2.3661574260794884],[0.40749432901982896,-2.2561574254019012]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.36428791575955444,-0.572408321641368,0.71338606911949],"aabb_xy":[[0.3144711362947197,-0.6224083201256714],[0.4141046952243892,-0.5224083231570646]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.2170611927992584,-1.8455894794449414,0.71338606911949],"aabb_xy":[[-0.25560688562445943,-1.8841352505011302],[-0.17851549997405736,-1.8070437083887527]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.2601865256101789,-2.474116852911283,0.71338606911949],"aabb_xy":[[-0.2936656928712199,-2.50759596628239],[-0.22670735834913802,-2.440637739540176]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.45000568462232826,-0.13470338325155762,0.71338606911949],"aabb_xy":[[-0.46260838375940466,-0.14729877947642314],[-0.43740298548525175,-0.12210798702669215]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.18191828837783874,0.9731450390520151,0.71338606911949],"aabb_xy":[[-0.20380803596677954,0.883145041762766],[-0.16002854078889794,1.0631450363412642]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[-0.3975737506380553,0.8334543596373729,0.71338606911949],"aabb_xy":[[-0.43507375045508884,0.828816148326231],[-0.3600737508210217,0.8380925709485146]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[0.49532050847315756,1.2298850703509232,0.71338606911949],"aabb_xy":[[0.44532050811259155,1.17990508314132],[0.5453205088337236,1.279865057560526]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.6848806782800345,1.2842816166141882,0.71338606911949],"aabb_xy":[[0.677468222738646,1.2784304061925602],[0.692293133821423,1.290132827035816]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.0904505510576884,-1.6224993746393066,0.71338606911949],"aabb_xy":[[-0.09866509617337235,-1.6311759649369475],[-0.08223600594200439,-1.6138227843416648]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.06473617696874845,1.3578718098272144,0.71338606911949],"aabb_xy":[[0.04282749482939739,1.3359711430071235],[0.08664485910809948,1.379772476647305]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.4165917068896795,0.33800889338189544,0.71338606911949],"aabb_xy":[[-0.4865917102812415,0.3026931196784646],[-0.3465917034981175,0.3733246670853263]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.6269169587235917,0.6230803645397947,0.71338606911949],"aabb_xy":[[0.5964327085965614,0.5730803647582988],[0.6574012088506217,0.6730803643212907]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[0.1872876791450755,1.1737769393563053,0.71338606911949],"aabb_xy":[[0.13728767819454266,1.1422277923527837],[0.23728768009560827,1.2053260863598265]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.19125439095365404,0.76254554486755,0.71338606911949],"aabb_xy":[[0.1721420835956752,0.7434107659903079],[0.21036669831163293,0.7816803237447919]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_22","position":[0.48478069869179974,-1.6776423956360444,0.71338606911949],"aabb_xy":[[0.447280698399625,-1.6816838710366477],[0.5222806989839746,-1.6736009202354407]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.48915716526512293,-0.49701386515779244,0.71338606911949],"aabb_xy":[[-0.49845078350227356,-0.5345138636459262],[-0.4798635470279724,-0.45951386666965843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623683887630322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3334.png","name":"3334"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3117.png","name":"3117"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":838.0018415156915,"rotation_z_degrees":215.88503987443175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013527866959859972,-0.01778651664935098,0.015463552194222237]},{"name":"camera_2","offset_m":[-0.01322167965215825,0.006730986234111693,-0.0028556955870605444]},{"name":"camera_3","offset_m":[-0.01691974389229257,-0.008994056640533201,0.01478427792711191]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005114760187268927,-0.0008749652920048794,0.0017686717298967067],"end_effector_yaw_offset_degrees":0.7244842183232929},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00030561194606841145,-0.00041404936660767444,4.103702426121354e-05],"end_effector_yaw_offset_degrees":0.19787026637984861},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005685475062676005,0.0012854266072496088,-0.0007317073523033816],"end_effector_yaw_offset_degrees":0.19916915431800408}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035432467345191754,0.0003712613071652597],"position_m":[0.34725675326548083,0.15957126130716526,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004274767212509716,-0.0031864561809186254],"position_m":[0.3275252327874903,-0.05448645618091862,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028058518730922234,-0.0026565032559097202],"position_m":[0.3170941481269078,0.30344349674409027,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014044665025591515,-6.961079825281921e-05],"position_m":[0.21450446650255917,-0.3869696107982528,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a82c701ec588ab919d7011dd8d2fb60cfc7656c379435814b7f515ec0ca30048","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0112.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2369/tex_ceiling_textures_3117/tex_floor_textures_3334/tex_table_textures_4370/tex_wall_textures_5673","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4569176983946569634,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4569176983946569634,"visual_seed":4569176983946569634,"scene_id":"lab_003","finished_at":"2026-09-03T02:38:11"} +{"episode_id":"ep_000050","started_at":"2026-09-03T02:46:34","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.5795088632592016,0.9265519407585994,0.71338606911949],"aabb_xy":[[0.49950886298559466,0.8536023929328826],[0.6595088635328086,0.9995014885843161]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.611080710745515,0.0005305441313168124,0.71338606911949],"aabb_xy":[[-0.6271426382040325,-0.08446945768127499],[-0.5950187832869972,0.08553054594390862]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.00027291746872526446,1.0979472916316673,0.71338606911949],"aabb_xy":[[-0.014829383992292831,1.082845770000605],[0.01537521892974336,1.1130488132627288]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.014429371311219241,1.581658778448649,0.71338606911949],"aabb_xy":[[-0.004682936046759623,1.562523999571407],[0.033541678669198105,1.6007935573258911]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.6282236726086842,0.7961390433242488,0.71338606911949],"aabb_xy":[[-0.6331229649152476,0.7684621240216799],[-0.6233243803021206,0.8238159626268174]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.5216960726214188,-1.5980139156396722,0.71338606911949],"aabb_xy":[[0.5129981103307036,-1.6101388899471467],[0.5303940349121342,-1.5858889413321973]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.43964670329864886,-0.4718013792303921,0.71338606911949],"aabb_xy":[[0.38976400642095277,-0.5218013784766669],[0.48952940017634516,-0.42180137998411743]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.5485146026736905,0.6722124721485123,0.71338606911949],"aabb_xy":[[0.5284561910604502,0.6521473852393548],[0.5685730142869307,0.6922775590576699]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.39867176170532476,-1.2976273729005567,0.71338606911949],"aabb_xy":[[-0.4138439309869581,-1.31279622982876],[-0.3834995924236914,-1.2824585159723534]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.04420134272690446,-1.1761348796390445,0.71338606911949],"aabb_xy":[[0.02670134248185507,-1.1936346674786111],[0.061701342971953836,-1.1586350917994774]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[0.5715150401554865,-2.5279328008820734,0.71338606911949],"aabb_xy":[[0.5634887695248606,-2.536684295859426],[0.5795413107861126,-2.519181305904721]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.08459869746590509,1.0209489504881595,0.71338606911949],"aabb_xy":[[0.04709869667390963,1.0145811095299693],[0.12209869825790053,1.0273167914463497]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.6185444624088241,-1.1927124235136466,0.71338606911949],"aabb_xy":[[0.5545444610008334,-1.244501375037571],[0.6825444638168148,-1.1409234719897217]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[-0.5646237641089034,0.38089777076895137,0.71338606911949],"aabb_xy":[[-0.5990862421219911,0.37423409358602855],[-0.5301612860958156,0.3875614479518742]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.25173591846414795,-2.2607810131927817,0.71338606911949],"aabb_xy":[[-0.28521508572518894,-2.2942601265638887],[-0.21825675120310706,-2.2273018998216747]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.1358686366805939,-0.9397912200983389,0.71338606911949],"aabb_xy":[[0.07186863597712455,-0.9858096025712602],[0.19986863738406327,-0.8937728376254181]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.19473464190297984,0.8706189685586119,0.71338606911949],"aabb_xy":[[-0.2297346410329355,0.8648737474829477],[-0.15973464277302418,0.8763641896342759]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.24092425491590352,-1.674887497175638,0.71338606911949],"aabb_xy":[[0.20342425634028272,-1.687623792839196],[0.27842425349152433,-1.66215120151208]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.23152153438998402,0.9046456638431524,0.71338606911949],"aabb_xy":[[0.1814240704089104,0.8406456633333406],[0.28161899837105764,0.9686456643529642]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.6415026604756835,1.177312740690164,0.71338606911949],"aabb_xy":[[-0.6485429704092206,1.0973127412904928],[-0.6344623505421466,1.2573127400898356]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668059097200225,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2430.png","name":"2430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2430.png","name":"2430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3982.png","name":"3982"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5438.png","name":"5438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1222.png","name":"1222"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":659.7831461604574,"rotation_z_degrees":136.80364679421692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017489410797617466,-0.017927772016354,-0.0034187991272719848]},{"name":"camera_2","offset_m":[0.0038111472707506623,-0.0038930726523962005,-0.003825722050290716]},{"name":"camera_3","offset_m":[0.019580139998530945,0.002843229617376139,0.005748900731929282]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008720875654718387,0.0006943641952051314,-0.0004570515472760359],"end_effector_yaw_offset_degrees":0.38024463533370856},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00048716497634645377,0.0017732808170758218,0.0013406485398370083],"end_effector_yaw_offset_degrees":-0.39570993212822536},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00011345469962528352,0.0011542293880815384,-0.00032847329998710387],"end_effector_yaw_offset_degrees":-0.0880499952712619}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047356806682718345,0.004831273184666847],"position_m":[0.34606431933172815,0.16403127318466684,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037729229722440185,0.0028919377064296784],"position_m":[0.32802707702775596,-0.04840806229357032,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004319759589483587,-0.0008037145413931227],"position_m":[0.3242197595894836,0.3052962854586069,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002865584765148174,0.0020073991707416925],"position_m":[0.21596558476514818,-0.3848926008292583,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b7133ed492399652725f6fd70a5a3f6b08133a262a1035e4578db9601754ad9","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0118.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2430/tex_ceiling_textures_1222/tex_floor_textures_5438/tex_table_textures_666/tex_wall_textures_3982","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1532312489687073723,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1532312489687073723,"visual_seed":1532312489687073723,"scene_id":"lab_003","finished_at":"2026-09-03T02:49:06"} +{"episode_id":"ep_000051","started_at":"2026-09-03T02:54:35","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.6399773660460097,-1.2084667939927485,0.71338606911949],"aabb_xy":[[-0.6809953094323806,-1.2584667946237058],[-0.5989594226596389,-1.1584667933617911]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.2766682197497019,0.5594285695297372,0.71338606911949],"aabb_xy":[[-0.3266470282600178,0.5094285695240183],[-0.22668941123938602,0.6094285695354559]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.6160066624357505,0.197428367480589,0.71338606911949],"aabb_xy":[[0.5560066619278975,0.1405816337946677],[0.6760066629436033,0.2542751011665103]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.09932353849331044,-0.7971461167052485,0.71338606911949],"aabb_xy":[[0.09062557620259515,-0.8092710910127234],[0.10802150078402574,-0.785021142397774]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.5573053965034533,-0.16743590666939134,0.71338606911949],"aabb_xy":[[0.5327591808807025,-0.1976848032184284],[0.581851612126204,-0.13718701012035428]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.4655531144684961,0.8391291577697224,0.71338606911949],"aabb_xy":[[0.4594584865803778,0.8305597632180537],[0.47164774235661444,0.8476985523213911]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.5008310445896302,-0.8731228443224386,0.71338606911949],"aabb_xy":[[0.4882042573024338,-0.8826689180240114],[0.5134578318768265,-0.8635767706208656]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.3725220827047475,0.7150838537042179,0.71338606911949],"aabb_xy":[[0.2925220840478616,0.7005789947799551],[0.45252208136163363,0.7295887126284807]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.05850738417146617,-1.6997585089984426,0.71338606911949],"aabb_xy":[[-0.10850738583296092,-1.7497569512541453],[-0.008507382509971404,-1.64976006674274]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.14047463671784455,-0.9993952248629441,0.71338606911949],"aabb_xy":[[0.10547463758788886,-1.0051404459386082],[0.17547463584780018,-0.9936500037872799]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.6365037682097137,-0.07131626056360485,0.71338606911949],"aabb_xy":[[0.625597992122151,-0.151316256962434],[0.6474095442972764,0.008683735835224304]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.3597551375552275,-2.0415596036547963,0.71338606911949],"aabb_xy":[[0.3372551370431869,-2.064051462020194],[0.3822551380672681,-2.0190677452893975]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.4344930737545533,1.78377941712422,0.71338606911949],"aabb_xy":[[-0.454777376477952,1.7634967919815108],[-0.4142087710311545,1.8040620422669285]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.24200561090048306,-2.3217850137454015,0.71338606911949],"aabb_xy":[[-0.24734318656648763,-2.3467850146745413],[-0.2366680352344785,-2.2967850128162617]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.3634278345700115,-2.1974328004707755,0.71338606911949],"aabb_xy":[[0.3443155272120326,-2.216567579348017],[0.38254014192799035,-2.178298021593533]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.5621904572639885,-2.054612067659818,0.71338606911949],"aabb_xy":[[-0.6421842808425468,-2.1346120702526594],[-0.4821966336854303,-1.9746120650669763]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.4211961439565939,0.28722826258792233,0.71338606911949],"aabb_xy":[[-0.44478126742048874,0.2222282603424906],[-0.39761102049269903,0.3522282648333542]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.05816144128954426,0.7968050339869666,0.71338606911949],"aabb_xy":[[-0.03183856238737392,0.7353726274098619],[0.1481614449664624,0.8582374405640705]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[-0.11362027270506803,0.5134751933013804,0.71338606911949],"aabb_xy":[[-0.1255530070668961,0.501093040493521],[-0.10168753834323994,0.5258573461092397]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.4606883811302165,1.0218295151442414,0.71338606911949],"aabb_xy":[[0.3806883841159685,1.00169496347083],[0.5406883781444645,1.0419640668176526]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.5049149185045627,-2.1083380215394616,0.71338606911949],"aabb_xy":[[0.49670037338887857,-2.117014611837102],[0.5131294636202465,-2.0996614312418194]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.16524310748199023,1.141618386732147,0.71338606911949],"aabb_xy":[[0.14196126528385886,1.0566183854349187],[0.18852494968012154,1.2266183880293748]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.5102309638089066,0.0665219053061068,0.71338606911949],"aabb_xy":[[-0.5278637994024342,0.048898959290483816],[-0.4925981282153791,0.08414485132172976]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.3352303067352113,-0.9711327182355884,0.71338606911949],"aabb_xy":[[-0.3802228934536618,-1.016132717510037],[-0.29023772001676096,-0.9261327189611396]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.4899731726457944,-1.6912940293818062,0.71338606911949],"aabb_xy":[[-0.5799731749798134,-1.7687763839669188],[-0.39997317031177526,-1.6138116747966935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592529604595734,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4018.png","name":"4018"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8140.png","name":"8140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2515.png","name":"2515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":696.3983230734639,"rotation_z_degrees":7.801458180016514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013519222452364407,0.005626232271923572,0.008023424194786442]},{"name":"camera_2","offset_m":[-0.010824791326794307,0.002999711005250486,0.019941590038404466]},{"name":"camera_3","offset_m":[0.01592722134632461,0.00221194688286332,0.00735674080490235]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017551475072735663,-0.00043784269271913826,-0.0019110828284750136],"end_effector_yaw_offset_degrees":-0.40781728102568704},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016358434677411946,-0.0012701669957990128,0.0017610533956214929],"end_effector_yaw_offset_degrees":0.07001675102821658},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0019059574427055855,-0.0012119547798838523,0.0002005934524074893],"end_effector_yaw_offset_degrees":0.5177928038624071}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004737967530618167,0.004497739242011065],"position_m":[0.34606203246938183,0.1636977392420111,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019220767991580436,-0.0017796156931571584],"position_m":[0.3298779232008419,-0.05307961569315715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003473450886949828,-0.0049051199194741135],"position_m":[0.3164265491130502,0.30119488008052586,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023712074120094827,0.002685385844406871],"position_m":[0.21072879258799052,-0.38421461415559316,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"28014b8d3d9ad030c73ce0218c232a421104e7251d2f2f701b4a7f41f6311e7f","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0121.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_680/tex_ceiling_textures_3292/tex_floor_textures_2515/tex_table_textures_4018/tex_wall_textures_8140","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":406901808662292316,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":406901808662292316,"visual_seed":406901808662292316,"scene_id":"lab_003","finished_at":"2026-09-03T02:57:00"} +{"episode_id":"ep_000052","started_at":"2026-09-03T02:58:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.5216336366294674,-2.2313118498097624,0.71338606911949],"aabb_xy":[[0.47944922246863664,-2.2953118500869736],[0.5638180507902981,-2.167311849532551]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.25225866487052184,-0.9961151357033455,0.71338606911949],"aabb_xy":[[-0.3122586665134437,-1.0481152849952897],[-0.1922586632276,-0.9441149864114013]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.6433886780884913,-2.382670365931321,0.71338606911949],"aabb_xy":[[-0.679302182513481,-2.418583874148075],[-0.6074751736635017,-2.3467568577145657]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.6555525964584474,0.2869646358975415,0.71338606911949],"aabb_xy":[[0.6380059015423286,0.24946463433329025],[0.6730992913745665,0.32446463746179277]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.2227932416748689,-1.5452919686134503,0.71338606911949],"aabb_xy":[[0.21675622867420422,-1.5513186696823988],[0.22883025467553367,-1.5392652675445022]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.5456240846014475,-0.8141354269558678,0.71338606911949],"aabb_xy":[[0.4806240860443747,-0.8438879603697504],[0.6106240831585203,-0.7843828935419852]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.5172341105847533,1.1186816511166628,0.71338606911949],"aabb_xy":[[0.5130982542520531,1.0811816516723058],[0.5213699669174535,1.1561816505610198]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.36594859090554266,0.9061908723136427,0.71338606911949],"aabb_xy":[[0.3059485903095265,0.8513783997684192],[0.42594859150155884,0.9610033448588662]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.0986841267777393,0.9976826902025482,0.71338606911949],"aabb_xy":[[-0.18240635227782176,0.9076826866678522],[-0.014961901277656828,1.0876826937372441]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.02514379254765664,1.4796909109742686,0.71338606911949],"aabb_xy":[[-0.0035055398127595873,1.4510453516971926],[0.053793124908072865,1.5083364702513442]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.1798677247461572,1.4457619642648507,0.71338606911949],"aabb_xy":[[-0.2167182726831448,1.408261963441817],[-0.1430171768091696,1.4832619650878844]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.031551620726221086,-0.8416913530299639,0.71338606911949],"aabb_xy":[[-0.06203587085325124,-0.8916913528114598],[-0.001067370599190931,-0.791691353248468]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[0.09147201122456816,-1.5723598012769129,0.71338606911949],"aabb_xy":[[0.041472736056131984,-1.62235980255286],[0.14147128639300433,-1.5223598000009657]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.5131981604053024,0.5648371872540281,0.71338606911949],"aabb_xy":[[0.49609608244693426,0.5477303817227583],[0.5303002383636706,0.5819439927852978]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.5745091754265013,-2.053466270275524,0.71338606911949],"aabb_xy":[[-0.61100499605378,-2.089950212702281],[-0.5380133547992225,-2.016982327848766]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[0.2547805403865807,1.3429940232368756,0.71338606911949],"aabb_xy":[[0.24685726014783238,1.3204940229988722],[0.26270382062532904,1.365494023474879]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.566782857430665,-1.704252386892586,0.71338606911949],"aabb_xy":[[0.5216115395824962,-1.768252384037125],[0.6119541752788341,-1.640252389748048]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.28086800690940616,-2.1884946884219842,0.71338606911949],"aabb_xy":[[0.2617556995514273,-2.2076294672992263],[0.29998031426738503,-2.1693599095447422]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.21996351163817707,-1.1584069489416862,0.71338606911949],"aabb_xy":[[-0.25496351153419594,-1.166781184453626],[-0.1849635117421582,-1.1500327134297463]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5534867529600853,1.7616631928930322,0.71338606911949],"aabb_xy":[[0.48348675135780583,1.7482303996913746],[0.6234867545623648,1.7750959860946898]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.5094348205455164,0.36517387299694315,0.71338606911949],"aabb_xy":[[0.459461755013001,0.3151738731844103],[0.5594078860780319,0.41517387280947615]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.102960095682192,-0.055407647744559085,0.71338606911949],"aabb_xy":[[-0.11483217869369311,-0.14040764743820944],[-0.09108801267069089,0.029592351949091274]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.32061518729355654,-1.6170145477105207,0.71338606911949],"aabb_xy":[[-0.38461518799702593,-1.6630329301834417],[-0.2566151865900872,-1.5709961652375997]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.4697618158600297,-0.8220759553729569,0.71338606911949],"aabb_xy":[[-0.48486411732104767,-0.8371774770040185],[-0.4546595143990115,-0.8069744337418948]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.49594196283450237,-2.256501229495559,0.71338606911949],"aabb_xy":[[-0.49990244660423677,-2.2641690940810797],[-0.49198147906476797,-2.2488333649100385]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.2588030706096837,-2.1433386222072386,0.71338606911949],"aabb_xy":[[-0.31380306881142855,-2.1838605888336757],[-0.2038030724079389,-2.1028166555808006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643500667329285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9780.png","name":"9780"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9780.png","name":"9780"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6009.png","name":"6009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5358.png","name":"5358"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4150.png","name":"4150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.6422130966455,"rotation_z_degrees":307.7351537357182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019559216880457263,0.01965250345313452,-0.001544877995304516]},{"name":"camera_2","offset_m":[0.006577683624587362,0.012878132218836751,-0.017068072135905017]},{"name":"camera_3","offset_m":[-0.01820998883134108,-0.002502147015011072,0.0011323443191724077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018630221974455302,-0.000480956194797232,-0.0013188854506327888],"end_effector_yaw_offset_degrees":0.6849328111169395},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000515361376799711,-0.0017167308041017328,0.0017255155717687317],"end_effector_yaw_offset_degrees":-0.43156174774218137},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.3061150914949783e-05,0.0014375723851497743,0.00045840749135756583],"end_effector_yaw_offset_degrees":0.16829382778685575}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002738152575806373,0.0007160753517593318],"position_m":[0.3480618474241936,0.15991607535175933,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003195946645999978,-0.0007174980823240387],"position_m":[0.33499594664599996,-0.05201749808232404,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018084003190519714,0.0029457392258843912],"position_m":[0.318091599680948,0.30904573922588435,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017982322342078626,-3.5428124372498954e-05],"position_m":[0.21130176776579215,-0.38693542812437254,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8367fb99fbfcc09c2d5f5607447a0c9766665f81c387617769492b7d20fd5fd","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9780/tex_ceiling_textures_2213/tex_floor_textures_4150/tex_table_textures_6009/tex_wall_textures_5358","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6719622162968191627,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6719622162968191627,"visual_seed":6719622162968191627,"scene_id":"lab_003","finished_at":"2026-09-03T03:01:18"} +{"episode_id":"ep_000053","started_at":"2026-09-03T03:01:21","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.30920069712109566,-1.00534995740097,0.71338606911949],"aabb_xy":[[-0.3337469127438464,-1.0355988539500072],[-0.28465448149834494,-0.9751010608519332]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.6364357752837015,1.4824270433255813,0.71338606911949],"aabb_xy":[[0.5714357743265742,1.430478831391876],[0.7014357762408286,1.534375255259287]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[0.6559319206724028,-1.78348267386637,0.71338606911949],"aabb_xy":[[0.6482287299983258,-1.7911920445651082],[0.6636351113464798,-1.775773303167632]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.18399048175375377,-0.9204627918082489,0.71338606911949],"aabb_xy":[[-0.21899048002387367,-0.9275369195032369],[-0.14899048348363386,-0.9133886641132606]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.23373755606535906,-2.387003525686223,0.71338606911949],"aabb_xy":[[-0.2672167233264,-2.42048263905733],[-0.20025838880431815,-2.353524412315116]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.5108922652787772,1.563703717842349,0.71338606911949],"aabb_xy":[[-0.5658659873151102,1.5087037182781158],[-0.4559185432424444,1.6187037174065821]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.09607872699344833,0.34253368638990844,0.71338606911949],"aabb_xy":[[-0.1760787241530236,0.3309860854320914],[-0.016078729833873026,0.3540812873477255]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.40464705843224824,-2.477713137625433,0.71338606911949],"aabb_xy":[[-0.41264104700995163,-2.485713217720523],[-0.39665306985454485,-2.4697130575303428]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.1723416325016237,1.3058848568789805,0.71338606911949],"aabb_xy":[[0.1556644965085282,1.2891849329050502],[0.1890187684947192,1.3225847808529108]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.6348971947822604,-0.7739433418719013,0.71338606911949],"aabb_xy":[[0.5708971945217894,-0.8189521412248293],[0.6988971950427311,-0.7289345425189733]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.6029140769032386,-0.1544730699168868,0.71338606911949],"aabb_xy":[[-0.6679140750591578,-0.180769314466799],[-0.5379140787473197,-0.1281768253669746]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.5844976213694887,-0.24458832428348742,0.71338606911949],"aabb_xy":[[-0.5977285669041699,-0.25781574330548684],[-0.5712666758348073,-0.231360905261488]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.32138863613004987,1.478415281089466,0.71338606911949],"aabb_xy":[[-0.32843008708079746,1.4713885293516715],[-0.31434718517930227,1.4854420328272604]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.2592036454457841,1.6860532676551903,0.71338606911949],"aabb_xy":[[0.2305543130853679,1.6574077083781145],[0.28785297780620034,1.714698826932266]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.6103569641449097,0.412042466899464,0.71338606911949],"aabb_xy":[[-0.69035696521803,0.4022644205620796],[-0.5303569630717894,0.4218205132368485]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.20008879379814726,-2.319987774755436,0.71338606911949],"aabb_xy":[[0.1501154997948868,-2.369987775309983],[0.2500620878014077,-2.2699877742008883]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.6732420369501626,-0.41480458578252044,0.71338606911949],"aabb_xy":[[0.6427577868231324,-0.46480458556401644],[0.7037262870771928,-0.36480458600102456]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.5729635816178522,-2.0312075151688065,0.71338606911949],"aabb_xy":[[0.5229635799563573,-2.0812059574245083],[0.6229635832793469,-1.981209072913103]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.6408416565442923,-2.328589139263787,0.71338606911949],"aabb_xy":[[0.5768416573745223,-2.3753558263827492],[0.7048416557140622,-2.2818224521448243]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.27958401062951055,-1.3869355234725178,0.71338606911949],"aabb_xy":[[0.2742514959748976,-1.3922598517177533],[0.2849165252841236,-1.3816111952272823]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.5099958418578106,-2.3859962393794594,0.71338606911949],"aabb_xy":[[0.48971153913441173,-2.406278864522168],[0.5302801445812092,-2.3657136142367508]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.4157479938921463,-0.5578523861109579,0.71338606911949],"aabb_xy":[[-0.4220600934284847,-0.5636193253641767],[-0.40943589435580785,-0.5520854468577391]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.0954518273905145,0.07468422961217636,0.71338606911949],"aabb_xy":[[-0.11312745797911283,0.0570040133327736],[-0.07777619680191616,0.09236444589157909]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.25324576860863673,1.2263259280942531,0.71338606911949],"aabb_xy":[[-0.2683480700696547,1.2112244064631905],[-0.23814346714761855,1.2414274497253144]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[0.28738241696174194,1.2295925180623248,0.71338606911949],"aabb_xy":[[0.2498824162971632,1.2139054600621026],[0.3248824176263206,1.245279576062547]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.3832745960058302,-1.4260876060574823,0.71338606911949],"aabb_xy":[[-0.44827459456290303,-1.455840139471365],[-0.31827459744875736,-1.3963350726435997]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.10702892929219276,0.6871465329822213,0.71338606911949],"aabb_xy":[[-0.12452892857027964,0.6698084329158753],[-0.08952893001410589,0.7044846330485672]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.4826197305665969,1.6068761985213373,0.71338606911949],"aabb_xy":[[0.46655780310807926,1.5218761967087453],[0.49868165802511455,1.691876200333929]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.3710498204288169,1.1159015623077315,0.71338606911949],"aabb_xy":[[-0.43504981901538936,1.0688945989082228],[-0.30704982184224444,1.1629085257072402]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_29","position":[0.6631814992383007,0.6004846789769274,0.71338606911949],"aabb_xy":[[0.6544835369475854,0.5883597046694526],[0.671879461529016,0.6126096532844021]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_30","position":[-0.28981771363724873,-1.1476432072416065,0.71338606911949],"aabb_xy":[[-0.2979454018305619,-1.156556815652314],[-0.28169002544393545,-1.1387295988308985]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_31","position":[0.05315777836212321,1.4142475163194717,0.71338606911949],"aabb_xy":[[0.018157780051427763,1.406532501395926],[0.08815777667281866,1.4219625312430173]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_32","position":[0.4246853899816838,-1.431930311425807,0.71338606911949],"aabb_xy":[[0.41590416283444764,-1.4407100587143373],[0.4334666171289201,-1.4231505641372773]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_33","position":[0.46388234014414453,-1.1415975270067817,0.71338606911949],"aabb_xy":[[0.41388234056780987,-1.191578105958888],[0.5138823397204793,-1.091616948054676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687587815921981,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/462.png","name":"462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/462.png","name":"462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2735.png","name":"2735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5692.png","name":"5692"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6256.png","name":"6256"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":740.7402726165308,"rotation_z_degrees":238.69065924271965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005466033038400847,0.005684446952551721,0.009214932735419245]},{"name":"camera_2","offset_m":[0.0005065110601548857,8.211872354534425e-05,0.013509525185160489]},{"name":"camera_3","offset_m":[0.0033481253579009315,0.0029768740923944124,-0.0063884484925892295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001986241769923111,-0.0004675435580736363,-0.001564166863749576],"end_effector_yaw_offset_degrees":0.7069722378801189},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016744222612517957,0.0004930043588620169,-0.0007023573511746512],"end_effector_yaw_offset_degrees":0.855722909001875},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011306971859345728,-0.00018824854148121687,-0.0014293914337864823],"end_effector_yaw_offset_degrees":0.44245490340685323}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001425486009322091,0.0033161073423238823],"position_m":[0.3493745139906779,0.16251610734232388,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004876425260572639,0.0023211480790453374],"position_m":[0.32692357473942735,-0.048978851920954664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003118894543567902,0.0030389427849569694],"position_m":[0.3230188945435679,0.30913894278495696,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00046938161223771327,-0.002442294954730284],"position_m":[0.2126306183877623,-0.38934229495473033,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b5068da67251f643a5995a17b3dd22abe79d75ec4a98aeb00982876332185a1","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_462/tex_ceiling_textures_6256/tex_floor_textures_579/tex_table_textures_2735/tex_wall_textures_5692","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4426608926378910890,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4426608926378910890,"visual_seed":4426608926378910890,"scene_id":"lab_003","finished_at":"2026-09-03T03:03:57"} +{"episode_id":"ep_000054","started_at":"2026-09-03T03:04:00","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.5938733176382557,1.4753364716137827,0.71338606911949],"aabb_xy":[[-0.6201621419586963,1.4490650379591314],[-0.567584493317815,1.501607905268434]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.17110095375075773,-1.7851579637494068,0.71338606911949],"aabb_xy":[[-0.17605697393563893,-1.8076579639515287],[-0.16614493356587653,-1.7626579635472854]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.23983728777492908,-1.4721924420470494,0.71338606911949],"aabb_xy":[[0.22926980811683007,-1.482737472160058],[0.2504047674330281,-1.4616474119340408]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.33918583739976316,-2.4438741912133026,0.71338606911949],"aabb_xy":[[0.2931007461450317,-2.5078741884658577],[0.38527092865449464,-2.3798741939607475]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.12686187989832465,-2.445332015172267,0.71338606911949],"aabb_xy":[[0.10936187963898805,-2.45942355736104],[0.1443618801576613,-2.431240472983495]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.21397429519481004,-0.6932735325222119,0.71338606911949],"aabb_xy":[[0.19147429538090768,-0.6977481488926928],[0.23647429500871245,-0.6887989161517313]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[-0.4181930988772903,-1.739802065868282,0.71338606911949],"aabb_xy":[[-0.4278247350977199,-1.7494393786479907],[-0.40856146265686066,-1.7301647530885729]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.46745181721242923,-0.10531208120622315,0.71338606911949],"aabb_xy":[[-0.48512744780102757,-0.12299229748562589],[-0.4497761866238309,-0.08763186492682039]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.04191523686954812,-1.4468503493943783,0.71338606911949],"aabb_xy":[[-0.10591523827753879,-1.498639300918303],[0.022084764538442537,-1.3950613978704536]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.29204019906639944,0.9164196097391137,0.71338606911949],"aabb_xy":[[-0.35604020128680647,0.8720465256138253],[-0.22804019684599242,0.9607926938644019]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.488348502962602,0.5352341977915187,0.71338606911949],"aabb_xy":[[0.4083485043057161,0.520729338867256],[0.5683485016194881,0.5497390567157816]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.5267149170460588,-1.4126088002301176,0.71338606911949],"aabb_xy":[[-0.564214917543417,-1.416577483778236],[-0.48921491654870053,-1.4086401166819993]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.0054761352944325825,0.7973659766282188,0.71338606911949],"aabb_xy":[[-0.022486232584483234,0.7812314881299448],[0.01153396199561807,0.8135004651264927]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.4763417144170017,1.0343974506657228,0.71338606911949],"aabb_xy":[[0.3913417159995785,0.9495231552034378],[0.5613417128344249,1.1192717461280077]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.4540507722157463,-1.5543028821573424,0.71338606911949],"aabb_xy":[[0.4459230840224331,-1.5632164905680501],[0.4621784604090595,-1.545389273746635]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.25138153839300553,1.046217437128595,0.71338606911949],"aabb_xy":[[-0.2848607056540465,1.0127383237574883],[-0.2179023711319646,1.0796965504997023]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.5519236184839097,-1.7629637596755523,0.71338606911949],"aabb_xy":[[-0.6169236166398288,-1.7892600042254645],[-0.48692362032799064,-1.73666751512564]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.15540257377325128,1.220719180196785,0.71338606911949],"aabb_xy":[[0.10540257241236407,1.1707412756213693],[0.2054025751341385,1.2706970847722006]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.37496545762148603,-2.492961378488733,0.71338606911949],"aabb_xy":[[-0.40996545675144175,-2.498706599564397],[-0.3399654584915304,-2.487216157413069]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.5606672942805089,-2.085254411795043,0.71338606911949],"aabb_xy":[[0.49666729400653065,-2.1353205119923304],[0.6246672945544871,-2.0351883115977545]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.5038810729129093,-1.5744068887358336,0.71338606911949],"aabb_xy":[[-0.5146540468342771,-1.6094068869548726],[-0.4931080989915415,-1.5394068905167946]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.5267486993888929,0.7115250870730936,0.71338606911949],"aabb_xy":[[-0.5642486994944858,0.7047029252201124],[-0.4892486992832999,0.7183472489260746]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.11352832030950155,-1.272833091514507,0.71338606911949],"aabb_xy":[[0.09836544733256447,-1.287998548809626],[0.12869119328643863,-1.2576676342193884]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.008091822930821668,-0.5842380173198278,0.71338606911949],"aabb_xy":[[-0.014403922467160104,-0.5900049565730466],[-0.0017797233944832364,-0.578471078066609]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604268108467033,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4683.png","name":"4683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4683.png","name":"4683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/315.png","name":"315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5067.png","name":"5067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7548.png","name":"7548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2039.png","name":"2039"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":841.4062027112122,"rotation_z_degrees":206.9324756520027,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01565691993912724,-0.015280260999147881,-0.015756216274500124]},{"name":"camera_2","offset_m":[0.009414837109729297,0.00825959896081549,-0.00851750805272247]},{"name":"camera_3","offset_m":[0.003472692754516199,0.01375202931219174,0.011444459972617244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005529962726524801,0.0009999409351326219,9.394125613670316e-06],"end_effector_yaw_offset_degrees":0.090927352954568},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001795847014906455,-0.0009745893705849506,0.000753565670223728],"end_effector_yaw_offset_degrees":-0.9950419687771404},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006692482663918761,0.0006580517683248861,0.0019311288991894892],"end_effector_yaw_offset_degrees":0.7545818189987965}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007415964380206299,-0.004442221688551892],"position_m":[0.35005840356197937,0.1547577783114481,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006049485051139976,0.0036675428982089796],"position_m":[0.331195051494886,-0.047632457101791016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038180966037345042,-0.0016799572620024884],"position_m":[0.3160819033962655,0.3044200427379975,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006914022243605586,0.004971887854683123],"position_m":[0.21379140222436058,-0.3819281121453169,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4335a98c566c7429dfe8f52c07a3b795cf8c878bb218f85cc073e1df1bbca10d","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0125.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4683/tex_ceiling_textures_2039/tex_floor_textures_7548/tex_table_textures_315/tex_wall_textures_5067","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5174935751418211284,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5174935751418211284,"visual_seed":5174935751418211284,"scene_id":"lab_003","finished_at":"2026-09-03T03:06:34"} +{"episode_id":"ep_000055","started_at":"2026-09-03T03:06:37","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.25844030511604515,-2.3478020048348136,0.71338606911949],"aabb_xy":[[-0.27630941287050065,-2.3616349128120246],[-0.24057119736158966,-2.3339690968576026]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.1219223790204721,-1.2302391007213827,0.71338606911949],"aabb_xy":[[0.08844321175943116,-1.2637182140924896],[0.15540154628151304,-1.1967599873502757]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.17477806021125764,0.9785974547787206,0.71338606911949],"aabb_xy":[[0.17064220387855744,0.9410974553343636],[0.17891391654395783,1.0160974542230776]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.48997271595812997,0.44406587739031167,0.71338606911949],"aabb_xy":[[-0.5699727145454494,0.3647502754521507],[-0.40997271737081054,0.5233814793284725]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.22783442954134026,-0.5031475844289637,0.71338606911949],"aabb_xy":[[-0.2648685389694,-0.537524791762673],[-0.19080032011328052,-0.4687703770952541]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.456933332579317,-0.9011979655781994,0.71338606911949],"aabb_xy":[[0.42315777338862404,-0.9152364607913644],[0.49070889177001,-0.8871594703650344]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.34945447400509383,0.7117850272469797,0.71338606911949],"aabb_xy":[[-0.3637888991312572,0.6997248116924407],[-0.3351200488789303,0.7238452428015184]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[0.6991393261359367,-0.7316340470334315,0.71338606911949],"aabb_xy":[[0.6766393256238961,-0.7541259053988298],[0.7216393266479773,-0.7091421886680331]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.490710614317859,1.739005784829739,0.71338606911949],"aabb_xy":[[-0.5557106124737781,1.712709540279827],[-0.42571061616193995,1.7653020293796513]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.35320497457540356,1.3334084217675546,0.71338606911949],"aabb_xy":[[0.3450772863820904,1.3244948133568468],[0.36133266276871684,1.3423220301782623]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.16605245568078741,1.5265180982947624,0.71338606911949],"aabb_xy":[[0.1567054480984922,1.5122144760771186],[0.17539946326308267,1.5408217205124066]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.6451266330671854,-1.2820897172095556,0.71338606911949],"aabb_xy":[[0.5811266344806131,-1.329096680609064],[0.709126631653758,-1.2350827538100466]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.3927306340198538,-1.6880074701504277,0.71338606911949],"aabb_xy":[[-0.43790195186802283,-1.7520074672949664],[-0.34755931617168484,-1.6240074730058895]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.26259577989845817,-1.4575046020626492,0.71338606911949],"aabb_xy":[[-0.3000957814140899,-1.468731375078794],[-0.22509577838282646,-1.446277829046504]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.04335151644846991,-0.7533804010048235,0.71338606911949],"aabb_xy":[[-0.1033515162950367,-0.8101990231978622],[0.016648483398096887,-0.6965617788117848]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.4366020693049147,-1.2206351989469473,0.71338606911949],"aabb_xy":[[-0.5166020725627576,-1.3006317067389312],[-0.35660206604707173,-1.1406386911549633]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.58622894648572,-2.3218458938509445,0.71338606911949],"aabb_xy":[[0.528598477598449,-2.381845892777655],[0.6438594153729907,-2.261845894924234]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.2518413026438886,0.4793221784930881,0.71338606911949],"aabb_xy":[[0.2349305702075468,0.4658499729004734],[0.2687520350802303,0.4927943840857025]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.11195813375615926,0.06274008890385518,0.71338606911949],"aabb_xy":[[-0.1759581340301375,0.012673988706567219],[-0.04795813348218102,0.11280618910114315]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.5035217156196201,-2.0623045410683556,0.71338606911949],"aabb_xy":[[0.4974847026189555,-2.0683312421373037],[0.509558728620285,-2.0562778399994075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6622530813237278,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1688.png","name":"1688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/596.png","name":"596"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9306.png","name":"9306"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8686.png","name":"8686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7337.png","name":"7337"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":724.4151898141498,"rotation_z_degrees":103.79832716958836,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014485210030639076,-0.01835874977040838,-0.019286789007433875]},{"name":"camera_2","offset_m":[-0.01605199990665172,0.0006098875672510343,-0.011175391591100588]},{"name":"camera_3","offset_m":[0.017302557081633602,0.010005306783547194,0.012514111330473792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011934471717190598,-0.001663396760589222,0.00012062170191632889],"end_effector_yaw_offset_degrees":0.47427265788450357},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007327233123060315,-0.0012918107997522044,-2.3803356252885023e-05],"end_effector_yaw_offset_degrees":0.21932556993064756},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00012971598084919513,-0.0015890586922134955,0.0014553660247280317],"end_effector_yaw_offset_degrees":-0.08429340563573695}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046910303577585915,0.004166020814065765],"position_m":[0.3554910303577586,0.16336602081406576,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0048346111217492166,-0.0012266461579752731],"position_m":[0.3269653888782508,-0.05252664615797527,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030974359001627117,-7.106404674519281e-05],"position_m":[0.3168025640998373,0.3060289359532548,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002268499466806604,0.001331508336800148],"position_m":[0.2153684994668066,-0.3855684916631999,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7e4da16d322f6a13a1400bc92accbaaa82b0986c09be4fbbf8e1b8dad98be274","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0126.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1688/tex_ceiling_textures_7337/tex_floor_textures_8686/tex_table_textures_596/tex_wall_textures_9306","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":305354376196385974,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":305354376196385974,"visual_seed":305354376196385974,"scene_id":"lab_003","finished_at":"2026-09-03T03:09:29"} +{"episode_id":"ep_000056","started_at":"2026-09-03T03:09:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.3717527722199918,1.5103171651959006,0.71338606911949],"aabb_xy":[[-0.38519929885403514,1.496847313542809],[-0.3583062455859485,1.5237870168489918]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.5912360373521486,-1.926432612765535,0.71338606911949],"aabb_xy":[[0.5851414094640303,-1.9350020073172036],[0.5973306652402669,-1.9178632182138662]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.17689988125003886,1.360429909449603,0.71338606911949],"aabb_xy":[[0.159321579061092,1.342855419875498],[0.1944781834389857,1.378004399023708]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.22228044004662934,0.10545892295404613,0.71338606911949],"aabb_xy":[[-0.259780440711208,0.08977186495382393],[-0.18478043938205063,0.1211459809542683]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.177979063773672,1.4017788845140737,0.71338606911949],"aabb_xy":[[-0.21547906234929282,1.3890425888505158],[-0.1404790651980512,1.4145151801776317]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.18282669144005814,-0.6090677938102202,0.71338606911949],"aabb_xy":[[-0.24682669073422633,-0.6730539341790744],[-0.1188266921458899,-0.545081653441366]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.5945512989565442,1.3750272537512203,0.71338606911949],"aabb_xy":[[0.5769184633630166,1.3574043077355975],[0.6121841345500717,1.3926501997668435]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.033917560919028755,-1.9193906628756803,0.71338606911949],"aabb_xy":[[-0.0838908549222892,-1.9693906634302276],[0.016055733084231694,-1.869390662321133]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.21901162276224573,-1.5998213107644474,0.71338606911949],"aabb_xy":[[-0.255806255887152,-1.63672718586103],[-0.18221698963733943,-1.5629154356678654]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.3802346378030386,0.9572788864452035,0.71338606911949],"aabb_xy":[[-0.38836232599635184,0.9483652780344959],[-0.3721069496097254,0.9661924948559112]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.30255382353025945,-1.046411557424149,0.71338606911949],"aabb_xy":[[-0.3207596471915071,-1.057436958006141],[-0.28434799986901177,-1.0353861568421576]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.5236606763594054,-0.6139605061928801,0.71338606911949],"aabb_xy":[[0.4436606793451574,-0.6340950578662913],[0.6036606733736534,-0.5938259545194687]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.28186067897447353,-2.295506952188809,0.71338606911949],"aabb_xy":[[0.24686067984451787,-2.301252173264473],[0.3168606781044292,-2.2897617311131446]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.1796686151361343,-1.6471145540157743,0.71338606911949],"aabb_xy":[[0.16378412187080915,-1.6614674943145982],[0.19555310840145945,-1.63276161371695]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.307412844771328,-1.9367280553292656,0.71338606911949],"aabb_xy":[[0.25741284612540677,-1.986647598988728],[0.35741284341724916,-1.8868085116698032]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[-0.1499963168103765,1.0484771730142461,0.71338606911949],"aabb_xy":[[-0.17998797954424678,1.0184771736774454],[-0.12000465407650612,1.0784771723510465]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.11968489184398612,-2.3751522834947036,0.71338606911949],"aabb_xy":[[0.039684891570379154,-2.4481018313204204],[0.1996848921175931,-2.302202735668987]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[0.4098961281248452,0.503450998902832,0.71338606911949],"aabb_xy":[[0.3920270203703898,0.48961809092562103],[0.42776523587930076,0.5172839068800429]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[0.47537883941694603,0.40875390202765827,0.71338606911949],"aabb_xy":[[0.3953788422573707,0.39720630106984123],[0.5553788365765213,0.4203015029854753]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.6158193649055479,-1.224329369355426,0.71338606911949],"aabb_xy":[[0.6070381377583116,-1.2331091166439565],[0.6246005920527842,-1.2155496220668964]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.48511472204364847,0.5743123331071032,0.71338606911949],"aabb_xy":[[-0.5303933369247977,0.5103123337589195],[-0.4398361071624992,0.6383123324552868]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.5251847043075477,0.9500235106716568,0.71338606911949],"aabb_xy":[[0.5026847037955071,0.9275316523062582],[0.5476847048195883,0.9725153690370549]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.3311429424809509,1.106725817373193,0.71338606911949],"aabb_xy":[[0.2936429421327231,1.0949344217921095],[0.3686429428291786,1.1185172129542766]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.5025685965713658,-0.4967831548762405,0.71338606911949],"aabb_xy":[[-0.540068597068724,-0.5007518384243588],[-0.4650685960740075,-0.492814471328122]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.45026207305687693,-1.6840228710555065,0.71338606911949],"aabb_xy":[[0.3802620712481315,-1.7053766398196941],[0.5202620748656224,-1.6626691022913194]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.04423429370910359,-1.1229382165309607,0.71338606911949],"aabb_xy":[[-0.0692342928747367,-1.1298904622363175],[-0.019234294543470476,-1.1159859708256044]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.5266046064536807,-1.3221393997537123,0.71338606911949],"aabb_xy":[[0.4616046082977616,-1.3484356443036245],[0.5916046046095997,-1.2958431552038001]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.43519424476061674,1.5939378043335233,0.71338606911949],"aabb_xy":[[0.42232234125967655,1.513937803919687],[0.44806614826155683,1.6739378047473592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641485235995161,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/906.png","name":"906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8672.png","name":"8672"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.5360104610334,"rotation_z_degrees":252.36757929020172,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0074087683450786875,-0.012898443190453773,0.003855928640199832]},{"name":"camera_2","offset_m":[-0.0072777600017196326,-0.01561889711623615,-0.0050345989220630435]},{"name":"camera_3","offset_m":[-0.002522872430544311,0.008471916885588921,-0.0008532662992190472]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011297079039654326,-0.00136450424646925,0.0004042353025844976],"end_effector_yaw_offset_degrees":0.1517789098322675},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00047102621259914514,-0.000637349808064064,0.00023751142243549038],"end_effector_yaw_offset_degrees":0.9889283513399965},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006526251886132778,0.0008029195340838588,-0.0008801896228120278],"end_effector_yaw_offset_degrees":0.1262699089488708}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002065847519194477,-0.0014530496907714332],"position_m":[0.3487341524808055,0.15774695030922858,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022901777063514027,-0.0031890308252734015],"position_m":[0.3340901777063514,-0.0544890308252734,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008149151044183353,0.0006116096801483031],"position_m":[0.3190850848955817,0.30671160968014827,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033475484007507396,-0.004105567416913085],"position_m":[0.20975245159924927,-0.3910055674169131,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"baea94d0f553e89c6c9b41ce9ffacbfad753dbc3ef52cea1d9245737091039b5","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0127.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4355/tex_ceiling_textures_8672/tex_floor_textures_3604/tex_table_textures_906/tex_wall_textures_397","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6422710227499196452,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6422710227499196452,"visual_seed":6422710227499196452,"scene_id":"lab_003","finished_at":"2026-09-03T03:12:13"} +{"episode_id":"ep_000057","started_at":"2026-09-03T03:12:17","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.041591969800441664,-1.5277117710266748,0.71338606911949],"aabb_xy":[[-0.056764139082075005,-1.5428806279548783],[-0.026419800518808323,-1.5125429140984716]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.3833656510576877,-1.2783720775900416,0.71338606911949],"aabb_xy":[[-0.41782812907077543,-1.285035754772964],[-0.3489031730445999,-1.2717084004071186]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.14573983471870744,-1.8122487060871908,0.71338606911949],"aabb_xy":[[0.06073983630128421,-1.8971230015494758],[0.23073983313613067,-1.7273744106249058]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.46565510128718013,-1.014714950025649,0.71338606911949],"aabb_xy":[[0.40565510069116395,-1.0695274225708724],[0.5256551018831963,-0.9599024774804255]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.5316581474817681,1.5472199330155223,0.71338606911949],"aabb_xy":[[-0.5418111630359173,1.5111503914427815],[-0.5215051319276185,1.5832894745882622]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.5109284805867791,-1.6187815863474397,0.71338606911949],"aabb_xy":[[0.5003610009286801,-1.629326616460448],[0.5214959602448781,-1.608236556234431]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.4228636861177071,1.5434292352794698,0.71338606911949],"aabb_xy":[[0.3853636858255322,1.5393877598788661],[0.46036368640988184,1.5474707106800731]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.06879686651694872,-0.8255895387075975,0.71338606911949],"aabb_xy":[[-0.11879686780078869,-0.8755683930982197],[-0.01879686523310876,-0.7756106843169754]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.4085115354587727,0.20357379562973277,0.71338606911949],"aabb_xy":[[-0.47251153583630634,0.15382852877892048],[-0.3445115350812391,0.25331906248054503]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.15123769162129075,1.6674708123799102,0.71338606911949],"aabb_xy":[[-0.16866840670029723,1.650198697716059],[-0.1338069765422842,1.6847429270437606]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.1848743413317513,-1.3909394218784352,0.71338606911949],"aabb_xy":[[-0.23999954696134204,-1.4509394233197224],[-0.12974913570216048,-1.330939420437148]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.0008050284449796496,1.4500681339350359,0.71338606911949],"aabb_xy":[[-0.01216676309826581,1.4386996675287473],[0.01055670620830651,1.4614366003413235]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.38676595284561155,1.4823182298448105,0.71338606911949],"aabb_xy":[[-0.4467659533534645,1.4254714961588892],[-0.3267659523377586,1.5391649635307318]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.39115852258776784,-1.5576083731433807,0.71338606911949],"aabb_xy":[[-0.44097530205260266,-1.607608371627684],[-0.34134174312293314,-1.5076083746590774]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.45600631244641177,1.7486076007605802,0.71338606911949],"aabb_xy":[[0.4335063126325094,1.7441329843900997],[0.47850631226031415,1.7530822171310612]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.3492547358785365,-1.8232273681878395,0.71338606911949],"aabb_xy":[[0.3122206264504767,-1.857604575521549],[0.3862888453065962,-1.78885016085413]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.17478372922915897,0.7388917643755852,0.71338606911949],"aabb_xy":[[0.13915457332919923,0.7032590976187322],[0.2104128851291187,0.7745244311324381]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.37565486869854464,-2.0098472345784755,0.71338606911949],"aabb_xy":[[-0.42967046498044464,-2.073847237470732],[-0.32163927241664464,-1.9458472316862179]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.1689318451725912,1.3757220744628502,0.71338606911949],"aabb_xy":[[0.1189530366622753,1.3257220744571314],[0.21891065368290707,1.425722074468569]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.4088512056815088,1.435778847338685,0.71338606911949],"aabb_xy":[[0.38363036882166907,1.410555096485798],[0.4340720425413484,1.4610025981915715]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.3049302790095295,-0.36602343135928406,0.71338606911949],"aabb_xy":[[-0.39461735531764497,-0.4560234316137346],[-0.21524320270141406,-0.2760234311048335]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[0.7012706586806452,-2.2339643546834385,0.71338606911949],"aabb_xy":[[0.6964270639194153,-2.238816007162423],[0.7061142534418753,-2.229112702204455]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.3746215786544411,-2.4093223720825985,0.71338606911949],"aabb_xy":[[-0.40962158000592286,-2.4296821080394193],[-0.3396215773029594,-2.3889626361257776]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.30998598566631835,0.9783682170531711,0.71338606911949],"aabb_xy":[[-0.3899798092448766,0.8983682144603296],[-0.22999216208776013,1.0583682196460127]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.6598390129511444,-0.8282453237673426,0.71338606911949],"aabb_xy":[[0.6506791340072677,-0.8347765418108796],[0.6689988918950209,-0.8217141057238054]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.239308668275517,-0.6451187354786736,0.71338606911949],"aabb_xy":[[-0.31930866523855617,-0.722194377122447],[-0.15930867131247783,-0.5680430938349001]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.5906856947168604,-2.254604399615666,0.71338606911949],"aabb_xy":[[-0.6128582216935111,-2.2767800667717886],[-0.5685131677402094,-2.2324287324595424]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[0.5655102956340925,1.222327585392922,0.71338606911949],"aabb_xy":[[0.5015102935843605,1.1822331023036141],[0.6295102976838245,1.26242206848223]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.13706455149390429,-2.2135614401861923,0.71338606911949],"aabb_xy":[[0.12038741550080878,-2.2302613641601226],[0.1537416874869998,-2.196861516212262]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[0.1059514732586384,-2.304994945356906,0.71338606911949],"aabb_xy":[[0.03595147112720885,-2.327756910982601],[0.17595147539006795,-2.28223297973121]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_30","position":[0.5663979334110143,1.3372120938916074,0.71338606911949],"aabb_xy":[[0.5548289526640777,1.3122120937746757],[0.5779669141579509,1.3622120940085392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664215481308896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8148.png","name":"8148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8148.png","name":"8148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4772.png","name":"4772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/338.png","name":"338"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":508.7639674158285,"rotation_z_degrees":146.31786521247008,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016751462765888136,0.007711215813664886,0.005042891946727156]},{"name":"camera_2","offset_m":[-0.0018865807745710797,0.0018769334816255076,0.019788324685084648]},{"name":"camera_3","offset_m":[0.0008796667631913169,-0.008102384765397855,0.019105825747892966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004183539467247899,-0.001679281599676069,0.0019118426552556652],"end_effector_yaw_offset_degrees":-0.4530443877011574},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019998592224649368,0.001206965710000553,-0.0015509941585743685],"end_effector_yaw_offset_degrees":-0.15670830482140174},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016880930892085267,-0.0009243054088016063,0.0014964048589109326],"end_effector_yaw_offset_degrees":-0.27786070848596833}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-9.022053324148505e-05,0.0017692162018994083],"position_m":[0.3507097794667585,0.1609692162018994,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016097952139761638,-0.0007384151959204084],"position_m":[0.33019020478602384,-0.05203841519592041,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005233795878796512,0.0029597029379385903],"position_m":[0.32042337958787964,0.30905970293793855,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034127677334813778,-0.001456593168648792],"position_m":[0.21651276773348138,-0.3883565931686488,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3742e854fc08cda98ec1055350b2e5aee2caa8cbd195c550fd21afa5bfde9b9b","episode_index":128,"episode_name":"episode_0128"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0128.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8148/tex_ceiling_textures_338/tex_floor_textures_4568/tex_table_textures_5329/tex_wall_textures_4772","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8594885457601962218,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8594885457601962218,"visual_seed":8594885457601962218,"scene_id":"lab_003","finished_at":"2026-09-03T03:15:08"} +{"episode_id":"ep_000058","started_at":"2026-09-03T03:16:36","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.20803828286181203,-2.2992435272601037,0.71338606911949],"aabb_xy":[[0.17053828291804563,-2.3075366172949403],[0.24553828280557843,-2.290950437225267]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.34455858804771494,1.4060443747165445,0.71338606911949],"aabb_xy":[[-0.35649132240954307,1.3936622219086852],[-0.33262585368588693,1.418426527524404]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.3415107381155662,0.5221500195561783,0.71338606911949],"aabb_xy":[[0.31154318120574054,0.4921500192582926],[0.37147829502539187,0.5521500198540641]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.5823165602153648,-1.3986284730113123,0.71338606911949],"aabb_xy":[[0.4973165617979416,-1.4835027684735975],[0.667316558632788,-1.3137541775490276]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.5432025751720464,0.9276486804268012,0.71338606911949],"aabb_xy":[[0.4882025769703015,0.8871267138003635],[0.5982025733737911,0.9681706470532386]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.39039221267938284,-1.3708727994975378,0.71338606911949],"aabb_xy":[[0.3403922113955428,-1.42085165388816],[0.44039221396322276,-1.3208939451069157]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.5690413194718088,1.3996453770174577,0.71338606911949],"aabb_xy":[[-0.6063725959970514,1.3649923222226055],[-0.5317100429465662,1.43429843181231]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.1865662458485332,-0.7550651784140954,0.71338606911949],"aabb_xy":[[0.17101047643826794,-0.7706156116585028],[0.2021220152587985,-0.7395147451696883]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.28623902990482253,-0.8737822927884753,0.71338606911949],"aabb_xy":[[0.2212390313477497,-0.9035348262023579],[0.35123902846189536,-0.8440297593745927]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[0.5350483089757956,0.5506654266214595,0.71338606911949],"aabb_xy":[[0.5297157943211825,0.5453410983762239],[0.5403808236304086,0.555989754866695]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.11356241938923628,-2.1185476556364735,0.71338606911949],"aabb_xy":[[-0.1935624173700213,-2.126149196598325],[-0.03356242140845122,-2.110946114674621]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.44285649694910806,0.0020341004039354793,0.71338606911949],"aabb_xy":[[-0.5328564963674789,-0.03134139644025424],[-0.35285649753073717,0.0354095972481252]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.3416092698020795,-0.6819881206106624,0.71338606911949],"aabb_xy":[[-0.3965829918384124,-0.7369881201748956],[-0.2866355477657466,-0.6269881210464292]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.09355136522922991,1.599474268690074,0.71338606911949],"aabb_xy":[[-0.15755136593269928,1.5534558862171535],[-0.029551364525760578,1.6454926511629955]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.48119243938609535,-0.9136120844383295,0.71338606911949],"aabb_xy":[[-0.5000768231546056,-0.9324980092186823],[-0.4623080556175852,-0.8947261596579767]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.018016890699025345,1.3185566520724703,0.71338606911949],"aabb_xy":[[-0.04598310569654773,1.2545933636537367],[0.08201688709459842,1.3825199404912039]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.28510614473955853,1.3443239112071441,0.71338606911949],"aabb_xy":[[0.273337957944901,1.2593239113019228],[0.29687433153421605,1.429323911112366]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.040631510516530245,-1.8175155235702607,0.71338606911949],"aabb_xy":[[0.02352943255816209,-1.8346223291015307],[0.0577335884748984,-1.8004087180389912]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.6761831772854479,1.414319865084185,0.71338606911949],"aabb_xy":[[0.6427040100244069,1.380840751713078],[0.7096623445464888,1.447798978455292]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.08605189439370231,0.6760032767749702,0.71338606911949],"aabb_xy":[[0.022056196998605712,0.6120032784742614],[0.1500475917887989,0.7400032750756788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636555948173141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7746.png","name":"7746"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5187.png","name":"5187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9874.png","name":"9874"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":749.6567750818513,"rotation_z_degrees":17.46454140910277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003399789572347954,0.010902749729560006,0.014357824119411538]},{"name":"camera_2","offset_m":[-0.019560607209175893,0.016323820051463104,0.012287063037841928]},{"name":"camera_3","offset_m":[0.013214208191105529,0.01731614720621977,-0.0177571802117726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016792185645452444,0.001854332540637597,0.0013976994066843603],"end_effector_yaw_offset_degrees":0.3797570920041249},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015354357183510687,0.0014980220785558215,-0.0010341275223195215],"end_effector_yaw_offset_degrees":-0.6898290142146815},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010742860290964325,-0.0017243228880395938,0.0014116587507065621],"end_effector_yaw_offset_degrees":0.5433379925200841}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004998770667728811,0.0046074448747388625],"position_m":[0.3458012293322712,0.16380744487473886,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019708512081658804,0.0038554199521007157],"position_m":[0.3298291487918341,-0.04744458004789928,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003492580161530149,0.00464921384900274],"position_m":[0.31640741983846987,0.3107492138490027,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004922812360784866,0.004306727141819241],"position_m":[0.20817718763921514,-0.3825932728581808,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a545136bb0310354492c0f954a2b48719e99b9f429fe0a1c880a3ebb28dc7f18","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0130.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9145/tex_ceiling_textures_9874/tex_floor_textures_1824/tex_table_textures_7746/tex_wall_textures_5187","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4234109860558895198,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4234109860558895198,"visual_seed":4234109860558895198,"scene_id":"lab_003","finished_at":"2026-09-03T03:19:37"} +{"episode_id":"ep_000059","started_at":"2026-09-03T03:22:37","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.28633747424858685,1.2749767798803107,0.71338606911949],"aabb_xy":[[-0.33242256550331833,1.2109767826277555],[-0.2402523829938554,1.3389767771328658]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[-0.5038481098944091,1.4542095050765247,0.71338606911949],"aabb_xy":[[-0.526763822779459,1.4313052079401012],[-0.4809323970093592,1.4771138022129482]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.06832053938718341,1.6526324477280965,0.71338606911949],"aabb_xy":[[0.01319533375759263,1.5926324462868093],[0.12344574501677417,1.7126324491693836]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.4686315239886609,-0.09398952876261246,0.71338606911949],"aabb_xy":[[-0.5056656334167206,-0.1283667360963219],[-0.4315974145606011,-0.05961232142890301]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.1756973157196583,0.15897010294240443,0.71338606911949],"aabb_xy":[[-0.19279939367802648,0.14186329741113465],[-0.15859523776129017,0.17607690847367416]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.09354971288569014,-1.103870740320171,0.71338606911949],"aabb_xy":[[0.043550437717253976,-1.1538707415961182],[0.1435489880541263,-1.053870739044224]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.037537325921709,1.220217968498142,0.71338606911949],"aabb_xy":[[-0.0594270735106498,1.130217971208893],[-0.0156475783327682,1.3102179657873911]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.5378600416370034,-1.839905552986448,0.71338606911949],"aabb_xy":[[-0.6028600395186513,-1.891029216692989],[-0.47286004375535573,-1.7887818892799072]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.42646590959429886,-1.9687672357103527,0.71338606911949],"aabb_xy":[[0.3564659077855534,-1.9901210044745403],[0.4964659114030443,-1.9474134669461656]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.11545624914747565,-1.089444711986296,0.71338606911949],"aabb_xy":[[-0.165439199334955,-1.1394447116288562],[-0.06547329895999632,-1.0394447123437354]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.13052186808109834,0.7973424996560077,0.71338606911949],"aabb_xy":[[0.12171981277212561,0.7895311735010787],[0.13932392339007102,0.8051538258109369]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.6449331617088316,-2.5068451346366043,0.71338606911949],"aabb_xy":[[-0.6542267799459821,-2.544345133124738],[-0.635639543471681,-2.4693451361484704]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.07754367839161203,1.5027510137271451,0.71338606911949],"aabb_xy":[[0.04254368012149212,1.4956768860321568],[0.11254367666173193,1.509825141422133]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.16391031233792108,1.6411886345739766,0.71338606911949],"aabb_xy":[[-0.2014103122816875,1.63289554453914],[-0.12641031239415468,1.6494817246088131]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.4452755004909683,1.13284692693238,0.71338606911949],"aabb_xy":[[0.42777550135660114,1.1229672998947922],[0.4627754996253355,1.1427265539699678]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.09209457810845556,-2.1699138664352184,0.71338606911949],"aabb_xy":[[-0.10022226630176878,-2.1788274748459266],[-0.08396688991514234,-2.161000258024511]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.5196341729425624,-1.8383588893072331,0.71338606911949],"aabb_xy":[[0.4556341708928303,-1.8784533723965409],[0.5836341749922943,-1.798264406217925]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.6409200543365592,-0.43103874067889514,0.71338606911949],"aabb_xy":[[-0.6465017259706879,-0.44353874049667064],[-0.6353383827024303,-0.41853874086111964]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.5257072995195557,-1.4509589040252862,0.71338606911949],"aabb_xy":[[0.46170730034978585,-1.4977255911442486],[0.5897072986893257,-1.4041922169063237]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.39089634295170705,-1.5776037135390653,0.71338606911949],"aabb_xy":[[-0.45489634462970446,-1.6261211050183793],[-0.32689634127370976,-1.5290863220597508]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.3927836880345279,-2.4074081757197474,0.71338606911949],"aabb_xy":[[0.3287836847448197,-2.450743094723665],[0.45678369132423596,-2.36407325671583]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.29710804764537113,1.4855681923266713,0.71338606911949],"aabb_xy":[[0.2667099365462275,1.4551612903250015],[0.32750615874451466,1.5159750943283405]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.30583256068553577,-0.33912614579710487,0.71338606911949],"aabb_xy":[[-0.3698325609460065,-0.3841349451500328],[-0.24183256042506493,-0.2941173464441768]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.5061996512396071,-0.3549046850837536,0.71338606911949],"aabb_xy":[[-0.5561729452428674,-0.40490468563830095],[-0.4562263572363465,-0.30490468452920627]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.3422696675034802,-1.871350716180276,0.71338606911949],"aabb_xy":[[-0.3727539176305103,-1.9213507159617718],[-0.31178541737645,-1.8213507163987799]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.35266854272400033,-2.427700258970746,0.71338606911949],"aabb_xy":[[-0.4166685429979785,-2.4777663591680334],[-0.28866854245002205,-2.3776341587734575]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.4642753814907741,-0.07088596170751327,0.71338606911949],"aabb_xy":[[0.45112413551948477,-0.09588596146419984],[0.4774266274620635,-0.04588596195082673]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.3951998328787258,1.0128149786586986,0.71338606911949],"aabb_xy":[[-0.4651998292886875,0.9923770430070166],[-0.32519983646876394,1.03325291431038]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[0.11148974694583702,-2.3843349812138612,0.71338606911949],"aabb_xy":[[0.10804907070577986,-2.3881964141882257],[0.1149304231858942,-2.3804735482394968]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_29","position":[-0.425846175325273,0.3553740381996633,0.71338606911949],"aabb_xy":[[-0.44275690776161475,0.3419018326070487],[-0.4089354428889312,0.36884624379227776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659757165567816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5355.png","name":"5355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5355.png","name":"5355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4755.png","name":"4755"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/445.png","name":"445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3081.png","name":"3081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5048.png","name":"5048"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":536.9071863440248,"rotation_z_degrees":166.47296886357168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005517552845446513,-0.012218630224351178,0.018096344341073548]},{"name":"camera_2","offset_m":[-0.017414171297254914,0.011360871775452221,0.012176997819147873]},{"name":"camera_3","offset_m":[-0.017329042461772685,-0.017588286271156783,-7.204089896016216e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003835643637028095,-0.0012292810612382012,0.001455470318257697],"end_effector_yaw_offset_degrees":0.796565562084447},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007216850037840288,0.000778534968645622,0.0003070655425124716],"end_effector_yaw_offset_degrees":0.5565398472638865},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00040462568545638483,0.0009397087993440164,-0.0004316104446901311],"end_effector_yaw_offset_degrees":-0.7583672984917491}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004952067140675343,-0.0026586545562933507],"position_m":[0.34584793285932464,0.15654134544370665,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003457731073228135,0.0009585680122008045],"position_m":[0.3352577310732281,-0.050341431987799196,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016667377475672231,0.0012252452122854364],"position_m":[0.3182332622524328,0.30732524521228544,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034398514019815555,-0.0034136403859655606],"position_m":[0.21653985140198156,-0.3903136403859656,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5cb27536ace39a296847fe2a9869b86154c55b68302a6c717b30023b1be4b119","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0133.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5355/tex_ceiling_textures_5048/tex_floor_textures_3081/tex_table_textures_4755/tex_wall_textures_445","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5338782685272274723,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5338782685272274723,"visual_seed":5338782685272274723,"scene_id":"lab_003","finished_at":"2026-09-03T03:25:16"} +{"episode_id":"ep_000060","started_at":"2026-09-03T03:35:25","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.5712330086312782,1.0759955820355898,0.71338606911949],"aabb_xy":[[-0.5995627185798185,1.0715348398418727],[-0.542903298682738,1.0804563242293068]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.6153235492714251,1.6872502505341722,0.71338606911949],"aabb_xy":[[0.5353235506145392,1.6727453916099093],[0.6953235479283112,1.7017551094584351]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.0048229320331685255,-0.7553955226407247,0.71338606911949],"aabb_xy":[[-0.06882293394551087,-0.8113066718987353],[0.059177069879173816,-0.6994843733827144]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.32587106324717596,-2.4637444631130423,0.71338606911949],"aabb_xy":[[-0.3483710630610783,-2.468219079483523],[-0.3033710634332735,-2.4592698467425618]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.024607028926058927,-1.6958193660048335,0.71338606911949],"aabb_xy":[[0.01137608339137763,-1.7090467850268327],[0.03783797446074022,-1.6825919469828339]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.6129161278110449,-1.9060119267892845,0.71338606911949],"aabb_xy":[[0.6056548802406374,-1.918798937052794],[0.6201773753814523,-1.893224916525775]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.6781729648266399,-2.0401532348333706,0.71338606911949],"aabb_xy":[[0.6685413286062102,-2.0497905476130795],[0.6878046010470694,-2.0305159220536617]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.5214679986400494,-1.6406847452633468,0.71338606911949],"aabb_xy":[[0.4864679986635536,-1.6501493613109637],[0.5564679986165453,-1.6312201292157305]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.20136444051688707,-1.7602039683303645,0.71338606911949],"aabb_xy":[[-0.2292094772974942,-1.7909884670686762],[-0.17351940373627994,-1.7294194695920528]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.21867012797169727,1.1274496051859377,0.71338606911949],"aabb_xy":[[0.18117012645606556,1.1162228321697927],[0.256170129487329,1.1386763782020828]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.5025951641928703,-2.198527749668694,0.71338606911949],"aabb_xy":[[0.45311474297891163,-2.262527747581546],[0.5520755854068292,-2.1345277517558423]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.4581558554866946,-2.0731977646922037,0.71338606911949],"aabb_xy":[[-0.5231558564438217,-2.125145976625909],[-0.39315585452956736,-2.0212495527584977]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.4350230756917801,1.2159292722733164,0.71338606911949],"aabb_xy":[[-0.4459288517793428,1.1359292758744872],[-0.4241172996042174,1.2959292686721455]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.07236725831653024,-1.4325045803778627,0.71338606911949],"aabb_xy":[[-0.13236725891254641,-1.4873170529230864],[-0.012367257720514058,-1.3776921078326394]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.009508766987597173,-1.1385750753058104,0.71338606911949],"aabb_xy":[[-0.017211957661674215,-1.1462844460045485],[-0.0018055763135201297,-1.1308657046070723]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.1757632436570199,-1.0745056538553266,0.71338606911949],"aabb_xy":[[-0.18387689833039697,-1.0826114703093557],[-0.16764958898364277,-1.0663998374012975]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.4401774098373751,1.0329736261359446,0.71338606911949],"aabb_xy":[[-0.49530261546696586,0.9729736246946573],[-0.3850522042077843,1.0929736275772315]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.12656352245374392,0.961624717686759,0.71338606911949],"aabb_xy":[[0.11311699581970058,0.9481548660336677],[0.14001004908778725,0.9750945693398502]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.2198127400459971,-0.6033109021079022,0.71338606911949],"aabb_xy":[[-0.2848127400802999,-0.6500115787882293],[-0.1548127400116944,-0.5566102254275748]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[0.4276641761307878,-1.293197106631851,0.71338606911949],"aabb_xy":[[0.3636641797034659,-1.3403667304539475],[0.4916641725581097,-1.2460274828097546]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.05040919620686546,1.0394685541441864,0.71338606911949],"aabb_xy":[[-0.10040919715739827,1.007919407140665],[-0.0004091952563326437,1.0710177011477078]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.5746912946479797,0.29482793109258276,0.71338606911949],"aabb_xy":[[-0.6346912944945465,0.23800930889954403],[-0.514691294801413,0.3516465532856214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660634546467162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3813.png","name":"3813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3813.png","name":"3813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8912.png","name":"8912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2538.png","name":"2538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6709.png","name":"6709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6574.png","name":"6574"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":744.3339835366048,"rotation_z_degrees":105.36728627528291,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010180211357982409,0.013110114634728515,-0.014920172299209411]},{"name":"camera_2","offset_m":[-0.01686175131771106,-0.003083200742552833,0.012789822187224052]},{"name":"camera_3","offset_m":[0.016064122425557086,-0.006625711932793203,-0.0182724635312636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006327609918289697,-0.0006533199226243407,-0.00147911030820358],"end_effector_yaw_offset_degrees":0.02104228372424477},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018281740524998212,0.0014463097324862732,-0.000683945350616641],"end_effector_yaw_offset_degrees":-0.7452833941755121},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014446650488667031,-0.0019072508311471959,-0.0011628219935111042],"end_effector_yaw_offset_degrees":0.5078595793464828}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042724595919624055,-4.874423526663417e-05],"position_m":[0.34652754040803757,0.15915125576473338,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023273119109092,-0.0021179817394844035],"position_m":[0.3294726880890908,-0.0534179817394844,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00293601179711653,-0.004053488011198196],"position_m":[0.31696398820288346,0.3020465119888018,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011121237660551876,-0.0005931500086085381],"position_m":[0.21198787623394483,-0.38749315000860857,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6f345c7782478016b4f696bc3fa73e9cb738557395a4ebd914e93211ae6f4d5f","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0139.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3813/tex_ceiling_textures_6574/tex_floor_textures_6709/tex_table_textures_8912/tex_wall_textures_2538","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6579051666544844947,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6579051666544844947,"visual_seed":6579051666544844947,"scene_id":"lab_003","finished_at":"2026-09-03T03:38:08"} +{"episode_id":"ep_000061","started_at":"2026-09-03T03:39:42","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.5057770598002316,1.6260589269071448,0.71338606911949],"aabb_xy":[[0.46827705950805676,1.6220174515065413],[0.5432770600924064,1.6301004023077483]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.056198600718909364,-0.5975142257738051,0.71338606911949],"aabb_xy":[[-0.10619860107947543,-0.6474942129834079],[-0.006198600358343304,-0.547534238564202]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.49057551485954803,-2.4247124176548582,0.71338606911949],"aabb_xy":[[-0.4961571864936768,-2.437212417472634],[-0.4849938432254193,-2.4122124178370825]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.45951897640079187,0.9201291528201545,0.71338606911949],"aabb_xy":[[0.409518974739297,0.8701307105644517],[0.5095189780622864,0.9701275950758571]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.0909774817984943,-0.8433172468871395,0.71338606911949],"aabb_xy":[[-0.1408601786761905,-0.8933172461334143],[-0.04109478492079809,-0.7933172476408649]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.20410782368976288,-1.4842560086515195,0.71338606911949],"aabb_xy":[[0.1976061871817583,-1.494023830677829],[0.21060946019776752,-1.4744881866252095]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.38655448335924025,-0.7400604711028325,0.71338606911949],"aabb_xy":[[0.3792932357888329,-0.7528474813663419],[0.3938157309296477,-0.727273460839323]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.5407329951296598,-1.9111025837533568,0.71338606911949],"aabb_xy":[[-0.5908304591107335,-1.9751025842631684],[-0.49063553114858627,-1.8471025832435448]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.4118210895829757,-0.8826055329145719,0.71338606911949],"aabb_xy":[[0.40648351391697113,-0.9076055338437117],[0.41715866524898026,-0.8576055319854321]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.5638011406538275,-0.5790141012683359,0.71338606911949],"aabb_xy":[[-0.6278011399479957,-0.6430002416371899],[-0.49980114135965925,-0.5150279608994816]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.22804841410117943,-2.104835054867601,0.71338606911949],"aabb_xy":[[-0.23212657200822914,-2.1089160351158647],[-0.22397025619412966,-2.1007540746193376]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.5521740414441163,1.0742462207423529,0.71338606911949],"aabb_xy":[[-0.5999802090578849,1.0092462180352937],[-0.5043678738303475,1.1392462234494116]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.014387102632460125,-2.373362280807704,0.71338606911949],"aabb_xy":[[-0.0312978350688019,-2.3868344864003186],[0.0025236298038816564,-2.3598900752150893]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.32767587230006623,-1.6920246077513843,0.71338606911949],"aabb_xy":[[-0.3976758749366525,-1.7121294727472496],[-0.25767586966347983,-1.6719197427555186]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.027456894020963518,1.2585022914913022,0.71338606911949],"aabb_xy":[[-0.04495689315533069,1.2486226644537142],[-0.009956894886596348,1.2683819185288898]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.31788288819850863,-1.5715797675949499,0.71338606911949],"aabb_xy":[[-0.3818828914171465,-1.6183028794939582],[-0.25388288497987077,-1.5248566556959415]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.05527592405109838,0.57085503165586,0.71338606911949],"aabb_xy":[[-0.08049676091093805,0.5456312808029731],[-0.030055087191258715,0.5960787825087466]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.39142396689475323,-1.1099115461493179,0.71338606911949],"aabb_xy":[[0.3817923306743236,-1.1195488589290268],[0.40105560311518285,-1.100274233369609]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.18121158444346896,-1.863009563382592,0.71338606911949],"aabb_xy":[[-0.25121158604574845,-1.8764423565842496],[-0.11121158284118951,-1.8495767701809345]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.5697963404688347,-2.2907254985548877,0.71338606911949],"aabb_xy":[[0.5322963403632416,-2.2975476604078686],[0.6072963405744275,-2.283903336701907]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.49836737779713225,0.6882243178268141,0.71338606911949],"aabb_xy":[[-0.5326642888148728,0.6539274316168727],[-0.4640704667793916,0.7225212040367553]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.5847447576557483,0.21048778095282206,0.71338606911949],"aabb_xy":[[-0.621240578283027,0.1740038385260645],[-0.5482489370284696,0.24697172337957962]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.025694954722961683,-1.6245199528347452,0.71338606911949],"aabb_xy":[[0.014921980801593907,-1.659519951053784],[0.03646792864432946,-1.589519954615706]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.0862137198206262,0.9735533936760854,0.71338606911949],"aabb_xy":[[0.08131442751406269,0.9458764743735166],[0.09111301212718968,1.0012303129786542]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.23415567649082641,0.4708624069041978,0.71338606911949],"aabb_xy":[[-0.2447231561489254,0.4603173767911892],[-0.22358819683272738,0.48140743701720634]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[-0.5879181029769718,-0.21283185605276422,0.71338606911949],"aabb_xy":[[-0.620379803858899,-0.24296468816766678],[-0.5554564020950441,-0.18269902393786155]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[0.48939802823038114,-1.372173227231549,0.71338606911949],"aabb_xy":[[0.4800510206480859,-1.386476849449193],[0.4987450358126764,-1.357869605013905]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_27","position":[0.6331448824726797,-1.266253821990865,0.71338606911949],"aabb_xy":[[0.5691448805603375,-1.3221649712488754],[0.6971448843850222,-1.2103426727328546]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.1373836682596945,1.6795757945160612,0.71338606911949],"aabb_xy":[[-0.21738367151753746,1.599579286724077],[-0.05738366500185155,1.759572302308045]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.3405322796927548,-2.1155477990758085,0.71338606911949],"aabb_xy":[[0.33290801160257655,-2.1231810226123526],[0.34815654778293303,-2.107914575539265]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[0.4315543393061445,0.7065036063833916,0.71338606911949],"aabb_xy":[[0.4262218246515315,0.701179278138156],[0.4368868539607575,0.711827934628627]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[-0.5740596569147606,1.553680369936163,0.71338606911949],"aabb_xy":[[-0.6240596578652934,1.5221312229326414],[-0.5240596559642278,1.5852295169396842]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_32","position":[-0.4299541384732567,-0.4265665187511276,0.71338606911949],"aabb_xy":[[-0.4674541386451285,-0.4592672541340348],[-0.39245413830138465,-0.3938657833682204]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_33","position":[0.4307401957224488,-0.48762461845268534,0.71338606911949],"aabb_xy":[[0.4182728376127131,-0.500089943086009],[0.4432075538321844,-0.47515929381936195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641733544079083,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6106.png","name":"6106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9213.png","name":"9213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2464.png","name":"2464"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":810.7664873256455,"rotation_z_degrees":75.61266219871817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012677749806124936,0.002769013424215691,0.011308335429602422]},{"name":"camera_2","offset_m":[-0.008520840095209094,-0.006455378526153273,-0.013957967497418428]},{"name":"camera_3","offset_m":[-0.0050918158176643455,0.004282513320754636,0.003654899731259934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006962773539227354,-0.0012839780188414673,0.0006033285043025144],"end_effector_yaw_offset_degrees":0.6644382708253163},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004804302795495142,-8.604929536814329e-05,-0.0018151008593083123],"end_effector_yaw_offset_degrees":-0.7396528356858654},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015322170385571898,0.0016527282472303065,0.001038969462307191],"end_effector_yaw_offset_degrees":0.7580187353561145}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002382110180308773,0.0006204144020518576],"position_m":[0.35318211018030876,0.15982041440205186,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00489058144708412,-0.0013822630742537558],"position_m":[0.3366905814470841,-0.052682263074253756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002002222828298237,-0.0048061391008298315],"position_m":[0.3219022228282983,0.30129386089917015,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005899154399772229,0.0014416878114088373],"position_m":[0.2125100845600228,-0.38545831218859117,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"41ac7544f28d28fed1ed38ac97784a4b9f3827d89bf242b838acdc666dcb4f85","episode_index":141,"episode_name":"episode_0141"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0141.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2167/tex_ceiling_textures_2464/tex_floor_textures_9213/tex_table_textures_6106/tex_wall_textures_4163","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7050906474351341011,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7050906474351341011,"visual_seed":7050906474351341011,"scene_id":"lab_003","finished_at":"2026-09-03T03:42:21"} +{"episode_id":"ep_000062","started_at":"2026-09-03T03:42:24","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.08320385676884823,-0.2764661037064293,0.71338606911949],"aabb_xy":[[-0.15320385890027774,-0.2992280693321249],[-0.01320385463741866,-0.2537041380807336]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.02664350249816194,-0.7259864358197385,0.71338606911949],"aabb_xy":[[-0.049143502312064324,-0.7304610521902193],[-0.0041435026842595625,-0.7215118194492578]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[-0.139843072533819,1.727328460765134,0.71338606911949],"aabb_xy":[[-0.19984307304167193,1.6704817270792127],[-0.07984307202596609,1.7841751944510553]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.0004878239757994951,-2.1966946785570136,0.71338606911949],"aabb_xy":[[-0.06951217762647999,-2.210127471758671],[0.07048782557807898,-2.183261885355356]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.307728257047611,-1.083168800648975,0.71338606911949],"aabb_xy":[[0.22772825964401752,-1.1631613718471576],[0.38772825445120435,-1.003176229450792]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.16368407499823046,-1.9920984263938601,0.71338606911949],"aabb_xy":[[0.10368407474682925,-2.046379751430325],[0.2236840752496316,-1.9378171013573953]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.5994007233649767,1.236715730086531,0.71338606911949],"aabb_xy":[[-0.6543939347021135,1.1817157297477374],[-0.54440751202784,1.2917157304253246]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.12002960253316708,1.7820388288559568,0.71338606911949],"aabb_xy":[[0.09785707555651622,1.7598631616998337],[0.14220212950981792,1.8042144960120798]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.323998560299041,-1.6859184412251913,0.71338606911949],"aabb_xy":[[-0.35747772756008195,-1.7193975545962987],[-0.29051939303800006,-1.6524393278540848]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.38805126288128794,1.2334201395321935,0.71338606911949],"aabb_xy":[[-0.4255512640660807,1.2290019168361328],[-0.3505512616964951,1.2378383622282538]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.36247788105813594,-2.1895535651217406,0.71338606911949],"aabb_xy":[[0.3379316654353852,-2.2198024616707777],[0.38702409668088666,-2.1593046685727035]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.2189917681537209,-1.2608332622726124,0.71338606911949],"aabb_xy":[[-0.23035350280700703,-1.2722017286789002],[-0.2076300335004347,-1.249464795866324]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.5301219548719118,-2.413920500142992,0.71338606911949],"aabb_xy":[[0.5219074097562276,-2.4225970904406324],[0.5383364999875956,-2.4052439098453497]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.35836029257458984,-0.2787372849492469,0.71338606911949],"aabb_xy":[[-0.39586029268018275,-0.285559446802228],[-0.32086029246899683,-0.27191512309626575]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.557315925908763,-0.9790251341503722,0.71338606911949],"aabb_xy":[[-0.5878001760357932,-1.0290251339318681],[-0.5268316757817328,-0.9290251343688762]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.24002442757404618,-1.0441806072689903,0.71338606911949],"aabb_xy":[[-0.2652452644338858,-1.0694043581218766],[-0.2148035907142065,-1.0189568564161031]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.0336519227117863,1.1316689461538205,0.71338606911949],"aabb_xy":[[0.0025050038682031817,1.0616689474670133],[0.06479884155536941,1.2016689448406277]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.4636695774077405,0.2647881919959545,0.71338606911949],"aabb_xy":[[-0.5089481922888898,0.20078819264777076],[-0.41839096252659125,0.3287881913441381]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.6301518931776813,0.9711475651647548,0.71338606911949],"aabb_xy":[[0.6183837063830239,0.8861475652595333],[0.6419200799723389,1.0561475650699763]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.5484825659709528,-1.5157982222129152,0.71338606911949],"aabb_xy":[[-0.5984825655472875,-1.5657788011650213],[-0.4984825663946181,-1.4658176432608094]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.618480998546038,-0.6633660378069457,0.71338606911949],"aabb_xy":[[-0.6244475374867736,-0.6693271824663097],[-0.6125144596053022,-0.6574048931475817]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.12022794968439454,-1.5073943870657358,0.71338606911949],"aabb_xy":[[0.03022794600747635,-1.5688267936428397],[0.21022795336131267,-1.4459619804886312]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.5405863730785202,-1.1389471831838607,0.71338606911949],"aabb_xy":[[-0.602177132302513,-1.2029471812929076],[-0.4789956138545274,-1.0749471850748138]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.6102918183618409,-1.4907340140288223,0.71338606911949],"aabb_xy":[[0.6058611890070008,-1.496182385763505],[0.6147224477166812,-1.48528564229414]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.37511061151521474,0.7037963219983436,0.71338606911949],"aabb_xy":[[0.3401106123223964,0.6928292760006808],[0.41011061070803295,0.714763367996006]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.5085825411395257,1.6750507835630297,0.71338606911949],"aabb_xy":[[0.49071343338507023,1.6612178755858187],[0.5264516488939812,1.6888836915402408]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.11309145529071152,-1.5750200991411043,0.71338606911949],"aabb_xy":[[-0.13088496222562795,-1.5928198447369017],[-0.09529794835579508,-1.5572203535453064]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[0.2637790471956094,1.556640919771628,0.71338606911949],"aabb_xy":[[0.2588230270107283,1.534140919569507],[0.26873506738049063,1.5791409199737503]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.12409447089074022,-0.19109424659942098,0.71338606911949],"aabb_xy":[[-0.1441528825039805,-0.21115933350857852],[-0.10403605927749993,-0.17102915969026344]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[0.45340816318725574,-1.7730402962895204,0.71338606911949],"aabb_xy":[[0.3894081612749134,-1.8289514455475309],[0.5174081650995981,-1.71712914703151]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[0.41336173134765763,-2.4775168726860017,0.71338606911949],"aabb_xy":[[0.3768659107203789,-2.5140008151127593],[0.4498575519749364,-2.441032930259244]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_31","position":[0.6706831561833551,-1.3297817381429506,0.71338606911949],"aabb_xy":[[0.6256905694649045,-1.3747817374173994],[0.7156757429018054,-1.2847817388685019]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696020893684355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3059.png","name":"3059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2955.png","name":"2955"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8048.png","name":"8048"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8566.png","name":"8566"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":538.6678812621037,"rotation_z_degrees":268.64155460688505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008249758528734236,-0.012227356211782614,-0.004467748820932482]},{"name":"camera_2","offset_m":[-0.012111599350955583,0.01688052557217688,-0.014851920542886244]},{"name":"camera_3","offset_m":[-0.018967624483495024,0.014631154913291682,-0.00871411148927281]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012180959848059414,0.000526318290282453,0.001347094908073399],"end_effector_yaw_offset_degrees":0.8287407130941167},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018834153071101275,0.0009025526119048788,0.00021627846129148275],"end_effector_yaw_offset_degrees":0.18354548185559327},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005769939752139784,-3.221050985973946e-05,0.0016707664941098652],"end_effector_yaw_offset_degrees":0.49563398669558256}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002797425810170345,-0.0033104884563085494],"position_m":[0.35359742581017034,0.15588951154369146,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003316413850879542,0.0031130812234386887],"position_m":[0.33511641385087954,-0.04818691877656131,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048436038322863485,0.001547511001381798],"position_m":[0.32474360383228634,0.30764751100138177,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0047237304387078285,-0.002570542596335428],"position_m":[0.21782373043870784,-0.38947054259633546,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"231af1e3f600c3ea029534ca873322d028b359004509f3087ee90d155c9a9781","episode_index":142,"episode_name":"episode_0142"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0142.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3059/tex_ceiling_textures_8566/tex_floor_textures_8048/tex_table_textures_2955/tex_wall_textures_894","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8175350780520851706,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8175350780520851706,"visual_seed":8175350780520851706,"scene_id":"lab_003","finished_at":"2026-09-03T03:44:55"} +{"episode_id":"ep_000063","started_at":"2026-09-03T03:46:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.5040636787853594,-0.7657379752461244,0.71338606911949],"aabb_xy":[[-0.5518698463991282,-0.8307379779531833],[-0.45625751117159086,-0.7007379725390654]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[0.2597033060513594,0.5530523948945709,0.71338606911949],"aabb_xy":[[0.2541216344172306,0.5405523950767954],[0.26528497768548814,0.5655523947123464]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.6070693537597961,-1.38119816960242,0.71338606911949],"aabb_xy":[[-0.6283473619032682,-1.446198171928493],[-0.5857913456163237,-1.316198167276347]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.3755525391882282,-1.3836989306742569,0.71338606911949],"aabb_xy":[[0.34177697999753515,-1.3977374258874218],[0.4093280983789211,-1.3696604354610915]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.22459049020765587,-1.4410177997488516,0.71338606911949],"aabb_xy":[[0.1877958570827496,-1.4779236748454339],[0.26138512333256214,-1.4041119246522693]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.33371080575689654,-0.7368243468578672,0.71338606911949],"aabb_xy":[[-0.3641950558839267,-0.7868243466393632],[-0.3032265556298664,-0.6868243470763713]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.3227945209997077,-1.8346504004725603,0.71338606911949],"aabb_xy":[[-0.3452592909711128,-1.857150401351421],[-0.30032975102830256,-1.8121503995937]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.19206076914753423,-2.0233538893769376,0.71338606911949],"aabb_xy":[[-0.2720607671283192,-2.0309554303387896],[-0.11206077116674916,-2.0157523484150857]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.4101574528171534,-1.6154287853994624,0.71338606911949],"aabb_xy":[[-0.4487031456423544,-1.6539745564556512],[-0.37161175999195234,-1.5768830143432737]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.28280285756672874,-1.6783664077259564,0.71338606911949],"aabb_xy":[[0.27795926280549876,-1.6832180602049407],[0.2876464523279587,-1.6735147552469725]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.15458766531067636,-2.2634333408080365,0.71338606911949],"aabb_xy":[[0.11240325114984565,-2.327433341085248],[0.19677207947150713,-2.1994333405308257]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.5106892455630045,-1.8637846477345414,0.71338606911949],"aabb_xy":[[-0.5746892479058061,-1.9087254989786737],[-0.44668924322020304,-1.8188437964904087]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.09596507544313715,1.0426598608008764,0.71338606911949],"aabb_xy":[[-0.11029950056930059,1.0305996452463373],[-0.08163065031697368,1.054720076355415]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.3736477331872099,0.6098560266172859,0.71338606911949],"aabb_xy":[[0.33614773308161694,0.6030338647643047],[0.41114773329280285,0.6166781884702669]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.42156427608426017,-2.081292111996127,0.71338606911949],"aabb_xy":[[0.35756427968868715,-2.1452554004148605],[0.4855642724798333,-2.0173288235773934]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.46451571427512184,0.02954468712475622,0.71338606911949],"aabb_xy":[[-0.4694150065816853,0.0018677678221874494],[-0.4596164219685583,0.05722160642732499]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.5913363083074384,-0.4559936138271494,0.71338606911949],"aabb_xy":[[-0.6810233846155539,-0.5459936140816],[-0.501649231999323,-0.36599361357269883]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.42794084122208653,-1.748887552945705,0.71338606911949],"aabb_xy":[[-0.4498495233614376,-1.7707882197657958],[-0.4060321590827355,-1.7269868861256144]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.5464805576651204,-1.245441299197763,0.71338606911949],"aabb_xy":[[0.50148797094667,-1.2904412984722118],[0.5914731443835708,-1.2004412999233143]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.2731879545132627,-0.1596629445648845,0.71338606911949],"aabb_xy":[[-0.30818795282395817,-0.16737795948843012],[-0.23818795620256727,-0.15194792964133882]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.42880527335258983,1.2796788627163913,0.71338606911949],"aabb_xy":[[-0.5188052700881999,1.2264953993990966],[-0.3388052766169795,1.3328623260336856]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.6255466931378597,-0.10260571207790647,0.71338606911949],"aabb_xy":[[0.5679162242505887,-0.16260571100461702],[0.6831771620251305,-0.04260571315119586]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.2736601966210877,0.4284615814626167,0.71338606911949],"aabb_xy":[[-0.2972453200849826,0.36346157921718497],[-0.2500750731571929,0.49346158370804855]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.24837989996751997,-1.210526264934757,0.71338606911949],"aabb_xy":[[0.16337990155009677,-1.295400560397042],[0.3333798983849432,-1.125651969472472]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[0.14371614605358518,1.2249744757264014,0.71338606911949],"aabb_xy":[[0.13572215747588176,1.216974395631311],[0.15171013463128855,1.2329745558214917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651981582080585,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/168.png","name":"168"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/168.png","name":"168"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1798.png","name":"1798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4626.png","name":"4626"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9986.png","name":"9986"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1157.png","name":"1157"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.2017158812015,"rotation_z_degrees":232.50237568519742,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00029487344339985955,0.016791173715427956,-0.00904473440407538]},{"name":"camera_2","offset_m":[0.009823702080432272,0.008980434545392147,0.014713716773685038]},{"name":"camera_3","offset_m":[0.0037552181950415535,-0.0031858837669745746,0.017675673204614235]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019050026408177433,4.654328037079474e-05,0.0002410638356630094],"end_effector_yaw_offset_degrees":0.6874268858916779},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007084494603247298,0.0007088043091292252,0.0014738184394591323],"end_effector_yaw_offset_degrees":0.9381312563123347},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009708486276409859,-0.0001556850493561854,-0.0007184497337545],"end_effector_yaw_offset_degrees":-0.2673651793716243}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004652266620176193,-0.0007054138704703904],"position_m":[0.3554522666201762,0.15849458612952963,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001999529374616652,0.004974245229484304],"position_m":[0.33379952937461665,-0.0463257547705157,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007738001441141406,-0.00017020604030831919],"position_m":[0.3206738001441142,0.30592979395969166,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005337911454925733,-0.002110432404999242],"position_m":[0.21363379114549258,-0.3890104324049993,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6674ff8a02492a09ae16791bab11056ec0eefdae94aa8c2f01dab0433466205c","episode_index":144,"episode_name":"episode_0144"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0144.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_168/tex_ceiling_textures_1157/tex_floor_textures_9986/tex_table_textures_1798/tex_wall_textures_4626","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8507629700190215701,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8507629700190215701,"visual_seed":8507629700190215701,"scene_id":"lab_003","finished_at":"2026-09-03T03:48:56"} +{"episode_id":"ep_000064","started_at":"2026-09-03T03:59:37","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.29229184043620116,-0.9033541278166421,0.71338606911949],"aabb_xy":[[0.284248480510246,-0.9883541289120086],[0.30033520036215633,-0.8183541267212757]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.1759792806033028,1.054730299518655,0.71338606911949],"aabb_xy":[[-0.22596351631148004,1.0047303007051593],[-0.12599504489512559,1.1047302983321505]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.49395278100630957,1.4309784467084925,0.71338606911949],"aabb_xy":[[-0.5048043872551852,1.4201191559808415],[-0.48310117475743397,1.4418377374361435]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.20982660465897696,-1.8894169056011716,0.71338606911949],"aabb_xy":[[-0.22971764453931723,-1.9020727168858689],[-0.18993556477863674,-1.8767610943164752]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.36688545383381543,-0.9475491502462641,0.71338606911949],"aabb_xy":[[-0.37651709005424505,-0.957186463025973],[-0.3572538176133858,-0.9379118374665552]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.5308883970319004,-1.3759618789408339,0.71338606911949],"aabb_xy":[[-0.5736551039113206,-1.4399618823626366],[-0.4881216901524802,-1.3119618755190317]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.6526619688103915,1.7671878711840185,0.71338606911949],"aabb_xy":[[-0.661955587047542,1.7296878726958844],[-0.6433683505732408,1.8046878696721522]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.6896506652686336,1.4354063664793677,0.71338606911949],"aabb_xy":[[0.6651370411716278,1.4111417731773312],[0.7141642893656395,1.4596709597814042]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.5625084617917915,0.48902281766093125,0.71338606911949],"aabb_xy":[[-0.5673520565530215,0.48417116518194714],[-0.5576648670305615,0.49387447013991537]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.32771160691457984,-1.2859289960186555,0.71338606911949],"aabb_xy":[[-0.3374675964237537,-1.29569153007789],[-0.3179556174054059,-1.276166461959421]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.4381095142231375,-0.383726087715893,0.71338606911949],"aabb_xy":[[0.3781095136271213,-0.4385385602611165],[0.49810951481915366,-0.3289136151706695]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.0037059847536290436,-1.2200305525279251,0.71338606911949],"aabb_xy":[[-0.014478958674996822,-1.2550305507469643],[0.007066989167738735,-1.1850305543088864]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.21211227657409998,-2.4530252831755193,0.71338606911949],"aabb_xy":[[-0.2761122738764463,-2.497391710143376],[-0.14811227927175355,-2.4086588562076625]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.6647030696517182,-1.2413893654084913,0.71338606911949],"aabb_xy":[[0.6287895652267285,-1.2773028736252459],[0.7006165740767077,-1.2054758571917368]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.2781859298954701,-2.241763200267635,0.71338606911949],"aabb_xy":[[0.23301461204730112,-2.3057631974121735],[0.32335724774363905,-2.1777632031230967]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.4929667489134826,0.5061444964650565,0.71338606911949],"aabb_xy":[[0.48762917324747795,0.48114449553591676],[0.4983043245794871,0.5311444973941963]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.44352843769120676,1.0273154167680345,0.71338606911949],"aabb_xy":[[-0.523522261269765,0.9473154141751929],[-0.3635346141126486,1.107315419360876]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.0343084930145382,1.3331689650038476,0.71338606911949],"aabb_xy":[[0.01914562003760113,1.318003507708729],[0.0494713659914753,1.3483344222989666]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.22626074597486184,1.2182153652656416,0.71338606911949],"aabb_xy":[[-0.3062607429891098,1.1980808135922303],[-0.14626074896061386,1.2383499169390528]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.6001219270418396,-1.4698261593440354,0.71338606911949],"aabb_xy":[[0.5626219255262078,-1.4810529323601804],[0.6376219285574712,-1.4585993863278903]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.008499929706804688,-2.015242134973122,0.71338606911949],"aabb_xy":[[-0.015743695753050013,-2.0952421331767246],[-0.0012561636605593618,-1.9352421367695198]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.6497231848193586,-1.4303646635450962,0.71338606911949],"aabb_xy":[[-0.6801212959185021,-1.4607715655467655],[-0.619325073720215,-1.3999577615434264]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[-0.25048751569479644,-1.6386506642137832,0.71338606911949],"aabb_xy":[[-0.2575278256283335,-1.718650663613455],[-0.2434472057612595,-1.5586506648141123]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.47265399208791914,-0.7789936893749407,0.71338606911949],"aabb_xy":[[0.45137598394444683,-0.8439936917010137],[0.49393200023139133,-0.7139936870488676]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.4526451152753572,-0.16317873876645717,0.71338606911949],"aabb_xy":[[0.4153138387501147,-0.1978317935613095],[0.4899763918005999,-0.12852568397160488]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[0.31183581179481745,-1.19447693362411,0.71338606911949],"aabb_xy":[[0.23183581313793145,-1.2089817925483728],[0.39183581045170346,-1.179972074699847]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[0.320187124847084,1.3768302622951185,0.71338606911949],"aabb_xy":[[0.28572477744894215,1.3423363798972952],[0.35464947224522575,1.4113241446929405]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647476893921463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2516.png","name":"2516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2516.png","name":"2516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7099.png","name":"7099"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":800.6634009198572,"rotation_z_degrees":179.95567701626416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009250998944263747,0.0009710696349600131,0.005935186222587891]},{"name":"camera_2","offset_m":[0.0034352906987741502,0.009518852913015165,-0.012010377133715874]},{"name":"camera_3","offset_m":[0.01118947992830226,-0.012900363868332066,0.003651758040125498]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015973252599342114,-0.00024526395215166905,0.0015066259492365164],"end_effector_yaw_offset_degrees":-0.7041800858672906},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016401024546529729,-0.000958535452090024,-0.0005174734447167717],"end_effector_yaw_offset_degrees":-0.0695660687061661},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00016940587262777437,-0.0005855931121653884,0.0012555605667402391],"end_effector_yaw_offset_degrees":-0.25561439031834454}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037286589530756767,-0.004002108311680045],"position_m":[0.34707134104692433,0.15519789168831996,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034631777095986173,-0.0025500092513988395],"position_m":[0.32833682229040134,-0.05385000925139884,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015307279641488002,-0.003766387858895992],"position_m":[0.3183692720358512,0.302333612141104,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001109903443043272,-0.004532787561185552],"position_m":[0.21420990344304328,-0.39143278756118555,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99e7b6acb4c3d697ac16a07f96396444b74b2e41b44c58af9ee05b88de3d7198","episode_index":151,"episode_name":"episode_0151"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0151.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2516/tex_ceiling_textures_9849/tex_floor_textures_7099/tex_table_textures_8496/tex_wall_textures_3976","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8644127632746809523,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8644127632746809523,"visual_seed":8644127632746809523,"scene_id":"lab_003","finished_at":"2026-09-03T04:02:25"} +{"episode_id":"ep_000065","started_at":"2026-09-03T04:02:28","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.30172685917888387,-2.3153436682364057,0.71338606911949],"aabb_xy":[[0.2377268598847156,-2.3793298086052594],[0.36572685847305203,-2.251357527867551]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.4530218954847456,-1.4573583682127642,0.71338606911949],"aabb_xy":[[0.43746612607448043,-1.4729088014571714],[0.46857766489501096,-1.441807934968357]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.3951507154279359,-2.4755623431116374,0.71338606911949],"aabb_xy":[[0.3776507819939525,-2.493062343031872],[0.41265064886191927,-2.458062343191403]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[-0.024461550420511124,-1.0724818308708675,0.71338606911949],"aabb_xy":[[-0.09446155222925656,-1.0938355996350548],[0.04553845138823431,-1.05112806210668]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.5969524142712674,1.3576252135118905,0.71338606911949],"aabb_xy":[[0.5469524148310718,1.3076572890275742],[0.6469524137114631,1.4075931379962068]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.2115762902750576,0.4693126655945341,0.71338606911949],"aabb_xy":[[-0.2328542984185298,0.40431266326846105],[-0.1902982821315853,0.5343126679206072]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.6110137219647778,0.8564746471934894,0.71338606911949],"aabb_xy":[[-0.638858758745385,0.8256901484551777],[-0.5831686851841708,0.8872591459318011]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.06933171783143488,-1.5280836897175778,0.71338606911949],"aabb_xy":[[0.05422941637041676,-1.5431852113486393],[0.08443401929245295,-1.5129821680865154]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.2542383626503415,-1.3004534496171514,0.71338606911949],"aabb_xy":[[0.20426094578508788,-1.3504534511064],[0.30421577951559503,-1.2504534481279028]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.46256966800064014,1.3654409843517534,0.71338606911949],"aabb_xy":[[0.4520021883425412,1.3548959542387446],[0.4731371476587392,1.3759860144647618]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.35949815417165126,-1.5251854487521903,0.71338606911949],"aabb_xy":[[-0.419498155032464,-1.5766118787586763],[-0.2994981533108384,-1.4737590187457035]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.12434258873724569,-1.107200425667286,0.71338606911949],"aabb_xy":[[0.08684258892021213,-1.1118386369784279],[0.16184258855427924,-1.1025622143561442]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.04548718555671516,-2.043805374947163,0.71338606911949],"aabb_xy":[[-0.03951281313535948,-2.0757912383420414],[0.1304871842487898,-2.0118195115522837]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.3165457987942785,-1.1736555358117091,0.71338606911949],"aabb_xy":[[-0.32358610872781557,-1.2536555352113807],[-0.3095054888607416,-1.093655536412038]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[0.23305825023420879,1.0358015320799239,0.71338606911949],"aabb_xy":[[0.19805825196408888,1.0287274043849357],[0.2680582485043287,1.042875659774912]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.027332968095127086,-1.2184410494536073,0.71338606911949],"aabb_xy":[[-0.036492847039003684,-1.2249722674971444],[-0.018173089151250484,-1.2119098314100702]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.38314199269751026,0.2994292154344076,0.71338606911949],"aabb_xy":[[-0.39126968089082353,0.2905156070236999],[-0.3750143045041971,0.3083428238451152]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.5416751588304278,-2.1843817129688903,0.71338606911949],"aabb_xy":[[0.5041751587248348,-2.191203874821871],[0.5791751589360207,-2.1775595511159085]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.634158696739203,-2.42776859302242,0.71338606911949],"aabb_xy":[[0.6122500145998518,-2.4496692598425107],[0.6560673788785539,-2.4058679262023293]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.22588929922037226,1.1359224215193278,0.71338606911949],"aabb_xy":[[-0.30588930247821516,1.0559259137273438],[-0.14588929596252925,1.2159189293113117]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.635490372510909,-0.028913197534413015,0.71338606911949],"aabb_xy":[[-0.6579551424823141,-0.05141319841327352],[-0.6130256025395039,-0.0064131966555525145]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.028631645840963227,-1.2921974105660132,0.71338606911949],"aabb_xy":[[0.01120093076195672,-1.3094695252298638],[0.046062360919969736,-1.2749252959021622]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.5464916402180329,1.5596071167203447,0.71338606911949],"aabb_xy":[[0.48490088099404005,1.495607118611298],[0.6080823994420257,1.6236071148293918]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.5185924381690097,-2.3768643740901423,0.71338606911949],"aabb_xy":[[-0.531743684140299,-2.401864373846829],[-0.5054411921977203,-2.3518643743334557]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.1873400105490466,-2.518129819174721,0.71338606911949],"aabb_xy":[[-0.237313304552307,-2.568129819729268],[-0.1373667165457861,-2.468129818620173]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[-0.2528403874591183,-0.27205765715867347,0.71338606911949],"aabb_xy":[[-0.26046465554929654,-0.2796908806952172],[-0.24521611936894006,-0.26442443362212975]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.46832297652959803,0.6451999818770711,0.71338606911949],"aabb_xy":[[-0.49021272411853883,0.5551999845878219],[-0.44643322894065723,0.7351999791663202]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[0.014376560589481002,-0.8398746543128928,0.71338606911949],"aabb_xy":[[-0.049623439788052615,-0.8896199211637051],[0.07837656096701462,-0.7901293874620806]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[-0.14414052162224567,0.2809932623226481,0.71338606911949],"aabb_xy":[[-0.16002501488757082,0.266640322023824],[-0.12825602835692052,0.2953462026214721]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[-0.12817694742552377,-0.39278387817766536,0.71338606911949],"aabb_xy":[[-0.14575524961447064,-0.4103583677517702],[-0.11059864523657695,-0.3752093886035604]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652321311661835,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2327.png","name":"2327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8828.png","name":"8828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1262.png","name":"1262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3245.png","name":"3245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8161.png","name":"8161"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":735.9676802798131,"rotation_z_degrees":297.3531162862881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018758153849921553,-0.00485493079920607,-0.0019873394723657484]},{"name":"camera_2","offset_m":[0.004606465565923389,0.018347252868239527,0.019407865831969847]},{"name":"camera_3","offset_m":[0.0019783922939309515,-0.005244518692246855,0.0029444102798811093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018819041032803745,-0.001332077377588112,-0.0003433353925552413],"end_effector_yaw_offset_degrees":-0.27533235752559393},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005474945139926691,0.0014138769625237917,-0.0008908537978820769],"end_effector_yaw_offset_degrees":0.5146932812584721},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.242352146389079e-05,0.001040318538474303,-0.0011380313466512653],"end_effector_yaw_offset_degrees":0.4928481498833348}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009757360745721658,-0.0006189988794988808],"position_m":[0.3517757360745722,0.15858100112050114,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010035363283213104,-0.0009596612374762102],"position_m":[0.33280353632832127,-0.05225966123747621,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009952114668310575,0.003294450082867359],"position_m":[0.31890478853316895,0.30939445008286737,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002718447667966586,-0.0043336563683304295],"position_m":[0.21038155233203343,-0.39123365636833046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58a64c2ec8ea4049806a3bf9f5e8664b58353753855964b091f01fc55be8804a","episode_index":152,"episode_name":"episode_0152"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0152.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2327/tex_ceiling_textures_8161/tex_floor_textures_3245/tex_table_textures_8828/tex_wall_textures_1262","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8196608782759122984,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8196608782759122984,"visual_seed":8196608782759122984,"scene_id":"lab_003","finished_at":"2026-09-03T04:05:11"} +{"episode_id":"ep_000066","started_at":"2026-09-03T04:05:13","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.4245489859435687,-0.14145863191764896,0.71338606911949],"aabb_xy":[[0.4151315113737059,-0.15087480905536796],[0.4339664605134314,-0.1320424547799299]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.4905596634690177,-0.3933549196924173,0.71338606911949],"aabb_xy":[[0.4580979625870902,-0.42348775180731985],[0.523021364350945,-0.36322208757751456]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.11828226664184383,1.1457176361878711,0.71338606911949],"aabb_xy":[[-0.13578226690118045,1.1316260939990985],[-0.10078226638250722,1.1598091783766438]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[-0.4567097934452572,-1.0852615934259615,0.71338606911949],"aabb_xy":[[-0.47582210080323606,-1.1043963723032035],[-0.43759748608727833,-1.0661268145487195]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.5344132163297832,-2.0117487437068897,0.71338606911949],"aabb_xy":[[0.4844357994645296,-2.061748745196138],[0.5843906331950367,-1.961748742217641]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.6045129062410117,0.30018442747218765,0.71338606911949],"aabb_xy":[[-0.6945129027418834,0.25427278505372936],[-0.5145129097401399,0.34609606989064584]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.17940289787140684,0.5993148197515907,0.71338606911949],"aabb_xy":[[0.14494041985831904,0.5926511425686678],[0.21386537588449459,0.6059784969345134]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.602679581018351,0.43590110693868667,0.71338606911949],"aabb_xy":[[-0.6080171566843555,0.4109011060095469],[-0.5973420053523464,0.46090110786782645]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.12218932509959213,1.296283502472547,0.71338606911949],"aabb_xy":[[-0.1275218397542051,1.2909591742273117],[-0.11685681044497914,1.3016078307177827]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.0005981493528477433,0.9969000597030484,0.71338606911949],"aabb_xy":[[-0.03625239858413987,0.9594000588800147],[0.03744869728983535,1.0344000605260821]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.18569171695711595,-2.5132941500825168,0.71338606911949],"aabb_xy":[[0.1446737735707451,-2.563294150713474],[0.22670966034348686,-2.4632941494515594]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.49928221718708204,-1.9891353652013617,0.71338606911949],"aabb_xy":[[-0.579282220444925,-2.0691318729933457],[-0.419282213929239,-1.9091388574093777]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.6283507455665048,-1.8014315870291062,0.71338606911949],"aabb_xy":[[-0.6458507448445917,-1.8187696870954522],[-0.610850746288418,-1.7840934869627603]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.24544742592255725,1.3438129884549386,0.71338606911949],"aabb_xy":[[-0.3094474232082059,1.3023062695020948],[-0.1814474286369086,1.3853197074077828]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.12197338101016142,-0.6077706304197747,0.71338606911949],"aabb_xy":[[-0.17194644654267688,-0.6577706302323076],[-0.07200031547764596,-0.5577706306072419]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[-0.10515924018428502,-0.9330208753224707,0.71338606911949],"aabb_xy":[[-0.1207150095945503,-0.9485713085668779],[-0.08960347077401976,-0.9174704420780635]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.3834635973109026,-1.005790866825539,0.71338606911949],"aabb_xy":[[0.31846359942925484,-1.05691453053208],[0.44846359519255047,-0.9546672031189982]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.5451680340201028,0.9215707291823425,0.71338606911949],"aabb_xy":[[-0.5794649450378432,0.8872738429724011],[-0.510871123002362,0.9558676153922837]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.3952188981273326,-2.355331093612566,0.71338606911949],"aabb_xy":[[0.38976095249031245,-2.4353310969202253],[0.4006768437643526,-2.275331090304907]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.2312773494139847,0.48855707515222413,0.71338606911949],"aabb_xy":[[-0.24184482907208368,0.47801204503921557],[-0.22070986975588566,0.4991021052652327]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.02380246660841545,-1.5806254966701072,0.71338606911949],"aabb_xy":[[-0.02843758176064884,-1.5844928317472555],[-0.019167351456182063,-1.576758161592958]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671334761159922,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5561.png","name":"5561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5561.png","name":"5561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5054.png","name":"5054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5626.png","name":"5626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":517.6485888425543,"rotation_z_degrees":351.8293864911973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014717026787935992,0.004398264171970635,0.015794100016007225]},{"name":"camera_2","offset_m":[-0.01475541016049602,0.014861622693229996,0.0190906674125987]},{"name":"camera_3","offset_m":[0.019443033381350245,0.014334343608541921,0.013961678811684763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004119402960466225,-0.0011811661180423606,0.0012989172198562887],"end_effector_yaw_offset_degrees":0.8424826895379005},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011852060430711684,-0.0013420298266490246,-0.00022944739297108582],"end_effector_yaw_offset_degrees":0.3010240816872505},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006104595656350994,-0.0004210547711652941,0.001473643336362304],"end_effector_yaw_offset_degrees":-0.6439052987690081}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015290174830224334,0.00413080374744797],"position_m":[0.3492709825169776,0.163330803747448,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002303646162093396,-0.0020945825980293897],"position_m":[0.3294963538379066,-0.053394582598029386,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004476501280081882,0.0046357627880309225],"position_m":[0.3203476501280082,0.3107357627880309,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003645658758992104,0.0024854956520390893],"position_m":[0.21674565875899213,-0.38441450434796093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8323b1106e54307b7848c14ffd62f3862047fdcf1fe7b5a7d9bc852ef0926c57","episode_index":153,"episode_name":"episode_0153"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0153.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5561/tex_ceiling_textures_2502/tex_floor_textures_5626/tex_table_textures_5054/tex_wall_textures_6676","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3333220654869596482,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3333220654869596482,"visual_seed":3333220654869596482,"scene_id":"lab_003","finished_at":"2026-09-03T04:07:55"} +{"episode_id":"ep_000067","started_at":"2026-09-03T04:09:23","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.5908433704792067,1.7150430770034375,0.71338606911949],"aabb_xy":[[0.5799375943916439,1.6350430806046086],[0.6017491465667694,1.7950430734022669]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.2380334566811384,1.1133938292700183,0.71338606911949],"aabb_xy":[[0.21303345751550531,1.1064415835646617],[0.2630334558467715,1.1203460749753749]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.0825378385864074,-1.4468301050714776,0.71338606911949],"aabb_xy":[[-0.11038287536701452,-1.477614603809789],[-0.05469280180580027,-1.4160456063331657]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.5596983767823348,-1.8544825640769576,0.71338606911949],"aabb_xy":[[-0.6236983781903255,-1.9062715156008823],[-0.4956983753743442,-1.8026936125530328]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.6966595564525577,0.39923551463605067,0.71338606911949],"aabb_xy":[[0.6811037870422925,0.38368508139164353],[0.712215325862823,0.4147859478804579]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.22748189525002183,-0.5055103237002161,0.71338606911949],"aabb_xy":[[-0.24998189526017012,-0.5196065433398194],[-0.20498189523987353,-0.4914141040606128]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.19421410576967368,-2.4745356570403207,0.71338606911949],"aabb_xy":[[0.14421909481022166,-2.524535656075913],[0.24420911672912574,-2.4245356580047295]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.20115997890857107,1.337026709397489,0.71338606911949],"aabb_xy":[[0.17615997935683259,1.3268842255323543],[0.22615997846030955,1.3471691932626237]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.11706702578132966,-0.6135617115668961,0.71338606911949],"aabb_xy":[[0.0995670265032428,-0.630899811633242],[0.13456702505941653,-0.5962236115005501]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.38012506713607414,0.7654818963703809,0.71338606911949],"aabb_xy":[[-0.4301250665762697,0.7155139718860646],[-0.33012506769587846,0.8154498208546972]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.417090834796892,0.7163255793709942,0.71338606911949],"aabb_xy":[[0.37959083361209917,0.7119073566749334],[0.45459083598168476,0.7207438020670545]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.44211746430981336,-0.46711444432135707,0.71338606911949],"aabb_xy":[[-0.47944874083505595,-0.5017674991162093],[-0.40478618778457076,-0.43246138952650476]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.59703911887633,0.37095315065436285,0.71338606911949],"aabb_xy":[[0.5899976679255825,0.3639263989165683],[0.6040805698270777,0.3779799023921574]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.4250902272348114,-0.31846792655376666,0.71338606911949],"aabb_xy":[[-0.48021543286440205,-0.37846792799505374],[-0.3699650216052205,-0.25846792511247946]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.08244375854090136,1.4342602789690724,0.71338606911949],"aabb_xy":[[0.0653416805825332,1.4171534734378026],[0.09954583649926951,1.4513670845003421]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.4162055658302781,1.5373917067272553,0.71338606911949],"aabb_xy":[[0.4081692311289932,1.5293535874228381],[0.4242419005315629,1.5454298260316717]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.2866461056563167,0.2996570934661653,0.71338606911949],"aabb_xy":[[-0.3095618185413666,0.27675279632974187],[-0.2637303927712668,0.32256139060258887]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.454626573881306,-1.8089311087736197,0.71338606911949],"aabb_xy":[[0.41962657475135023,-1.8146763298492838],[0.48962657301126156,-1.8031858876979556]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.2839623214088983,-0.7443708707303429,0.71338606911949],"aabb_xy":[[0.2710904179079581,-0.8243708711441791],[0.2968342249098384,-0.6643708703165068]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.20745400785907264,-1.8340665998023598,0.71338606911949],"aabb_xy":[[-0.21115726918821148,-1.8377686181110773],[-0.20375074652993375,-1.8303645814936418]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.5943641675494182,-0.08369214829634553,0.71338606911949],"aabb_xy":[[-0.6118641677944675,-0.10119193613591237],[-0.5768641673043687,-0.06619236045677868]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.2499648203278636,-1.518363030397258,0.71338606911949],"aabb_xy":[[0.19496482212611876,-1.5588849970236955],[0.30496481852960844,-1.4778410637708204]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.5377410469588817,1.29934759549676,0.71338606911949],"aabb_xy":[[-0.6227410453763049,1.214473300034475],[-0.45274104854145847,1.384221890959045]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.23433566534829775,-1.8369570368977468,0.71338606911949],"aabb_xy":[[0.17934018752763833,-1.8919570383316535],[0.28933114316895714,-1.7819570354638397]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.48376955390832754,0.4259759095562057,0.71338606911949],"aabb_xy":[[0.47652578786208216,0.34597591135260336],[0.4910133199545728,0.505975907759808]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.5419681842204547,-2.309053000447596,0.71338606911949],"aabb_xy":[[0.47796818200004765,-2.3534260845728845],[0.6059681864408617,-2.264679916322308]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[0.3266845637381601,-0.5306322512479764,0.71338606911949],"aabb_xy":[[0.24668456230803293,-0.6101494062605858],[0.4066845651682873,-0.45111509623536683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657049034481684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7693.png","name":"7693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7693.png","name":"7693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9332.png","name":"9332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6791.png","name":"6791"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/306.png","name":"306"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":522.2648614606671,"rotation_z_degrees":305.6171362643949,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011049847550607103,-0.018250371569325474,-0.012802332497777283]},{"name":"camera_2","offset_m":[0.007269545081900697,0.011379587066550897,0.009709010412631489]},{"name":"camera_3","offset_m":[0.011968715006868,-0.01046051947725151,-0.013550841551312516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019526986955584278,0.00043864108971772633,0.00014318834022071557],"end_effector_yaw_offset_degrees":0.8996262999378923},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012410927772527986,0.0015894426918356083,-0.0006572504704217242],"end_effector_yaw_offset_degrees":0.5933170878503167},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009366213598993838,0.0018844893194334238,-4.285166796859233e-05],"end_effector_yaw_offset_degrees":-0.1836667359414461}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015006768258039806,0.00047602722044488236],"position_m":[0.34929932317419604,0.15967602722044488,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013042265597242777,-0.004788496168642521],"position_m":[0.3304957734402757,-0.05608849616864252,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006668684442212346,0.0036859301329450695],"position_m":[0.31923313155577876,0.30978593013294503,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022821853742085564,0.00023344339039005693],"position_m":[0.21081781462579147,-0.38666655660960997,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"382494799ebec0452c2b1e336911f0a76819b35d9fef11918c05426ae3c14225","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0155.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7693/tex_ceiling_textures_306/tex_floor_textures_1437/tex_table_textures_9332/tex_wall_textures_6791","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7639293686321336811,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7639293686321336811,"visual_seed":7639293686321336811,"scene_id":"lab_003","finished_at":"2026-09-03T04:12:00"} +{"episode_id":"ep_000068","started_at":"2026-09-03T04:12:02","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[0.6318515485166498,-0.17612978488216102,0.71338606911949],"aabb_xy":[[0.6225579302794991,-0.2136297833702949],[0.6411451667538003,-0.1386297863940271]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.14928132090001356,-0.5685628963658451,0.71338606911949],"aabb_xy":[[-0.16121405526184163,-0.5809450491737045],[-0.1373485865381855,-0.5561807435579857]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.4429421600507957,1.785693064370562,0.71338606911949],"aabb_xy":[[-0.4572765851769591,1.773632848816023],[-0.4286077349246322,1.7977532799251006]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.18802772331645667,0.9188717698187201,0.71338606911949],"aabb_xy":[[0.16444259985256182,0.8538717675732883],[0.21161284678035153,0.9838717720641519]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.3727861373127639,-0.1629696569148673,0.71338606911949],"aabb_xy":[[-0.4367861380162333,-0.20898803938778834],[-0.30878613660929455,-0.1169512744419463]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.18181647154061686,1.1784215978111803,0.71338606911949],"aabb_xy":[[0.16423816935167002,1.1608471082370753],[0.1993947737295637,1.1959960873852853]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[0.2718032664510013,1.3337978168421625,0.71338606911949],"aabb_xy":[[0.19180326948796206,1.256722175198389],[0.3518032634140404,1.410873458485936]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.04853709634689374,1.3403655130186674,0.71338606911949],"aabb_xy":[[0.03143501838852558,1.3232587074873976],[0.0656391743052619,1.357472318549937]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.33279890402907264,-1.710411384360408,0.71338606911949],"aabb_xy":[[0.2627989022203272,-1.7317651531245952],[0.4027989058378181,-1.6890576155962205]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.14318071437865987,-2.2208678296283537,0.71338606911949],"aabb_xy":[[-0.16568071419256225,-2.2253424459988342],[-0.12068071456475749,-2.216393213257873]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.45663489384969447,-2.0523291570182365,0.71338606911949],"aabb_xy":[[0.3926348965640459,-2.09383587597108],[0.5206348911353431,-2.010822438065392]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5840837985109275,1.1558688894651485,0.71338606911949],"aabb_xy":[[0.5389124806627587,1.0918688923206101],[0.6292551163590966,1.219868886609687]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[0.4859802946343501,-0.7293637777677633,0.71338606911949],"aabb_xy":[[0.4494844740070713,-0.7658477201945209],[0.5224761152616288,-0.6928798353410057]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[0.05485352187153303,-0.7794835142241425,0.71338606911949],"aabb_xy":[[0.04605146656256031,-0.7872948403790714],[0.06365557718050573,-0.7716721880692132]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.6005460969780821,-0.8420803989859091,0.71338606911949],"aabb_xy":[[-0.635546095248202,-0.8491545266808972],[-0.5655460987079622,-0.8350062712909209]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.47646201927665754,0.5845136666851478,0.71338606911949],"aabb_xy":[[0.3964620212958725,0.5769121257232958],[0.5564620172574426,0.5921152076469997]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.21319182823934996,-1.146239984367563,0.71338606911949],"aabb_xy":[[-0.2384126650991896,-1.1714637352204496],[-0.18797099137951026,-1.121016233514676]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.03501867953546811,-1.4656735806575256,0.71338606911949],"aabb_xy":[[-0.07251867964106107,-1.4724957425105067],[0.002481320570124838,-1.4588514188045445]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.345564113507333,-1.4122139238194276,0.71338606911949],"aabb_xy":[[-0.4005573248444698,-1.4672139241582212],[-0.29057090217019627,-1.357213923480634]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.2091441195199384,0.2279424501055689,0.71338606911949],"aabb_xy":[[-0.25913895244788,0.17794245121032537],[-0.1591492865919968,0.27794244900081244]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.13627278928979736,-0.7391182918422416,0.71338606911949],"aabb_xy":[[-0.1538194842059163,-0.7766182934064929],[-0.11872609437367843,-0.7016182902779904]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.22355952259007317,-2.010318296520992,0.71338606911949],"aabb_xy":[[0.2109568234529967,-2.022913692745858],[0.23616222172714962,-1.997722900296127]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.09070475074302953,-0.35447498044646286,0.71338606911949],"aabb_xy":[[-0.1547047471386026,-0.4184382688651964],[-0.02670475434745645,-0.2905116920277293]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.5065384117964664,0.4390665492057395,0.71338606911949],"aabb_xy":[[-0.5565172203067823,0.38906654920002065],[-0.45655960328615053,0.48906654921145826]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.11874719724855942,-2.1739209246750297,0.71338606911949],"aabb_xy":[[0.04874719461197306,-2.194025789670895],[0.18874719988514577,-2.153816059679164]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.5249553060161185,0.09252384077859643,0.71338606911949],"aabb_xy":[[0.5060709222476083,0.07363791599824365],[0.5438396897846287,0.11140976555894921]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[-0.10683603562445043,-1.5387812108932666,0.71338606911949],"aabb_xy":[[-0.11475931586319878,-1.56128121113127],[-0.09891275538570211,-1.5162812106552632]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[0.5334567866378641,-2.1852474960229604,0.71338606911949],"aabb_xy":[[0.5286131918766342,-2.190099148501945],[0.5383003813990942,-2.1803958435439768]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[-0.39051368534644054,-1.2344589294278439,0.71338606911949],"aabb_xy":[[-0.4755136840385152,-1.2664447928227227],[-0.3055136866543659,-1.202473066032965]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[-0.6750536558536444,-0.7456073652914239,0.71338606911949],"aabb_xy":[[-0.6824661113950329,-0.7514585757130519],[-0.6676412003122559,-0.739756154869796]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.5442756528204177,-2.149483501634908,0.71338606911949],"aabb_xy":[[-0.6082713502155143,-2.2134834999356165],[-0.4802799554253211,-2.085483503334199]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[-0.022630383781221064,-0.5371921972164029,0.71338606911949],"aabb_xy":[[-0.03399211843450722,-0.5485606636226908],[-0.011268649127934897,-0.5258237308101147]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645262436669072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2373.png","name":"2373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2373.png","name":"2373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3482.png","name":"3482"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4113.png","name":"4113"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":506.7714437564441,"rotation_z_degrees":230.12453356144775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007984678100805984,-0.004097030178744469,0.001552672191129787]},{"name":"camera_2","offset_m":[0.008269163107527726,0.004486281711060407,0.013839863000104046]},{"name":"camera_3","offset_m":[-0.015835345355662042,-0.004922635534256257,0.014154165795924763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010968928123716356,0.0004898216733319766,-0.0001845078867812452],"end_effector_yaw_offset_degrees":0.7175641881806027},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011357693362368487,0.0016021972634363553,0.0008138177834262285],"end_effector_yaw_offset_degrees":0.7487200815433313},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001675865023327033,-0.0009970549322806397,0.00047256688691588774],"end_effector_yaw_offset_degrees":-0.8519023430638017}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004950259604774145,-0.000569004411920343],"position_m":[0.34584974039522587,0.15863099558807967,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012773898884003874,0.0014065870807013206],"position_m":[0.33307738988840035,-0.04989341291929868,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007581074024666868,0.001319820875350367],"position_m":[0.31914189259753334,0.30741982087535036,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001989939746359629,-0.0015138116261526214],"position_m":[0.21508993974635965,-0.3884138116261526,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"95c98164b44073171bc2e9e48be211e592659890d1c0c6323e9d2cd306b38fbb","episode_index":156,"episode_name":"episode_0156"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0156.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2373/tex_ceiling_textures_9139/tex_floor_textures_4113/tex_table_textures_7809/tex_wall_textures_3482","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6545635388172615182,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6545635388172615182,"visual_seed":6545635388172615182,"scene_id":"lab_003","finished_at":"2026-09-03T04:14:44"} +{"episode_id":"ep_000069","started_at":"2026-09-03T04:22:22","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.4477418351318212,-2.258897512959117,0.71338606911949],"aabb_xy":[[0.38374183870449935,-2.3060671367812136],[0.5117418315591431,-2.2117278891370207]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.12958995891905623,1.361317537708377,0.71338606911949],"aabb_xy":[[0.09919184781991262,1.3309106357067073],[0.15998807001819979,1.3917244397100463]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.4164170882667418,0.5773418066330711,0.71338606911949],"aabb_xy":[[-0.4804170874365117,0.5305751195141086],[-0.3524170890969718,0.6241084937520336]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.25462214914127707,-1.2631427874880996,0.71338606911949],"aabb_xy":[[-0.2720528642202835,-1.2804149021519502],[-0.23719143406227053,-1.2458706728242486]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.21101338560602856,0.7301377316368005,0.71338606911949],"aabb_xy":[[0.19338055001250096,0.7125147856211774],[0.2286462211995561,0.7477606776524234]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.10187870773780483,1.5047866620981059,0.71338606911949],"aabb_xy":[[0.03787870539500327,1.4598458108539734],[0.1658787100806064,1.5497275133422383]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.6239900075033437,1.3773139579615954,0.71338606911949],"aabb_xy":[[-0.6739729576908229,1.3273139583190348],[-0.5740070573158642,1.4273139576041556]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.40206992619626436,1.013692087424035,0.71338606911949],"aabb_xy":[[0.3220699240335018,0.9337369037978913],[0.4820699283590268,1.0936472710501786]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.21707744622866926,-2.051422565881637,0.71338606911949],"aabb_xy":[[-0.27206969686418025,-2.1064225676249504],[-0.16208519559315834,-1.9964225641383249]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.49616452136443867,-0.604857211314433,0.71338606911949],"aabb_xy":[[-0.546163796532875,-0.6548572125903802],[-0.44616524619600256,-0.5548572100384859]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.13978358203137597,1.0389882390174927,0.71338606911949],"aabb_xy":[[-0.1897835833922632,0.989010334442077],[-0.08978358067048876,1.088966143592908]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.20059377347149365,-2.5161072425471955,0.71338606911949],"aabb_xy":[[-0.23809377381972138,-2.527898638128279],[-0.16309377312326587,-2.504315846966112]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.28886457949989575,-2.549669595329759,0.71338606911949],"aabb_xy":[[0.2849040957301614,-2.5573374599152796],[0.2928250632696301,-2.5420017307442384]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.4191067571619326,1.2277750231397113,0.71338606911949],"aabb_xy":[[-0.4841067581624331,1.1769886579850364],[-0.35410675616143206,1.2785613882943863]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[0.585329210647723,1.4614048357535858,0.71338606911949],"aabb_xy":[[0.5213292103737448,1.4113387355562979],[0.6493292109217013,1.5114709359508738]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.5939614149542152,1.7915743941112345,0.71338606911949],"aabb_xy":[[-0.6071126609255046,1.7665743943545482],[-0.5808101689829259,1.8165743938679213]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.5613430841360446,0.007419362070007818,0.71338606911949],"aabb_xy":[[-0.5956399951537852,-0.02687752413993355],[-0.527046173118304,0.041716248279949186]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.3556846256603501,-0.5023615279875777,0.71338606911949],"aabb_xy":[[0.3056846246412149,-0.5388277437254057],[0.40568462667948546,-0.4658953122497498]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.2469851561480415,-1.1206694989872714,0.71338606911949],"aabb_xy":[[0.221985156596303,-1.130811982852406],[0.27198515569978,-1.1105270151221365]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.2376196706498605,0.12927651565442932,0.71338606911949],"aabb_xy":[[-0.31761966930674657,0.11477165673016654],[-0.15761967199297452,0.1437813745786921]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.6350241426906704,0.07931162682659032,0.71338606911949],"aabb_xy":[[0.6300681225057894,0.05681162662446872],[0.6399801628755517,0.10181162702871197]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.5364142231916571,-1.1207651201761886,0.71338606911949],"aabb_xy":[[-0.5864142248531518,-1.1707635624318913],[-0.4864142215301623,-1.0707666779204859]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.15886124961603532,0.9453238450954831,0.71338606911949],"aabb_xy":[[0.07886124818590812,0.8658066900828735],[0.23886125104616251,1.0248410001080925]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.004923955011162939,-1.2022851380744624,0.71338606911949],"aabb_xy":[[-0.06892395668916029,-1.2508025295537764],[0.059076046666834414,-1.153767746595148]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.22366759079564735,-1.6694271879346645,0.71338606911949],"aabb_xy":[[0.1339805144875319,-1.759427188189115],[0.3133546671037628,-1.579427187680214]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[-0.3631542751729483,-0.4878603138043336,0.71338606911949],"aabb_xy":[[-0.4431542723325236,-0.4994079147621506],[-0.283154278013373,-0.4763127128465165]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[-0.30957276748643603,-1.878941133411299,0.71338606911949],"aabb_xy":[[-0.3270727677457727,-1.8930326756000722],[-0.29207276722709946,-1.864849591222527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653342493013994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1051.png","name":"1051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1051.png","name":"1051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9348.png","name":"9348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2264.png","name":"2264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7210.png","name":"7210"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3708.png","name":"3708"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":622.5299962821962,"rotation_z_degrees":184.5893935189395,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016155001262658397,-0.003355736032789318,0.005606455636001234]},{"name":"camera_2","offset_m":[-0.0006540766974753379,0.01574713468622344,-0.01615465221847694]},{"name":"camera_3","offset_m":[-0.015388826581609711,0.008646529692989957,-0.017796260449367968]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00034363963088706565,-0.0008665409086293816,0.0013340767267289166],"end_effector_yaw_offset_degrees":0.34700601340873005},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001463877732091303,-9.010947242805143e-05,-0.0013191023489377573],"end_effector_yaw_offset_degrees":0.6018356199961914},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005633815137927112,-0.001643645228347045,0.0013593405952023454],"end_effector_yaw_offset_degrees":0.6041463224513439}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028971866515115014,-0.003394687245129829],"position_m":[0.3536971866515115,0.15580531275487017,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023274335000584723,-0.003270151821271512],"position_m":[0.33412743350005847,-0.05457015182127151,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021611520435426525,-0.0025654174067220137],"position_m":[0.3220611520435427,0.303534582593278,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014270587852478521,-0.0001396362435567818],"position_m":[0.21452705878524786,-0.3870396362435568,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f51ae9b28d376080b3ee07e73b49618f0e7e6d21a67e5a46b1c62493781090fa","episode_index":160,"episode_name":"episode_0160"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0160.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1051/tex_ceiling_textures_3708/tex_floor_textures_7210/tex_table_textures_9348/tex_wall_textures_2264","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":911391754690009676,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":911391754690009676,"visual_seed":911391754690009676,"scene_id":"lab_003","finished_at":"2026-09-03T04:25:16"} +{"episode_id":"ep_000070","started_at":"2026-09-03T04:28:18","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.4119557203221955,1.0347902959227855,0.71338606911949],"aabb_xy":[[0.3569557207004498,0.9798066031353128],[0.46695571994394147,1.0897739887102582]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.5398006409563354,1.6038070755323042,0.71338606911949],"aabb_xy":[[0.4897031769752618,1.5398070750224926],[0.589898104937409,1.6678070760421162]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.6133069681480346,-0.19546085244411726,0.71338606911949],"aabb_xy":[[-0.6773069673178046,-0.24222753956307974],[-0.5493069689782647,-0.14869416532515478]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.2640330217740081,-1.5303648521780264,0.71338606911949],"aabb_xy":[[0.23406546486418245,-1.5603648524759122],[0.2940005786838338,-1.5003648518801407]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.2716461886693075,1.3423588067112178,0.71338606911949],"aabb_xy":[[-0.3416461920608694,1.3070430330077867],[-0.20164618527774544,1.3776745804146484]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.575431390371784,1.0593020241868647,0.71338606911949],"aabb_xy":[[0.5138406311477913,0.9953020260778178],[0.637022149595777,1.1233020222959116]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.4483598629956256,-2.454934777900244,0.71338606911949],"aabb_xy":[[0.35835986626001537,-2.508118241217538],[0.5383598597312358,-2.401751314582949]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.24259546611484972,-1.3875746064499774,0.71338606911949],"aabb_xy":[[-0.3225954647021691,-1.466890208388138],[-0.16259546752753026,-1.3082590045118163]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.6308577182394535,1.198126058211995,0.71338606911949],"aabb_xy":[[0.6252760466053247,1.1856260583942193],[0.6364393898735823,1.2106260580297703]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.1012072289790995,-1.1610623573575596,0.71338606911949],"aabb_xy":[[0.09105421342495011,-1.1971318989302997],[0.11136024453324886,-1.124992815784819]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.32736723714316907,-1.1434955798098148,0.71338606911949],"aabb_xy":[[0.263367240747596,-1.2074588682285483],[0.39136723353874214,-1.0795322913910812]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.610640708025703,-0.0045402525937476845,0.71338606911949],"aabb_xy":[[0.5466450106306064,-0.06854025089445637],[0.6746364054207996,0.059459745706961]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.19157100557374696,1.4413577134436726,0.71338606911949],"aabb_xy":[[0.16907100506170633,1.418865855078274],[0.21407100608578752,1.4638495718090707]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.5007975514368099,0.247844067204118,0.71338606911949],"aabb_xy":[[0.44579755226022033,0.19285439242916036],[0.5557975506133993,0.30283374197907564]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.4857372091166741,-2.5021765097959126,0.71338606911949],"aabb_xy":[[-0.5082372091268224,-2.516272729435516],[-0.4632372091065258,-2.4880802901563093]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.2051277904458621,-2.422079548301723,0.71338606911949],"aabb_xy":[[-0.22730031742251294,-2.4442552154578454],[-0.1829552634692113,-2.3999038811455993]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.4629978703962373,-1.7449649696804987,0.71338606911949],"aabb_xy":[[-0.48054456531235623,-1.7824649712447502],[-0.44545117548011837,-1.7074649681162477]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.4394795868609296,-2.0376104598122855,0.71338606911949],"aabb_xy":[[0.41757090472157854,-2.059511126632376],[0.4613882690002806,-2.0157097929921943]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.35782752401443996,0.8559640734376752,0.71338606911949],"aabb_xy":[[-0.3841163483348806,0.8296926397830239],[-0.3315386996939993,0.8822355070923263]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.586584629258849,-0.16470606613965266,0.71338606911949],"aabb_xy":[[0.5694825513004809,-0.18181287167092242],[0.6036867072172172,-0.1475992606083829]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.135482785326149,-0.9289794780673613,0.71338606911949],"aabb_xy":[[-0.1473548683376501,-1.0139794777610116],[-0.12361070231464788,-0.8439794783737109]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.43676699243666983,-2.1029744261802334,0.71338606911949],"aabb_xy":[[-0.44554821958390617,-2.111754173468764],[-0.4279857652894337,-2.0941946788917036]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.3333314125415181,-0.1629213764012305,0.71338606911949],"aabb_xy":[[-0.3973314129190517,-0.21266664325204276],[-0.2693314121639845,-0.11317610955041824]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[-0.059406769828378336,1.6236904761636857,0.71338606911949],"aabb_xy":[[-0.12340677187811033,1.5835959930743777],[0.004593232221353667,1.6637849592529936]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.09441456657784864,-0.4575745321818725,0.71338606911949],"aabb_xy":[[-0.10321662188682135,-0.4653858583368015],[-0.08561251126887592,-0.44976320602694336]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.41359712930556464,-2.2970433603314855,0.71338606911949],"aabb_xy":[[-0.44859712843552024,-2.302788581407149],[-0.3785971301756089,-2.291298139255821]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.559379672106757,-1.4064115965007233,0.71338606911949],"aabb_xy":[[-0.5675073603000702,-1.415325204911431],[-0.5512519839134438,-1.3974979880900156]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.5976669611809522,-1.909041682580722,0.71338606911949],"aabb_xy":[[0.575153269357495,-1.9790416831817295],[0.6201806530044094,-1.8390416819797144]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[-0.14104030639798448,0.7616656617419157,0.71338606911949],"aabb_xy":[[-0.20504030351009017,0.7126332919475051],[-0.0770403092858788,0.8106980315363264]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_29","position":[-0.6182140524812807,-1.6094326816264233,0.71338606911949],"aabb_xy":[[-0.6733392581108715,-1.6694326830677102],[-0.5630888468516899,-1.549432680185136]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[0.6182876579718668,1.3230987433980563,0.71338606911949],"aabb_xy":[[0.5683145924393515,1.2730987435855237],[0.6682607235043824,1.3730987432105894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634734592771014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9547.png","name":"9547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8682.png","name":"8682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9313.png","name":"9313"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.1666541565335,"rotation_z_degrees":110.83132762571357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012944374715365112,-0.019663061910191893,-0.012818409278565906]},{"name":"camera_2","offset_m":[0.008750277097806479,0.0015127530211935143,0.019718649715550107]},{"name":"camera_3","offset_m":[-0.019475090639206296,0.009546273303573084,0.0197781575195432]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013594753071301052,-0.0010772421674653625,0.00037302168186569224],"end_effector_yaw_offset_degrees":0.38642631456429677},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010376688757110252,-0.000956115978199653,-0.0017597476325388823],"end_effector_yaw_offset_degrees":0.7303544628782521},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012695863315626962,-0.00029500127399341913,-0.001084985785030935],"end_effector_yaw_offset_degrees":-0.7359259133615361}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022511059403479876,-5.2780711975420995e-05],"position_m":[0.353051105940348,0.15914721928802458,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024639651626411387,-0.004982305310422181],"position_m":[0.32933603483735885,-0.05628230531042218,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011180585978305445,-0.004612565942620059],"position_m":[0.32101805859783056,0.30148743405737993,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00184603053111821,-0.002480137381580475],"position_m":[0.2112539694688818,-0.3893801373815805,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c401e61b60a71329399be4205cf5bf1b8ece6672b9e3033c11a5682ae37448bc","episode_index":162,"episode_name":"episode_0162"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0162.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4302/tex_ceiling_textures_9313/tex_floor_textures_4168/tex_table_textures_9547/tex_wall_textures_8682","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":921165416144188858,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":921165416144188858,"visual_seed":921165416144188858,"scene_id":"lab_003","finished_at":"2026-09-03T04:30:54"} +{"episode_id":"ep_000071","started_at":"2026-09-03T04:30:56","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[0.5156479279719062,-1.2213718451869537,0.71338606911949],"aabb_xy":[[0.485163677844876,-1.2713718449684497],[0.5461321780989363,-1.1713718454054578]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.09937731763867097,1.2426034775976418,0.71338606911949],"aabb_xy":[[0.029377314247108998,1.207287703894211],[0.16937732103023295,1.2779192513010726]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.5632269598207879,0.4418181395812164,0.71338606911949],"aabb_xy":[[-0.6132269614822825,0.3918196973255137],[-0.513226958159293,0.4918165818369191]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.3238657262609684,0.6594367668407721,0.71338606911949],"aabb_xy":[[-0.34054286225406394,0.6427368428668419],[-0.30718859026787293,0.6761366908147024]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.10261072681289385,0.7885452541875941,0.71338606911949],"aabb_xy":[[-0.14391526987662984,0.724545254619477],[-0.06130618374915785,0.8525452537557112]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.5476397324064082,1.3404876679007054,0.71338606911949],"aabb_xy":[[0.543209103051568,1.335039296166023],[0.5520703617612484,1.3459360396353879]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.17793478465302037,-0.5872656206382283,0.71338606911949],"aabb_xy":[[-0.2231061025011894,-0.6512656177827667],[-0.13276346680485143,-0.5232656234936899]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.5187308000554809,-1.3381158838087142,0.71338606911949],"aabb_xy":[[0.4849552408647879,-1.352154379021879],[0.5525063592461739,-1.3240773885955488]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.23914769710902178,1.5217552167313149,0.71338606911949],"aabb_xy":[[-0.2478456593997371,1.5096302424238401],[-0.23044973481830652,1.5338801910387896]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.09252111781456818,-1.9292551867637657,0.71338606911949],"aabb_xy":[[-0.157521115696216,-1.9803788504703068],[-0.027521119932920397,-1.878131523057225]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[0.25717120407637306,1.7043767007256796,0.71338606911949],"aabb_xy":[[0.24675964539588935,1.699030967389781],[0.2675827627568568,1.7097224340615778]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.3339164816403577,-1.1910997809669426,0.71338606911949],"aabb_xy":[[0.24391648304588776,-1.2073503672803636],[0.42391648023482764,-1.1748491946535216]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.360366725824003,-1.0675823226734678,0.71338606911949],"aabb_xy":[[-0.37816023275891936,-1.0853820682692656],[-0.3425732188890865,-1.0497825770776703]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.24051967012719921,-1.0305137530481217,0.71338606911949],"aabb_xy":[[-0.24465552645989944,-1.0680137524924787],[-0.23638381379449905,-0.9930137536037646]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.04763655003356648,-1.4342864860113724,0.71338606911949],"aabb_xy":[[-0.060263337320762826,-1.443832559712945],[-0.035009762746370125,-1.4247404123097993]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.40277130275768175,1.2088993154107386,0.71338606911949],"aabb_xy":[[-0.44027130257471525,1.2042611040995967],[-0.36527130294064813,1.2135375267218804]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.2208334205657071,-1.3313028762042418,0.71338606911949],"aabb_xy":[[-0.30083341752874626,-1.4083785178480153],[-0.1408334236026679,-1.2542272345604684]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.16787302646217706,-0.8357285593663479,0.71338606911949],"aabb_xy":[[0.15472178049088772,-0.8607285591230347],[0.18102427243346644,-0.8107285596096616]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.22900998759805036,0.9000025303714803,0.71338606911949],"aabb_xy":[[-0.2366342556882286,0.8923693068349365],[-0.22138571950787211,0.907635753908024]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.2727177751998995,-0.9057575784677885,0.71338606911949],"aabb_xy":[[0.2687572914301651,-0.9134254430533091],[0.2766782589696338,-0.8980897138822679]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.5014171830627907,1.0628896000841017,0.71338606911949],"aabb_xy":[[-0.591104259370906,0.9728895998296512],[-0.41173010675467514,1.1528896003385523]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.028083501943947486,-0.7026556143994616,0.71338606911949],"aabb_xy":[[0.0105835016988981,-0.7201554022390284],[0.045583502188996865,-0.6851558265598947]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.2783401946094859,-1.528715504460351,0.71338606911949],"aabb_xy":[[0.21434019749738026,-1.5777478742547617],[0.34234019172159164,-1.4796831346659405]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.07662353505897435,1.6851149632271825,0.71338606911949],"aabb_xy":[[-0.12662353607810964,1.6486487474893547],[-0.026623534039839088,1.7215811789650106]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[-0.6085549366136155,0.6267782733331084,0.71338606911949],"aabb_xy":[[-0.6585549378974552,0.5767994189424863],[-0.5585549353297753,0.6767571277237305]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.6871759059307738,-1.6414242922228657,0.71338606911949],"aabb_xy":[[0.6572083490209482,-1.6714242925207514],[0.7171434628405995,-1.61142429192498]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.4531583263362464,-1.841467799001405,0.71338606911949],"aabb_xy":[[0.40315832675991176,-1.891448377953511],[0.5031583259125811,-1.791487220049299]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[0.6191644596324699,1.1768666775971042,0.71338606911949],"aabb_xy":[[0.5551644575827378,1.1367721945077964],[0.6831644616822018,1.2169611606864124]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[0.4356307735730456,1.527950210497647,0.71338606911949],"aabb_xy":[[0.3856307732124795,1.477970223288044],[0.48563077393361165,1.57793019770725]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[0.6899776519737768,-1.912251365801339,0.71338606911949],"aabb_xy":[[0.6840111130330411,-1.9182125104607028],[0.6959441909145125,-1.9062902211419746]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_30","position":[-0.16515186298927687,1.103854242353533,0.71338606911949],"aabb_xy":[[-0.1826985579053958,1.0663542407892816],[-0.14760516807315793,1.1413542439177842]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[0.02528906367295647,-2.4439352757797392,0.71338606911949],"aabb_xy":[[0.0033993160840156684,-2.5339352730689884],[0.04717881126189726,-2.35393527849049]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_32","position":[0.28448086479801915,-0.6884809473411102,0.71338606911949],"aabb_xy":[[0.22048086312002174,-0.7369983388204243],[0.34848086647601645,-0.6399635558617959]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_33","position":[-0.12513375115840153,-1.5772194120788194,0.71338606911949],"aabb_xy":[[-0.14263375141773818,-1.5913109542675925],[-0.10763375089906493,-1.5631278698900473]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_34","position":[-0.1330727229186831,-2.3300633118067218,0.71338606911949],"aabb_xy":[[-0.22307271941955484,-2.37597495422518],[-0.04307272641781134,-2.2841516693882635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672667093503534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1719.png","name":"1719"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1719.png","name":"1719"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4536.png","name":"4536"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6761.png","name":"6761"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.1598008555153,"rotation_z_degrees":137.1462711165528,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006814058961433132,0.0035606634916106918,0.009473356768551565]},{"name":"camera_2","offset_m":[0.010296023252831063,-0.006877299701213672,0.01827367834014092]},{"name":"camera_3","offset_m":[-0.012900113759369445,-0.0015881510081760634,-0.006145854206638069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001552514660569273,-0.0006031429021800157,-0.0010105413999327176],"end_effector_yaw_offset_degrees":0.28307004811186154},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001100081930159067,0.0016181809362446967,0.0018874054989335108],"end_effector_yaw_offset_degrees":0.29555696129210407},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-1.6291012153806916e-05,0.0019994896070056932,-0.0016995354746494442],"end_effector_yaw_offset_degrees":0.2905393592016059}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00039384037036819565,0.004624101041843334],"position_m":[0.3504061596296318,0.16382410104184333,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016733532385363203,0.00015689834765541567],"position_m":[0.33012664676146364,-0.051143101652344584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016659518093762446,0.002598191399767278],"position_m":[0.32156595180937625,0.3086981913997673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001807504726862409,-0.0035649033505561504],"position_m":[0.2112924952731376,-0.39046490335055617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"21ca4d63e34c3481099d898e752a8b766ae01ee91992111b4987e83705fbfa3e","episode_index":163,"episode_name":"episode_0163"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0163.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1719/tex_ceiling_textures_6761/tex_floor_textures_2808/tex_table_textures_7400/tex_wall_textures_4536","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2563643469927088162,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2563643469927088162,"visual_seed":2563643469927088162,"scene_id":"lab_003","finished_at":"2026-09-03T04:33:35"} +{"episode_id":"ep_000072","started_at":"2026-09-03T04:33:39","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.47317661984366444,-2.346363282176776,0.71338606911949],"aabb_xy":[[0.46613630991012744,-2.4263632815764473],[0.48021692977720143,-2.2663632827771045]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.5645514291010236,1.4021618923219297,0.71338606911949],"aabb_xy":[[0.5553915501571469,1.3956306742783924],[0.5737113080449001,1.4086931103654665]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.13035254599360957,-2.44640412907006,0.71338606911949],"aabb_xy":[[-0.14120415224248514,-2.4572634197977115],[-0.11950093974473394,-2.435544838342409]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.24200329336174248,0.1524824952757493,0.71338606911949],"aabb_xy":[[-0.25868042935483804,0.13578257130181906],[-0.225326157368647,0.1691824192496796]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.2544251186964134,-0.7121338646178315,0.71338606911949],"aabb_xy":[[0.1904251195266434,-0.7589005517367938],[0.31842511786618327,-0.6653671774988689]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.574069215136779,-0.944178788685692,0.71338606911949],"aabb_xy":[[0.5666567595953904,-0.9500299991073201],[0.5814816706781674,-0.9383275782640642]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.012717941627176876,-1.9779705252521262,0.71338606911949],"aabb_xy":[[-0.037277069332275155,-2.027970524287718],[0.06271295258662891,-1.9279705262165348]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.46764486445109954,-1.8165683897626586,0.71338606911949],"aabb_xy":[[-0.49597457439963977,-1.8210291319563756],[-0.4393151545025593,-1.8121076475689415]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.30442089109418285,0.9081661156780498,0.71338606911949],"aabb_xy":[[-0.31952319255520084,0.8930645940469879],[-0.28931858963316465,0.9232676373091115]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.11618444890742707,1.291963640722623,0.71338606911949],"aabb_xy":[[-0.12061507826226725,1.2865152689879404],[-0.1117538195525869,1.2974120124573054]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.5846577165090777,1.557706234119951,0.71338606911949],"aabb_xy":[[-0.6221577163261112,1.553068022808809],[-0.547157716692044,1.5623444454310926]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.555130254620783,0.5233121415787676,0.71338606911949],"aabb_xy":[[-0.5895927326338708,0.5166484643958448],[-0.5206677766076953,0.5299758187616904]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.2775649294836101,-0.9776978694363243,0.71338606911949],"aabb_xy":[[-0.33756493034442286,-1.0291242994428105],[-0.21756492862279728,-0.9262714394298378]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.24995324482923292,-0.22906401885363703,0.71338606911949],"aabb_xy":[[-0.25866721387916736,-0.2515640195128252],[-0.2412392757792984,-0.20656401819444878]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.5711525316723789,-1.4044470981239132,0.71338606911949],"aabb_xy":[[0.511152530029457,-1.4564472474158574],[0.6311525333153007,-1.352446948831969]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.26708212816531557,-1.3985747552581216,0.71338606911949],"aabb_xy":[[-0.2970496850751413,-1.4285747555560073],[-0.23711457125548996,-1.3685747549602358]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.430305038348471,1.0166954157718169,0.71338606911949],"aabb_xy":[[0.3943915339234813,0.9807819075550622],[0.4662185427734607,1.0526089239885714]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.44608301036282794,-0.9260844237661239,0.71338606911949],"aabb_xy":[[0.40389859620199725,-0.9900844240433351],[0.48826742452365873,-0.8620844234889127]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.5710693155140164,0.9651189991550471,0.71338606911949],"aabb_xy":[[-0.6210624276232084,0.9151189984808515],[-0.5210762034048246,1.0151189998292427]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.3526107864316197,-2.1409483266859506,0.71338606911949],"aabb_xy":[[0.28261078304005766,-2.176264100389381],[0.4226107898231816,-2.1056325529825193]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.0191943731329991,-2.2794842337288643,0.71338606911949],"aabb_xy":[[0.007261638771171031,-2.2918663865367237],[0.031127107494827166,-2.267102080921005]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[0.7078191531247917,-0.9336885037272287,0.71338606911949],"aabb_xy":[[0.6969786748982767,-0.9508747850178774],[0.7186596313513065,-0.9165022224365797]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.6415210037855512,0.06009043280190207,0.71338606911949],"aabb_xy":[[0.5815210039389843,0.0032718106088633833],[0.7015210036321179,0.11690905499494075]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.3059348962173398,-2.0015960704410087,0.71338606911949],"aabb_xy":[[0.28843489693925295,-2.0189341705073547],[0.3234348954954267,-1.9842579703746628]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.4494030253821619,1.4226241249911777,0.71338606911949],"aabb_xy":[[0.4268893335587047,1.35262412439017],[0.47191671720561906,1.492624125592185]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.42275095266799007,-2.2210642697849807,0.71338606911949],"aabb_xy":[[-0.4877509508239091,-2.247360514334893],[-0.357750954512071,-2.1947680252350685]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_26","position":[0.702224187931406,-1.6760064791565705,0.71338606911949],"aabb_xy":[[0.6904560011367484,-1.7610064790617925],[0.7139923747260635,-1.5910064792513494]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.11661581130942855,-1.9087117850138404,0.71338606911949],"aabb_xy":[[0.10858954067880257,-1.917463279991193],[0.12464208194005456,-1.8999602900364878]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[-0.6270022542045202,0.39097580230910145,0.71338606911949],"aabb_xy":[[-0.6522230910643597,0.36575205145621464],[-0.6017814173446804,0.41619955316198814]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.13182361003868692,-0.6208427571657291,0.71338606911949],"aabb_xy":[[-0.2118236070017261,-0.6979183988095026],[-0.051823613075647756,-0.5437671155219557]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.49409200639055245,0.7125891593759386,0.71338606911949],"aabb_xy":[[-0.5440920050364737,0.6626696157164762],[-0.4440920077446313,0.762508703035401]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[-0.23704351451552857,-1.613581735919695,0.71338606911949],"aabb_xy":[[-0.3270435181924467,-1.6750141424967988],[-0.14704351083861036,-1.55214932934259]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[-0.5738759076502888,-1.252296775581974,0.71338606911949],"aabb_xy":[[-0.6166426145297091,-1.3162967790037765],[-0.5311092007708688,-1.1882967721601716]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_33","position":[-0.3663812868011463,0.6927870599810424,0.71338606911949],"aabb_xy":[[-0.37437477659642837,0.6847889280405669],[-0.3583877970058643,0.7007851919215181]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631262133743794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9714.png","name":"9714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9714.png","name":"9714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4293.png","name":"4293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/470.png","name":"470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":740.8061144395164,"rotation_z_degrees":82.62630457166522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015190953596382964,-0.01914156966412345,0.01940892131403962]},{"name":"camera_2","offset_m":[-0.014767526160661605,-0.01710734398650383,0.003392388337142088]},{"name":"camera_3","offset_m":[-0.009903864702343572,-0.017453778346584094,-0.010326110364213874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011699701719082435,0.0009972590912628154,-0.001527358934848789],"end_effector_yaw_offset_degrees":0.06543830827683816},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00073290788127709,0.0011759793494702689,-0.0001416838224894575],"end_effector_yaw_offset_degrees":-0.052620117915490594},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0004858155520051626,-0.0011403769755673338,-0.0016303078605348614],"end_effector_yaw_offset_degrees":0.8228080838924032}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029853419748988043,-0.00428045329174109],"position_m":[0.3478146580251012,0.15491954670825892,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003278667345108101,-0.0022808932065748046],"position_m":[0.32852133265489186,-0.0535808932065748,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006991092829593927,-0.004555551691735314],"position_m":[0.3205991092829594,0.30154444830826466,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020962897008201965,0.0003707969421242992],"position_m":[0.2110037102991798,-0.38652920305787575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e5d5f878da7cc20099c661522183a5842026a3b0939230946f7fc7daec0e418","episode_index":164,"episode_name":"episode_0164"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0164.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9714/tex_ceiling_textures_1891/tex_floor_textures_470/tex_table_textures_4293/tex_wall_textures_6430","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":969508520149353722,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":969508520149353722,"visual_seed":969508520149353722,"scene_id":"lab_003","finished_at":"2026-09-03T04:36:26"} +{"episode_id":"ep_000073","started_at":"2026-09-03T04:45:18","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.5679800886698907,-1.608962166808841,0.71338606911949],"aabb_xy":[[-0.6229800882916366,-1.6639458595963137],[-0.512980089048145,-1.5539784740213682]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.36761803978892127,-2.194725063190252,0.71338606911949],"aabb_xy":[[0.33011804136552086,-2.207889277158083],[0.40511803821232156,-2.1815608492224214]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.13786496275433036,-0.848717249402481,0.71338606911949],"aabb_xy":[[0.05786496132420313,-0.9282344044150905],[0.21786496418445753,-0.7692000943898716]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.4767064220602568,-1.476187534489202,0.71338606911949],"aabb_xy":[[0.416706420417335,-1.5281876837811461],[0.5367064237031787,-1.4241873851972577]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.07841864807713861,0.1799184374617231,0.71338606911949],"aabb_xy":[[-0.08978038273042475,0.168549971055435],[-0.06705691342385244,0.19128690386801117]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.19866986211663346,-2.513131150295054,0.71338606911949],"aabb_xy":[[-0.23211003731265303,-2.546574776125984],[-0.16522968692061382,-2.4796875244641234]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.3173187701752431,1.2535905134211522,0.71338606911949],"aabb_xy":[[-0.3873187728118294,1.2334856484252865],[-0.24731876753865673,1.2736953784170175]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.018896242728274282,-0.7698964498945373,0.71338606911949],"aabb_xy":[[-0.04389624200023656,-0.7862418134906997],[0.006103756543687995,-0.753551086298375]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.3196154940860296,-0.5340947792985231,0.71338606911949],"aabb_xy":[[-0.365700585340761,-0.5980947765510782],[-0.27353040283129804,-0.47009478204596805]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.30879024889907175,-2.2594649884669438,0.71338606911949],"aabb_xy":[[-0.3737902474561446,-2.2892175218808264],[-0.24379025034199892,-2.229712455053061]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.4477021030215599,1.5374155396539515,0.71338606911949],"aabb_xy":[[-0.4605740065225,1.4574155392401154],[-0.43483019952061974,1.6174155400677876]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.07979474624945726,0.4614455919665619,0.71338606911949],"aabb_xy":[[-0.08370861944487978,0.45269657656000506],[-0.07588087305403474,0.4701946073731186]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[-0.4434124624617373,0.19876488873616127,0.71338606911949],"aabb_xy":[[-0.4528299370316,0.18934871159844222],[-0.4339949878918745,0.20818106587388027]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.5011014444312669,1.6514341815254405,0.71338606911949],"aabb_xy":[[0.446101446229522,1.610912214899003],[0.5561014426330116,1.6919561481518781]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.6347471849691645,-0.0007357472703932721,0.71338606911949],"aabb_xy":[[-0.6522471841035314,-0.010615374307981094],[-0.6172471858347971,0.00914387976719455]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.1707265262763098,-1.7574676332176082,0.71338606911949],"aabb_xy":[[-0.1957265254419429,-1.764419878922965],[-0.14572652711067668,-1.7505153875122519]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.027960636872821243,-1.5335948213171138,0.71338606911949],"aabb_xy":[[0.021866008984702926,-1.5421642158687823],[0.03405526476093956,-1.5250254267654448]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.34128567684819416,0.5848680721587529,0.71338606911949],"aabb_xy":[[-0.38347009100902496,0.5208680718815418],[-0.2991012626873635,0.6488680724359642]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.26692046078377907,1.0693143444558268,0.71338606911949],"aabb_xy":[[-0.3164008819977378,1.0053143465429752],[-0.21744003956982022,1.133314342368679]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.05207563985008046,1.2490776603537341,0.71338606911949],"aabb_xy":[[-0.11607564207048748,1.2047045762284458],[0.011924362370326569,1.2934507444790224]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.6140224583953242,-1.9126352163239893,0.71338606911949],"aabb_xy":[[0.6069821484617872,-1.9926352157236609],[0.6210627683288612,-1.832635216924318]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.7098749113241825,-0.004544522002526197,0.71338606911949],"aabb_xy":[[0.6986298557535645,-0.01578631972662148],[0.7211199668948002,0.006697275721569085]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.07704353562134769,-1.0764237893913982,0.71338606911949],"aabb_xy":[[0.01704353577478089,-1.1332424115844366],[0.13704353546791448,-1.0196051671983593]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.5884981729821521,0.9022772585920724,0.71338606911949],"aabb_xy":[[0.5334981738055626,0.8472875838171147],[0.6434981721587416,0.95726693336703]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[-0.057639225051291376,0.07772526553816794,0.71338606911949],"aabb_xy":[[-0.06248281981252136,0.07287361305918383],[-0.05279563029006141,0.08257691801715206]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628293334416394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/124.png","name":"124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3674.png","name":"3674"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":698.5571330533278,"rotation_z_degrees":276.0110846504079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004188824176395985,0.011075686934713384,0.004558176867837854]},{"name":"camera_2","offset_m":[-0.016696744332481927,-0.01577797504762084,-0.011029112955470724]},{"name":"camera_3","offset_m":[0.019607461953447727,0.008789330195022708,0.005631472029486044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009105124759262746,-0.0010001123407836837,0.0010583625490038846],"end_effector_yaw_offset_degrees":0.7388380846297731},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000727467744522369,0.00173098540471598,-0.00020450580355498016],"end_effector_yaw_offset_degrees":0.1783830906895727},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010664099473684558,0.0013137959219395217,-0.0017971008808990358],"end_effector_yaw_offset_degrees":0.8583866782798266}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[6.995338469093643e-05,-0.0013750580846895932],"position_m":[0.35086995338469096,0.1578249419153104,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003487423515631114,0.0001754794173197613],"position_m":[0.32831257648436885,-0.05112452058268024,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001365679493294547,-0.0011900686631839798],"position_m":[0.3185343205067055,0.304909931336816,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011196505726311671,0.0035539432695157426],"position_m":[0.21421965057263118,-0.3833460567304843,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44b81a8f26cf554aec034aa58299ba1ad38b137886d8211fc1bbc5267dfe51c5","episode_index":169,"episode_name":"episode_0169"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0169.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1707/tex_ceiling_textures_5246/tex_floor_textures_1152/tex_table_textures_124/tex_wall_textures_3674","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6028130039883451680,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6028130039883451680,"visual_seed":6028130039883451680,"scene_id":"lab_003","finished_at":"2026-09-03T04:47:55"} +{"episode_id":"ep_000074","started_at":"2026-09-03T04:51:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.23662938833531877,-1.7561476735197135,0.71338606911949],"aabb_xy":[[0.23031728879898036,-1.7619146127729324],[0.24294148787165723,-1.7503807342664945]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.2564436759747081,-0.837980061495583,0.71338606911949],"aabb_xy":[[0.19244367868905943,-0.879486780448427],[0.3204436732603567,-0.796473342542739]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.557648554686816,-1.6703372450898484,0.71338606911949],"aabb_xy":[[0.5201485545149439,-1.7030379804727556],[0.5951485548586878,-1.6376365097069412]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.3269888515748949,-2.2671668486055876,0.71338606911949],"aabb_xy":[[0.2769888505557596,-2.3036330643434155],[0.3769888525940302,-2.2307006328677597]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.23012427225677584,1.4946271054460447,0.71338606911949],"aabb_xy":[[-0.28012427261734185,1.4446471182364413],[-0.18012427189620975,1.5446070926556472]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.4387641984492743,1.5012164900752993,0.71338606911949],"aabb_xy":[[-0.449669974536837,1.42121649367647],[-0.42785842236171157,1.5812164864741283]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.608859058119344,-0.6021004745587042,0.71338606911949],"aabb_xy":[[0.5588590571688111,-0.6336496215622255],[0.6588590590698767,-0.5705513275551827]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.21685918374409252,-0.9803238898810134,0.71338606911949],"aabb_xy":[[0.15685918210117064,-1.0323240391729573],[0.2768591853870144,-0.9283237405890691]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.07498882109241867,-2.0100967240584113,0.71338606911949],"aabb_xy":[[0.04998882182045639,-2.0264420876545732],[0.09998882036438095,-1.9937513604622488]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[-0.47423588838958813,0.06888803674068145,0.71338606911949],"aabb_xy":[[-0.5382358916792962,0.02555311773676384],[-0.41023588509988,0.11222295574459906]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.6305822764650566,-0.6239738297015385,0.71338606911949],"aabb_xy":[[-0.6640614437260977,-0.6574529430726455],[-0.5971031092040158,-0.5904947163304315]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.4472807066695032,-1.3377346103492163,0.71338606911949],"aabb_xy":[[-0.49441008567133876,-1.401734611393618],[-0.4001513276676674,-1.273734609304814]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.5738833065455398,0.45646250083007045,0.71338606911949],"aabb_xy":[[0.5689272863606586,0.43396250062794894],[0.5788393267304209,0.4789625010321922]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.5776771489375765,-0.3993300960189434,0.71338606911949],"aabb_xy":[[0.5531635248405706,-0.4235946893209799],[0.6021907730345823,-0.375065502716907]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.4996635147105902,-1.071204030212202,0.71338606911949],"aabb_xy":[[-0.5246635138762232,-1.0781562759175585],[-0.47466351554495706,-1.0642517845068453]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.46279648931634076,1.4453273975236498,0.71338606911949],"aabb_xy":[[0.3987964876383434,1.3968100060443356],[0.5267964909943381,1.493844789002964]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.056397844051584434,0.9219978271147493,0.71338606911949],"aabb_xy":[[0.04676620783115481,0.9123605143350402],[0.06602948027201405,0.931635139894458]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.013425239851091453,-0.5363807644234373,0.71338606911949],"aabb_xy":[[-0.02066900589733678,-0.6163807626270397],[-0.006181473804846127,-0.4563807662198349]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.42842667907474574,0.7838126718477247,0.71338606911949],"aabb_xy":[[0.4005816422941386,0.7530281731094131],[0.45627171585535287,0.8145971705860364]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.5174943970448193,0.39006606724190185,0.71338606911949],"aabb_xy":[[-0.5424943965965577,0.3799235833767671],[-0.49249439749308077,0.40020855110703657]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.39358783971232003,1.0267555666869894,0.71338606911949],"aabb_xy":[[0.3792534145861566,1.0146953511324506],[0.4079222648384835,1.0388157822415283]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.22380428819357023,0.6990701788312492,0.71338606911949],"aabb_xy":[[-0.24630428771727758,0.6765742313806283],[-0.20130428866986277,0.7215661262818699]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[0.03127451103056589,-1.9301009936649807,0.71338606911949],"aabb_xy":[[0.013774510785516501,-1.9476007815045473],[0.048774511275615266,-1.9126012058254136]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.5617182651723036,-1.7836777991983177,0.71338606911949],"aabb_xy":[[0.4977182631225716,-1.8237722822876257],[0.6257182672220356,-1.7435833161090097]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[-0.5255160100810758,-0.8701982273461562,0.71338606911949],"aabb_xy":[[-0.6055160080618608,-0.8777997683080081],[-0.44551601210029074,-0.8625966863843042]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[0.038525189841796315,0.7462463637429617,0.71338606911949],"aabb_xy":[[0.007378270998213199,0.6762463650561545],[0.06967210868537943,0.8162463624297689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687728446156646,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4174.png","name":"4174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1202.png","name":"1202"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":665.9467322458729,"rotation_z_degrees":27.898181751885932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015540233669059558,0.00019257776497991208,0.006377794111907559]},{"name":"camera_2","offset_m":[0.013765813982700891,0.0024044135685210473,-0.008522205711344398]},{"name":"camera_3","offset_m":[0.014192216656268106,0.014990525766023954,0.004708996258827085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008062316478383573,-0.0003490485026609331,0.0010050546285322415],"end_effector_yaw_offset_degrees":0.9792182993000458},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016897738510206878,0.00035170022297831846,-0.0006254984057310095],"end_effector_yaw_offset_degrees":0.24129179338353968},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008988753102637686,0.001786620077609795,0.0006701584331606971],"end_effector_yaw_offset_degrees":-0.5398095379576444}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003412590231205866,-0.0032917514658401927],"position_m":[0.3542125902312059,0.15590824853415983,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001401060521015175,-0.0005538059783664825],"position_m":[0.3303989394789848,-0.05185380597836648,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023053783758425735,0.004624789501423687],"position_m":[0.32220537837584257,0.3107247895014237,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.060918558413979e-05,0.001700889619821424],"position_m":[0.21318060918558415,-0.3851991103801786,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e80e83b4d37aac976a35a8e976fd056561a0f5c18373b991997d5fad09e7905","episode_index":172,"episode_name":"episode_0172"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0172.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8929/tex_ceiling_textures_1202/tex_floor_textures_4454/tex_table_textures_1358/tex_wall_textures_4174","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2623013209937047681,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2623013209937047681,"visual_seed":2623013209937047681,"scene_id":"lab_003","finished_at":"2026-09-03T04:53:39"} +{"episode_id":"ep_000075","started_at":"2026-09-03T04:56:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.4810157514343747,0.8226723094071509,0.71338606911949],"aabb_xy":[[-0.4869822903751105,0.8167111647477867],[-0.4750492124936389,0.8286334540665148]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.02084836456402328,1.0950955577728645,0.71338606911949],"aabb_xy":[[-0.08484836597201394,1.0433066062489396],[0.043151636843967375,1.146884509296789]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.2114414135577411,0.988041551095463,0.71338606911949],"aabb_xy":[[-0.27544141560747315,0.947947068006155],[-0.14744141150800913,1.028136034184771]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.33164622387157516,1.1309208797228796,0.71338606911949],"aabb_xy":[[0.3016786669617495,1.100920879424994],[0.36161378078140083,1.1609208800207655]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.6078936800698764,-0.06443309455677149,0.71338606911949],"aabb_xy":[[0.5478936794738601,-0.11924556710199496],[0.6678936806658925,-0.009620622011548008]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.5905827485324829,-0.9368250355937622,0.71338606911949],"aabb_xy":[[-0.6545827456445886,-0.9858574053881728],[-0.5265827514203772,-0.8877926657993516]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.40853005213605353,-2.1922265989590763,0.71338606911949],"aabb_xy":[[0.39342775067503527,-2.207328120590138],[0.42363235359707146,-2.177125077328014]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.3379450910994366,0.6011393440653379,0.71338606911949],"aabb_xy":[[0.29576067693860586,0.5371393437881267],[0.38012950526026734,0.6651393443425491]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.3354283277955088,-1.3077115277831286,0.71338606911949],"aabb_xy":[[0.2714283274179752,-1.3574567946339406],[0.3994283281730424,-1.2579662609323161]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.3163031223298559,-0.890304116623287,0.71338606911949],"aabb_xy":[[-0.3218847939639847,-0.9028041164410624],[-0.31072145069572715,-0.8778041168055114]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.4878469288489701,-1.7724384298678095,0.71338606911949],"aabb_xy":[[-0.5234760847489299,-1.8080710966246625],[-0.4522177729490104,-1.7368057631109566]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.14117913252405756,-2.0738940531320953,0.71338606911949],"aabb_xy":[[0.11866544070060037,-2.143894053733103],[0.16369282434751475,-2.0038940525310878]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.6387553721832444,-0.19083266759683104,0.71338606911949],"aabb_xy":[[0.5587553711101242,-0.20061071393421548],[0.7187553732563648,-0.1810546212594466]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.2431462653453439,-2.1698108595309265,0.71338606911949],"aabb_xy":[[-0.2931250738556598,-2.2198108595366453],[-0.193167456835028,-2.1198108595252076]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.5135281027542244,-1.6346096748172578,0.71338606911949],"aabb_xy":[[0.5041810951719292,-1.6489132970349016],[0.5228751103365197,-1.6203060525996136]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.6369722456286349,0.2793055165772169,0.71338606911949],"aabb_xy":[[-0.6946027145159057,0.21930551765050627],[-0.579341776741364,0.33930551550392746]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.11777574787064071,0.9117121586447485,0.71338606911949],"aabb_xy":[[0.1128764555640772,0.8840352393421796],[0.1226750401772042,0.9393890779473172]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.20297163644830002,1.1807214553251906,0.71338606911949],"aabb_xy":[[-0.22054993863724684,1.1631469657510853],[-0.18539333425935314,1.1982959448992954]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.1889826768884202,0.6071682019311462,0.71338606911949],"aabb_xy":[[-0.23898267724898625,0.5571882147215431],[-0.13898267652785412,0.657148189140749]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.2985331132437273,-0.989738015847847,0.71338606911949],"aabb_xy":[[-0.32103311325387557,-1.0038342354874503],[-0.276033113233579,-0.9756417962082438]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.5965358810527097,-2.4654848838710572,0.71338606911949],"aabb_xy":[[0.5740711110813045,-2.4879848847499173],[0.6190006510241147,-2.4429848829921963]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.637951730666029,-2.3322641859135445,0.71338606911949],"aabb_xy":[[-0.6929439813015399,-2.3872641876568577],[-0.582959480030518,-2.277264184170232]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.32776612192170673,1.626881488456236,0.71338606911949],"aabb_xy":[[0.2777661209711739,1.5953323414527143],[0.37776612287223954,1.658430635459757]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.27631027969963173,-1.5586096225503234,0.71338606911949],"aabb_xy":[[-0.33131027932137763,-1.6135933153377962],[-0.22131028007788595,-1.5036259297628507]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[0.671737492918304,1.467533202980157,0.71338606911949],"aabb_xy":[[0.6636098047249908,1.4586195945694491],[0.6798651811116172,1.4764468113908646]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.16548569723193862,0.39481606016603576,0.71338606911949],"aabb_xy":[[-0.17426692437917488,0.3860363128775057],[-0.15670447008470242,0.403595807454566]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[-0.26593964804473086,0.24284731449979668,0.71338606911949],"aabb_xy":[[-0.33593965017616034,0.22008534887410097],[-0.19593964591330126,0.2656092801254923]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640144206781714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6861.png","name":"6861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6742.png","name":"6742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4687.png","name":"4687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5960.png","name":"5960"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":738.5762738082349,"rotation_z_degrees":259.92622662517243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008177690238426322,0.006440325603755452,0.010235189464379985]},{"name":"camera_2","offset_m":[0.010778565472409848,0.016638773794559896,-0.015683592192497296]},{"name":"camera_3","offset_m":[0.0007164244497897994,-0.018828869924233046,0.014984233583612932]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003985598207552018,0.00018023435560526142,9.691454924670977e-05],"end_effector_yaw_offset_degrees":-0.07075755668195405},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00028292263884825437,-0.0012594330842578606,0.0014320392102957062],"end_effector_yaw_offset_degrees":0.690716192038513},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015520589375007288,0.0003666711040903499,0.001825598760361953],"end_effector_yaw_offset_degrees":0.19109367347119188}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0043561587013444215,-0.0022853279044343458],"position_m":[0.3464438412986556,0.15691467209556567,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002009307159734063,-0.0035333736999834733],"position_m":[0.3297906928402659,-0.05483337369998347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028759153007011074,0.004251191805908035],"position_m":[0.31702408469929894,0.31035119180590803,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00022169536289969906,0.0008817237071629177],"position_m":[0.2128783046371003,-0.3860182762928371,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a7677dcd40038f1f4b4a3d7ca60d5195c188afb72f25126958959649b18f6611","episode_index":175,"episode_name":"episode_0175"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0175.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2730/tex_ceiling_textures_5960/tex_floor_textures_4687/tex_table_textures_6861/tex_wall_textures_6742","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2293675350821267661,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2293675350821267661,"visual_seed":2293675350821267661,"scene_id":"lab_003","finished_at":"2026-09-03T04:59:09"} +{"episode_id":"ep_000076","started_at":"2026-09-03T05:00:43","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.0074295121462194524,-1.9439135002417514,0.71338606911949],"aabb_xy":[[-0.020900197802320775,-1.9483742424354684],[0.03575922209475968,-1.9394527580480343]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.6242528874286037,-2.1014156469654095,0.71338606911949],"aabb_xy":[[-0.6319560781026807,-2.109125017664147],[-0.6165496967545268,-2.093706276266671]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.37423240002684044,0.43730810320715685,0.71338606911949],"aabb_xy":[[0.34923240009432255,0.4304254349862336],[0.39923239995935833,0.4441907714280802]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.6096722958394903,-2.411510388164119,0.71338606911949],"aabb_xy":[[-0.6736722944260627,-2.4585173515636276],[-0.5456722972529178,-2.36450342476461]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.6622318053590153,0.382647808711154,0.71338606911949],"aabb_xy":[[-0.6774039746406486,0.3674789517829507],[-0.6470596360773819,0.3978166656393574]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.30149418594038946,-1.0691537162392057,0.71338606911949],"aabb_xy":[[-0.32138522582072976,-1.0818095275239028],[-0.28160314606004927,-1.0564979049545091]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.3764107120495644,0.3771391121664074,0.71338606911949],"aabb_xy":[[-0.40095692767231506,0.3468902156173703],[-0.3518644964268136,0.40738800871544445]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.3681902984875538,-1.5480328067845432,0.71338606911949],"aabb_xy":[[0.3182060627793765,-1.5980328055980388],[0.418174534195731,-1.4980328079710477]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.014185982421716758,-1.4241296422059095,0.71338606911949],"aabb_xy":[[-0.07081401599570647,-1.5090039376681945],[0.09918598083913999,-1.3392553467436246]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.15053430338404872,1.4143314257985558,0.71338606911949],"aabb_xy":[[0.13790751609685237,1.4047853520969829],[0.16316109067124507,1.4238774995001287]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.46994407751826794,-2.2172414346206546,0.71338606911949],"aabb_xy":[[0.40594407546853595,-2.257335917709962],[0.5339440795679999,-2.177146951531346]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.5016788419161582,0.3939831194321739,0.71338606911949],"aabb_xy":[[0.49672282173127713,0.3714831192300523],[0.5066348621010395,0.4164831196342956]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.30825416431688574,-2.483124177098902,0.71338606911949],"aabb_xy":[[-0.3582541659783805,-2.533122619354604],[-0.258254162655391,-2.4331257348431987]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.25766766741361524,1.461234842400048,0.71338606911949],"aabb_xy":[[0.2511660309056107,1.4514670203737383],[0.2641693039216199,1.4710026644263579]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.27095046685214014,0.8391871657327701,0.71338606911949],"aabb_xy":[[-0.335950465409213,0.8094346323188875],[-0.2059504682950673,0.8689396991466527]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.2057134626755407,0.15116386938303128,0.71338606911949],"aabb_xy":[[-0.2432134638603335,0.14674564668697068],[-0.1682134614907479,0.15558209207909177]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.3077633112507429,-0.7597727750624566,0.71338606911949],"aabb_xy":[[-0.32063521475168305,-0.8397727754762928],[-0.29489140774980277,-0.6797727746486205]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.14993219990331852,-1.921889803940506,0.71338606911949],"aabb_xy":[[-0.16503450136433656,-1.9369913255715676],[-0.13482989844230037,-1.9067882823094437]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.7068528327767509,-1.5363890067819284,0.71338606911949],"aabb_xy":[[0.6893528325174143,-1.5504805489707012],[0.7243528330360876,-1.522297464593156]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.42675290784543063,-0.5913467983818681,0.71338606911949],"aabb_xy":[[0.3567529060366852,-0.6127005671460555],[0.49675290965417607,-0.5699930296176807]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.6784715111360142,1.2197798904546606,0.71338606911949],"aabb_xy":[[0.6438804282819688,1.1547798901696293],[0.7130625939900592,1.2847798907396915]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.22959314538185116,-0.6848671207205292,0.71338606911949],"aabb_xy":[[0.19309732475457242,-0.7213510631472868],[0.2660889660091299,-0.6483831782937717]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.13732047754833188,-0.1602792942029665,0.71338606911949],"aabb_xy":[[-0.14888945829526845,-0.1852792943198982],[-0.1257514968013953,-0.13527929408603478]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.3422665388798287,1.7880494181333293,0.71338606911949],"aabb_xy":[[0.2782665415941801,1.7465426991804855],[0.40626653616547737,1.8295561370861735]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.37092836610081875,1.6211689503557651,0.71338606911949],"aabb_xy":[[-0.4210258300818924,1.5571689498459533],[-0.3208309021197452,1.685168950865577]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.4480399465000914,-0.5618395914472822,0.71338606911949],"aabb_xy":[[-0.5080399470079443,-0.6186863251332037],[-0.3880399459922385,-0.504992857761361]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.14555939239550164,-1.2384027323070255,0.71338606911949],"aabb_xy":[[0.13240814642421228,-1.263402732063712],[0.158710638366791,-1.213402732550339]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6633061424986504,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7113.png","name":"7113"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7113.png","name":"7113"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9921.png","name":"9921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1894.png","name":"1894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7310.png","name":"7310"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":679.9537560643737,"rotation_z_degrees":269.27567805152125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016336078711674872,-0.006407780096141727,-0.0014190135082933382]},{"name":"camera_2","offset_m":[-0.010762998911782487,0.0026792000105201955,0.018653172312366777]},{"name":"camera_3","offset_m":[-0.014582413440788113,-0.011451290281208788,0.01036082457455604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017173590963289408,-0.0014011640842383722,0.00024429350932867605],"end_effector_yaw_offset_degrees":0.322302301278403},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00010482330254126806,-0.0014662616789983894,0.0019803908251645515],"end_effector_yaw_offset_degrees":-0.797848641154342},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000992532474104943,-0.0017947078936085283,0.0015121762607746697],"end_effector_yaw_offset_degrees":0.8937499712014372}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008837163350602292,0.00047919573030458153],"position_m":[0.35168371633506024,0.1596791957303046,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003952083331496018,-0.0029032863330954164],"position_m":[0.335752083331496,-0.054203286333095416,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000133802678689416,-0.0025364011964032506],"position_m":[0.3197661973213106,0.30356359880359673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028166505222131212,-0.003936443133737345],"position_m":[0.2102833494777869,-0.3908364431337374,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7869850a2053924d52b074b8b3b29811579aee5ddcb9f937053bf2eb899b56ae","episode_index":177,"episode_name":"episode_0177"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0177.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7113/tex_ceiling_textures_7310/tex_floor_textures_1894/tex_table_textures_9921/tex_wall_textures_39","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4409075967376707793,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4409075967376707793,"visual_seed":4409075967376707793,"scene_id":"lab_003","finished_at":"2026-09-03T05:03:27"} +{"episode_id":"ep_000077","started_at":"2026-09-03T05:05:00","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[-0.3633390552014838,-2.171039238584767,0.71338606911949],"aabb_xy":[[-0.4283390562019843,-2.221825603739442],[-0.2983390542009833,-2.120252873430092]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.010007318519675401,-2.0759631661009657,0.71338606911949],"aabb_xy":[[-0.0740073149469973,-2.1231327899230625],[0.0539926779076465,-2.0287935422788697]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.5001012847185196,-0.7608335816780747,0.71338606911949],"aabb_xy":[[0.4501012833576323,-0.8108114862534903],[0.5501012860794067,-0.7108556771026591]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.14166928207884466,-1.9899095518565857,0.71338606911949],"aabb_xy":[[0.13250940313496806,-1.996440769900123],[0.15082916102272126,-1.9833783338130488]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.6426283235907806,-1.125520098920695,0.71338606911949],"aabb_xy":[[0.6332813160084853,-1.139823721138339],[0.6519753311730757,-1.111216476703051]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.22869613488719376,1.5066864549008385,0.71338606911949],"aabb_xy":[[0.19119613646379338,1.4935222409330076],[0.2661961333105941,1.519850668868669]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.6236040481008525,-2.28133692955414,0.71338606911949],"aabb_xy":[[0.578611461382402,-2.3263369288285887],[0.6685966348193029,-2.236336930279691]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.31991075812726955,1.2578478208583697,0.71338606911949],"aabb_xy":[[0.26992652241909226,1.207847822044874],[0.3698949938354467,1.3078478196718653]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.6481167329472468,1.5776962953215894,0.71338606911949],"aabb_xy":[[-0.6702892599238977,1.5555206281654659],[-0.625944205970596,1.599871962477712]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.4900736043870987,0.49605526566881064,0.71338606911949],"aabb_xy":[[-0.512573604630614,0.48385063100903875],[-0.46757360414358323,0.5082599003285826]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.3839920558527923,-2.5021740340131093,0.71338606911949],"aabb_xy":[[0.37054552921874895,-2.5156438856662007],[0.3974385824868356,-2.488704182360018]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.44482019721639593,-1.6492756788620824,0.71338606911949],"aabb_xy":[[-0.4686564148570011,-1.739275679670569],[-0.420983979575791,-1.5592756780535961]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.4261984167878955,0.15309351333230925,0.71338606911949],"aabb_xy":[[-0.46066089480098327,0.1464298361493864],[-0.3917359387748077,0.15975719051523204]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.28482158717791656,-0.45370664756596746,0.71338606911949],"aabb_xy":[[-0.30840671064181135,-0.5187066498113992],[-0.26123646371402165,-0.38870664532053567]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.02167613482478503,0.6590872897313589,0.71338606911949],"aabb_xy":[[-0.04832386677749445,0.6456544965297013],[0.09167613642706451,0.6725200829330165]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.6274963180365332,-2.0393525821639438,0.71338606911949],"aabb_xy":[[0.5823250001883642,-2.1033525793084826],[0.6726676358847021,-1.9753525850194058]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.1291618070824977,1.1220406415080073,0.71338606911949],"aabb_xy":[[0.03947473077438224,1.0320406412535568],[0.21884888339061315,1.2120406417624578]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.6417350085611333,-0.8321130236331431,0.71338606911949],"aabb_xy":[[0.6311675289030342,-0.8426580537461517],[0.6523024882192322,-0.8215679935201345]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.4843546924160158,-0.3726657596000269,0.71338606911949],"aabb_xy":[[0.47939867223113475,-0.3951657598021486],[0.4893107126008971,-0.3501657593979053]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.2604286569845593,-2.3959828331628232,0.71338606911949],"aabb_xy":[[-0.2979286569283257,-2.40427592319766],[-0.2229286570407929,-2.3876897431279867]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.1585432290386104,-0.9463526690904782,0.71338606911949],"aabb_xy":[[-0.2385432261981857,-0.9579002700482953],[-0.07854323187903511,-0.9348050681326612]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.34096561756452504,-1.188560041987102,0.71338606911949],"aabb_xy":[[0.2948805263097936,-1.252560039239657],[0.3870507088192566,-1.1245600447345467]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.3416926495499333,-1.4474060585660546,0.71338606911949],"aabb_xy":[[0.25169265013156233,-1.4807815554102441],[0.4316926489683041,-1.4140305617218647]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.6409442335619941,1.2322664211066403,0.71338606911949],"aabb_xy":[[0.6277929875907048,1.2072664213499538],[0.6540954795332835,1.2572664208633269]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.12942277190388152,-0.3428237224996349,0.71338606911949],"aabb_xy":[[-0.1934227721643523,-0.38783252185256295],[-0.06542277164341069,-0.29781492314670693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627587644291555,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7536.png","name":"7536"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4904.png","name":"4904"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8785.png","name":"8785"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7208.png","name":"7208"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":668.6320667723355,"rotation_z_degrees":46.72527548617582,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00444441056230549,0.00858551776244321,-0.01877247153980423]},{"name":"camera_2","offset_m":[0.0022915465328703886,-0.01580147282887636,-0.009027627123485647]},{"name":"camera_3","offset_m":[0.008396856773889506,-0.006124007333598462,-0.018851114837113003]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001822412816598164,-0.001282805103970698,-0.0015203737928235978],"end_effector_yaw_offset_degrees":0.19045508519709875},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017990625882707517,-2.379442355561522e-05,0.0013032680648959079],"end_effector_yaw_offset_degrees":-0.7652575368627073},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015061157593107258,0.0013244811787175778,-8.846913149334408e-05],"end_effector_yaw_offset_degrees":-0.058883171186334016}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002636940448191305,0.002451908114179187],"position_m":[0.3481630595518087,0.1616519081141792,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000568989006205849,0.0009474188400880688],"position_m":[0.3323689890062058,-0.05035258115991193,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037386153913449875,0.00319597223964336],"position_m":[0.316161384608655,0.30929597223964334,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025156247903245364,-0.0007682186426066469],"position_m":[0.21058437520967546,-0.38766821864260664,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0d5c1134001bd01f96930606ba97bc142ee756e852205aac6c40aadba833f3ae","episode_index":179,"episode_name":"episode_0179"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0179.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5591/tex_ceiling_textures_7208/tex_floor_textures_8785/tex_table_textures_7536/tex_wall_textures_4904","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6997778918688977335,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6997778918688977335,"visual_seed":6997778918688977335,"scene_id":"lab_003","finished_at":"2026-09-03T05:07:37"} +{"episode_id":"ep_000078","started_at":"2026-09-03T05:07:41","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.12222687631684814,-0.12429273715318656,0.71338606911949],"aabb_xy":[[-0.17219994184936363,-0.17429273696571945],[-0.0722538107843327,-0.07429273734065367]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.5418899952274533,-1.5515295060825096,0.71338606911949],"aabb_xy":[[-0.6058899969054506,-1.6000468975618236],[-0.47788999354945594,-1.5030121146031952]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.41454781151401726,1.7051053913621925,0.71338606911949],"aabb_xy":[[-0.45204781168588914,1.6724046559792853],[-0.37704781134214527,1.7378061267450997]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.21286754324949908,0.7345436424132452,0.71338606911949],"aabb_xy":[[0.14887184585440247,0.6705436441125364],[0.27686324064459567,0.7985436407139538]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.37973325206791997,-1.5163371342537397,0.71338606911949],"aabb_xy":[[0.3547332529022869,-1.5232893799590963],[0.40473325123355314,-1.5093848885483832]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.12074548294238951,-1.2875496221223266,0.71338606911949],"aabb_xy":[[0.03074548060837047,-1.3650319767074393],[0.21074548527640857,-1.210067267537214]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.3431619785041294,0.21730539060727772,0.71338606911949],"aabb_xy":[[-0.38446652156786537,0.1533053910391606],[-0.3018574354403934,0.2813053901753948]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.31232654759680745,-1.6443327228519498,0.71338606911949],"aabb_xy":[[-0.3428107977238376,-1.6943327226334457],[-0.2818422974697773,-1.5943327230704538]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.44711032687064445,-2.0284295859426855,0.71338606911949],"aabb_xy":[[0.37711032423405794,-2.0485344509385506],[0.5171103295072306,-2.0083247209468196]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.36697833542948355,-1.4325869598055587,0.71338606911949],"aabb_xy":[[0.32994422600142376,-1.466964167139268],[0.40401244485754323,-1.398209752471849]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.48347360639823656,-1.3067459165020117,0.71338606911949],"aabb_xy":[[-0.49088606193962503,-1.3125971269236394],[-0.4760611508568481,-1.3008947060803835]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.6048413053345406,-2.0250554587162335,0.71338606911949],"aabb_xy":[[-0.6598345166716775,-2.080055459055027],[-0.549848093997404,-1.97005545837744]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.7143043527894546,-0.014862625246888861,0.71338606911949],"aabb_xy":[[0.7088464071524345,-0.09486262855454797],[0.7197622984264747,0.06513737806077025]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.23575470199268944,1.4280925214740923,0.71338606911949],"aabb_xy":[[0.2249142237661745,1.4109062401834436],[0.24659518021920432,1.445278802764741]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.6539337998756167,-1.1086176430425083,0.71338606911949],"aabb_xy":[[-0.6664011579853525,-1.1210829676758318],[-0.6414664417658812,-1.0961523184091848]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.07214762618444104,-0.9956906062303468,0.71338606911949],"aabb_xy":[[-0.09001673393889653,-1.0095235142075576],[-0.054278518429985545,-0.9818576982531357]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.18265523100149483,1.6248717691380103,0.71338606911949],"aabb_xy":[[-0.26265523127510176,1.5519222213122934],[-0.10265523072788783,1.6978213169637268]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.6541975023837001,-1.433079466699321,0.71338606911949],"aabb_xy":[[-0.6602921302718185,-1.44164886125099],[-0.6481028744955819,-1.4245100721476525]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.4653339576676141,1.4731123072009829,0.71338606911949],"aabb_xy":[[0.4471281340063665,1.4620869066189912],[0.48353978132886183,1.4841377077829745]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.09035612297963491,0.9545139852366362,0.71338606911949],"aabb_xy":[[-0.09447207309170755,0.9503984302037906],[-0.08624017286756222,0.9586295402694817]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.43127696957685013,-0.34872983861605356,0.71338606911949],"aabb_xy":[[0.3662769695425474,-0.39543051529638085],[0.49627696961115286,-0.30202916193572626]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[0.0004982917591366265,1.7258914541231438,0.71338606911949],"aabb_xy":[[-0.0494859439490406,1.6758914553096484],[0.050482527467313854,1.7758914529366396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646295310734398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3630.png","name":"3630"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3630.png","name":"3630"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/448.png","name":"448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5275.png","name":"5275"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7534.png","name":"7534"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.9913366422503,"rotation_z_degrees":156.5359939598296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01935831784652271,0.011968032078434842,-0.00937095490280659]},{"name":"camera_2","offset_m":[-0.016990835807912004,0.011780302319254695,-0.018284104762576005]},{"name":"camera_3","offset_m":[0.001590611512209756,-0.0007346218639729951,-0.0017288759045858033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006718599822561535,0.0006166980970990299,0.0013531515058498433],"end_effector_yaw_offset_degrees":0.9059688663126793},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00047955012033181225,0.0015629373352335917,-0.0007551697671217491],"end_effector_yaw_offset_degrees":-0.38105802281361956},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015857942192429122,0.00012970122861422377,-0.00042364030799766977],"end_effector_yaw_offset_degrees":0.2813478311280535}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007238549949749803,-0.002780278098890906],"position_m":[0.35152385499497496,0.15641972190110912,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009825525745271093,-0.0045103119034322885],"position_m":[0.33081744742547287,-0.05581031190343229,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002733790505643935,-0.0006367819937460727],"position_m":[0.3171662094943561,0.3054632180062539,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000785794294558966,-0.0047767958607465456],"position_m":[0.21388579429455898,-0.39167679586074655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"84976633c50123bd281ebea5b71f164f3a0b957973521178eee2078b0fe98d17","episode_index":180,"episode_name":"episode_0180"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0180.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3630/tex_ceiling_textures_7534/tex_floor_textures_5275/tex_table_textures_448/tex_wall_textures_8577","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7852023800748950716,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7852023800748950716,"visual_seed":7852023800748950716,"scene_id":"lab_003","finished_at":"2026-09-03T05:10:19"} +{"episode_id":"ep_000079","started_at":"2026-09-03T05:19:36","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.24852574901234348,-1.1157389621366414,0.71338606911949],"aabb_xy":[[-0.29565512801417915,-1.179738963181043],[-0.20139637001050778,-1.0517389610922392]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.18327284311040903,-0.27689861589758236,0.71338606911949],"aabb_xy":[[-0.23327284175633026,-0.32681815955704474],[-0.13327284446448787,-0.22697907223811997]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.7006319206244334,1.0648493009408933,0.71338606911949],"aabb_xy":[[0.6925955859231485,1.0568111816364765],[0.7086682553257182,1.07288742024531]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.3451971902539206,1.6127373249209032,0.71338606911949],"aabb_xy":[[0.3281870929638699,1.5966028364226292],[0.3622072875439712,1.628871813419177]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.29447887637354503,0.2163858428376635,0.71338606911949],"aabb_xy":[[-0.301519186307082,0.13638584343799212],[-0.28743856644000804,0.29638584223733494]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[-0.5639226162823181,1.5500760238357958,0.71338606911949],"aabb_xy":[[-0.5891434531421577,1.5248522729829088],[-0.5387017794224783,1.5752997746886823]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.45311173555867734,1.6712537051872416,0.71338606911949],"aabb_xy":[[-0.46132628067436127,1.6625771148896002],[-0.4448971904429933,1.679930295484883]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.08086005813055563,-0.6575425006997229,0.71338606911949],"aabb_xy":[[0.015860058096252905,-0.7042431773800502],[0.14586005816485836,-0.6108418240193956]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.6987120241529219,-1.930507278451883,0.71338606911949],"aabb_xy":[[0.6899307970056857,-1.9392870257404136],[0.7074932513001583,-1.9217275311633535]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.5549199232412074,-1.1775997743044453,0.71338606911949],"aabb_xy":[[0.5204574452281195,-1.1842634514873678],[0.5893824012542951,-1.1709360971215224]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.5626416900818101,-0.5552404586449562,0.71338606911949],"aabb_xy":[[0.5126587398943306,-0.6052404582875165],[0.6126246402692893,-0.5052404590023957]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.30573439130592717,0.9818769685111737,0.71338606911949],"aabb_xy":[[0.2160473149978117,0.8918769682567231],[0.3954214676140426,1.0718769687656242]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.06791063107440132,-2.4354262701207112,0.71338606911949],"aabb_xy":[[-0.017089367617673337,-2.4674121335155896],[0.15291062976647596,-2.403440406725832]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.5214464475279377,-1.054070824484201,0.71338606911949],"aabb_xy":[[0.4715637506502416,-1.1040708237304757],[0.571329144405634,-1.0040708252379262]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.5530516635703413,-1.9239145111864167,0.71338606911949],"aabb_xy":[[-0.5763335057684725,-2.0089145124836443],[-0.5297698213722098,-1.8389145098891884]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.4116877114303941,-0.8144740238578545,0.71338606911949],"aabb_xy":[[-0.4249186569650754,-0.8277014428798539],[-0.39845676589571283,-0.8012466048358551]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.30478592544569083,-1.8528345363541252,0.71338606911949],"aabb_xy":[[-0.34995724329385974,-1.9168345334986638],[-0.2596146075975218,-1.788834539209587]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.09501365322543665,-1.833158231905316,0.71338606911949],"aabb_xy":[[0.03501365236462383,-1.884584661911802],[0.15501365408624942,-1.7817318018988293]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.6427934145449288,0.08241693908719094,0.71338606911949],"aabb_xy":[[-0.6504966052190059,0.07470756838845292],[-0.6350902238708519,0.09012630978592893]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.22671913665044813,-2.512736912177704,0.71338606911949],"aabb_xy":[[-0.23205671231645272,-2.5377369131068437],[-0.2213815609844436,-2.487736911248564]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.42463057148842376,-0.13630837059963374,0.71338606911949],"aabb_xy":[[-0.5046305684514629,-0.2133840122434072],[-0.3446305745253846,-0.05923272895586029]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.37842002028146027,-1.468958906626563,0.71338606911949],"aabb_xy":[[0.3409200201758673,-1.4757810684795438],[0.4159200203870532,-1.4621367447735816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688966026358354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6682.png","name":"6682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2454.png","name":"2454"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3661.png","name":"3661"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":768.7860224203673,"rotation_z_degrees":13.809846204026348,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01371768681922068,-0.0029135031624305877,-0.016373550093437203]},{"name":"camera_2","offset_m":[0.018352563303161176,-0.014464735820475742,-0.0044481902873583674]},{"name":"camera_3","offset_m":[0.00046808862605338813,-0.0037598947851077077,0.015069335620760026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019177088107546494,0.0018654074510399978,-0.0007773669994495577],"end_effector_yaw_offset_degrees":0.3228183569735603},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008086883701659809,0.0005319841352524539,-0.0017102307608045288],"end_effector_yaw_offset_degrees":0.5339976633041126},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001524419171594451,-0.0004924679795887356,0.0017658409598348022],"end_effector_yaw_offset_degrees":-0.8312913679201854}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004668870503041801,-0.0027584796814859704],"position_m":[0.3512668870503042,0.15644152031851405,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[2.8286917303620845e-05,-0.0035302472634690897],"position_m":[0.3318282869173036,-0.054830247263469085,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002965500110041145,0.0036307719221966876],"position_m":[0.32286550011004117,0.30973077192219667,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034853287147187254,0.0018503150332279108],"position_m":[0.20961467128528127,-0.3850496849667721,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32a2b9019bd8c9aa145bc955c7c2599b23fc1a524cbe021ce2df3936d3d3570b","episode_index":185,"episode_name":"episode_0185"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0185.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8087/tex_ceiling_textures_3661/tex_floor_textures_2454/tex_table_textures_6682/tex_wall_textures_3508","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":9177851536129573136,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":9177851536129573136,"visual_seed":9177851536129573136,"scene_id":"lab_003","finished_at":"2026-09-03T05:22:25"} +{"episode_id":"ep_000080","started_at":"2026-09-03T05:22:28","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.036155429003590145,-2.341231191899646,0.71338606911949],"aabb_xy":[[-0.0486227871133258,-2.3536965165329695],[-0.023688070893854503,-2.3287658672663225]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.41116088919045285,-1.1623200682340635,0.71338606911949],"aabb_xy":[[-0.43144519191385156,-1.182602693376772],[-0.39087658646705403,-1.1420374430913542]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.2936148527631859,1.4773959556949303,0.71338606911949],"aabb_xy":[[0.223614856353224,1.4569580200432481],[0.36361484917314757,1.4978338913466116]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.4300620567775961,-2.3602734168026682,0.71338606911949],"aabb_xy":[[0.4140001293190784,-2.445273418615259],[0.4461239842361137,-2.2752734149900755]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.5859002245518594,-1.8341052147143433,0.71338606911949],"aabb_xy":[[0.540907637833409,-1.8791052139887923],[0.6308928112703098,-1.7891052154398948]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.5627122873168897,1.1184079773364788,0.71338606911949],"aabb_xy":[[-0.6177122855186346,1.0778860107100412],[-0.5077122891151449,1.1589299439629164]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.38639064383424326,1.1601973465760422,0.71338606911949],"aabb_xy":[[-0.4513906448347438,1.1094109814213675],[-0.32139064283374275,1.2109837117307174]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.3249085165529062,-0.8031313361799859,0.71338606911949],"aabb_xy":[[0.282141809673486,-0.8671313396017885],[0.3676752234323264,-0.7391313327581835]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.016933641307409264,-0.7151599090693692,0.71338606911949],"aabb_xy":[[-0.06691787701558649,-0.7651599078828648],[0.03305059440076796,-0.6651599102558736]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.10786186369197903,-2.361420484774249,0.71338606911949],"aabb_xy":[[0.10060061612157162,-2.374207495037759],[0.11512311126238645,-2.34863347451074]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.22985179122324106,0.4163046197093796,0.71338606911949],"aabb_xy":[[-0.2798517907995758,0.36632404075727365],[-0.17985179164690634,0.46628519866148554]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.25895330289233914,1.6420078933662894,0.71338606911949],"aabb_xy":[[-0.2964533032405669,1.6302164977852054],[-0.22145330254411139,1.6537992889473725]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.12511621064440204,1.065682488184513,0.71338606911949],"aabb_xy":[[0.11708994001377604,1.0569309932071604],[0.13314248127502804,1.0744339831618657]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.4375160826341536,-1.933573094562571,0.71338606911949],"aabb_xy":[[-0.44938816564565476,-2.0185730942562214],[-0.42564399962265254,-1.8485730948689207]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.15770852536953273,1.4897881329206277,0.71338606911949],"aabb_xy":[[-0.19474263479759238,1.4554109255869183],[-0.12067441594147296,1.5241653402543371]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.2569874251757024,-2.0157442084197204,0.71338606911949],"aabb_xy":[[-0.27399752246575304,-2.0318786969179943],[-0.23997732788565174,-1.9996097199214464]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.041820281809053395,-1.8414674042941561,0.71338606911949],"aabb_xy":[[-0.07046961416946962,-1.870112963571232],[-0.013170949448637163,-1.8128218450170803]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.02281437753622262,-1.1698796444013797,0.71338606911949],"aabb_xy":[[-0.04218562510157087,-1.2213592431008267],[0.0878143801740161,-1.1184000457019327]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.006102436483736984,-0.3992209582767643,0.71338606911949],"aabb_xy":[[-0.012139449484401713,-0.40524765934571255],[-6.54234830722569e-05,-0.39319425720781614]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.23150656563030364,-0.5087712328014526,0.71338606911949],"aabb_xy":[[-0.25650656490226587,-0.5251165963976149],[-0.20650656635834136,-0.49242586920529025]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.6195979288287803,-1.0561549343358694,0.71338606911949],"aabb_xy":[[0.6125576188952433,-1.136154933735541],[0.6266382387623173,-0.9761549349361982]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.5339319127498358,-0.10669274386840666,0.71338606911949],"aabb_xy":[[-0.6239319150838548,-0.18417509845351931],[-0.4439319104158167,-0.029210389283294003]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.0783956869949265,-2.2178961787945966,0.71338606911949],"aabb_xy":[[-0.16839568558939644,-2.234146765108018],[0.011604311599543449,-2.2016455924811753]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[0.6235070770227342,0.9565864780036386,0.71338606911949],"aabb_xy":[[0.5885070778299158,0.945619432005976],[0.6585070762155524,0.9675535240013012]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.3316123973951947,0.8982062120491232,0.71338606911949],"aabb_xy":[[-0.35661239694693314,0.8880637281839885],[-0.3066123978434562,0.9083486959142579]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[0.34554049943697795,-1.188191346256319,0.71338606911949],"aabb_xy":[[0.3312060743108145,-1.2002515618108578],[0.3598749245631414,-1.17613113070178]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.38237774219315446,-0.6423564533790349,0.71338606911949],"aabb_xy":[[0.3786744808640155,-0.6460584716877528],[0.3860810035222933,-0.638654435070317]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.6420988066545024,0.47373625646021233,0.71338606911949],"aabb_xy":[[0.5921039737265607,0.42373625756496885],[0.6920936395824439,0.5237362553554559]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.6001504494380241,-0.9018722904320915,0.71338606911949],"aabb_xy":[[-0.6838726749381066,-0.9918722939667874],[-0.5164282239379416,-0.8118722868973955]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[-0.40124541617856413,0.1687759990570865,0.71338606911949],"aabb_xy":[[-0.46524541655609775,0.11903073220627425],[-0.3372454158010305,0.21852126590789878]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_30","position":[0.5910312627720666,1.7498871522356967,0.71338606911949],"aabb_xy":[[0.5535312629550331,1.7452489409245548],[0.6285312625891002,1.7545253635468385]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_31","position":[0.5725872406854904,1.0666304845753136,0.71338606911949],"aabb_xy":[[0.5125872400894742,1.0118180120300901],[0.6325872412815066,1.121442957120537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665296695955568,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1043.png","name":"1043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1043.png","name":"1043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9642.png","name":"9642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3217.png","name":"3217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2774.png","name":"2774"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":505.16501619991345,"rotation_z_degrees":61.09765854479448,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006621112503989722,0.00022101440054643137,-0.011745994839598555]},{"name":"camera_2","offset_m":[-0.018934390103194868,-0.014987622753651043,-0.0018155271911551689]},{"name":"camera_3","offset_m":[0.016103806123529674,-0.018440736652254947,-0.009979337545384156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015444320635037503,0.0007123087768485695,-0.0005363790011057249],"end_effector_yaw_offset_degrees":0.3850511412465547},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012267142049710027,-0.0013357103667166318,-0.0007203109062555381],"end_effector_yaw_offset_degrees":-0.7654248706027413},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008573553007503415,-9.230725913928514e-05,-0.0009781436852887664],"end_effector_yaw_offset_degrees":-0.6098081849686454}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003979489107836467,-0.0010321293210885582],"position_m":[0.35477948910783647,0.15816787067891144,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042664957382322986,0.0031304940840786834],"position_m":[0.3275335042617677,-0.04816950591592131,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010055138432824894,-0.00040349252969084076],"position_m":[0.32090551384328253,0.30569650747030913,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027496801453734177,0.002191909165232847],"position_m":[0.2103503198546266,-0.3847080908347672,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b358fc471dd17db8ce945a39fafe1c764cee5c3d00bbfd07211d15e64131d3b9","episode_index":186,"episode_name":"episode_0186"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0186.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1043/tex_ceiling_textures_6367/tex_floor_textures_2774/tex_table_textures_9642/tex_wall_textures_3217","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":7701838346662014403,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":7701838346662014403,"visual_seed":7701838346662014403,"scene_id":"lab_003","finished_at":"2026-09-03T05:25:00"} +{"episode_id":"ep_000081","started_at":"2026-09-03T05:29:34","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[0.1472399437482046,-0.7455966581448585,0.71338606911949],"aabb_xy":[[0.14114531586008627,-0.7541660526965273],[0.1533345716363229,-0.7370272635931898]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.5435772304698756,-2.130624627115922,0.71338606911949],"aabb_xy":[[-0.6035772321127975,-2.182624776407866],[-0.48357722882695375,-2.0786244778239777]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.40550356400905474,0.9692005742401872,0.71338606911949],"aabb_xy":[[0.35050356580730996,0.9286786076137497],[0.46050356221079963,1.0097225408666248]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.3807986315352698,0.41751910950834814,0.71338606911949],"aabb_xy":[[0.3307986302514298,0.367540255117726],[0.43079863281910974,0.4674979638989702]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.2663576303188079,0.9901074773433591,0.71338606911949],"aabb_xy":[[-0.34635763248157037,0.9101522937172156],[-0.1863576281560454,1.0700626609695028]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.549894301279606,1.807461208761476,0.71338606911949],"aabb_xy":[[-0.5690066086375849,1.788326429884234],[-0.5307819939216272,1.826595987638718]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.5293380473497116,-1.9009741945337915,0.71338606911949],"aabb_xy":[[-0.536599294920119,-1.9137612047973012],[-0.5220767997793041,-1.8881871842702822]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.5175388782373023,-0.1952326983227195,0.71338606911949],"aabb_xy":[[0.45253887968022943,-0.22498523173660212],[0.5825388767943751,-0.16548016490883688]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.6416031202525267,1.3189807761238659,0.71338606911949],"aabb_xy":[[0.625541192794009,1.233980774311274],[0.6576650477110443,1.4039807779364577]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.11420965409696626,1.587772662290028,0.71338606911949],"aabb_xy":[[-0.17820965052428817,1.5406030384679317],[-0.05020965766964436,1.6349422861121246]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.6759462268338114,-1.1940462036086519,0.71338606911949],"aabb_xy":[[-0.6835704949239897,-1.2016794271451956],[-0.6683219587436332,-1.1864129800721082]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.34597876318272763,1.753960306563886,0.71338606911949],"aabb_xy":[[-0.4259787618396137,1.7394554476396233],[-0.2659787645258417,1.7684651654881491]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.33526327569059133,-2.346561732941599,0.71338606911949],"aabb_xy":[[-0.37276327579618423,-2.3533838947945793],[-0.2977632755849983,-2.3397395710886175]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.514970425234941,-1.5609898204282249,0.71338606911949],"aabb_xy":[[0.454970424727088,-1.617836554114146],[0.5749704257427938,-1.5041430867423033]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.47748890043769876,-2.2179654605335712,0.71338606911949],"aabb_xy":[[0.4440097331766578,-2.2514445739046782],[0.5109680676987397,-2.1844863471624643]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.11756576476221547,-1.0026207543599686,0.71338606911949],"aabb_xy":[[-0.18256576586815876,-1.0275861274280969],[-0.05256576365627219,-0.9776553812918403]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.5551324696925651,1.5065200638854068,0.71338606911949],"aabb_xy":[[-0.5961504130789359,1.4565200632544495],[-0.5141145263061941,1.5565200645163642]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.16957112839726884,1.6180723093775575,0.71338606911949],"aabb_xy":[[0.1525610311072182,1.6019378208792836],[0.1865812256873195,1.6342067978758315]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.00763883038678248,-2.507495480642359,0.71338606911949],"aabb_xy":[[-0.00170817719551275,-2.521799102860003],[0.01698583796907771,-2.493191858424715]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.31684527833152587,-1.4305770146444534,0.71338606911949],"aabb_xy":[[0.2528452810458772,-1.4720837335972974],[0.3808452756171745,-1.3890702956916094]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.25362198342111786,0.4357840229801342,0.71338606911949],"aabb_xy":[[-0.2880843308192596,0.4012901405823114],[-0.21915963602297603,0.4702779053779568]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.09757218827166303,-0.28929778824091024,0.71338606911949],"aabb_xy":[[-0.16257218615331084,-0.34042145194745116],[-0.03257219039001525,-0.23817412453436942]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[0.03755582067845098,-1.2759302029071438,0.71338606911949],"aabb_xy":[[0.0025558224083310765,-1.2830043306021317],[0.07255581894857088,-1.2688560752121554]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.01070974760136656,1.748870152465972,0.71338606911949],"aabb_xy":[[-0.027620480037708332,1.7353979468733571],[0.0062009848349752214,1.7623423580585864]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[-0.2959172800655661,1.6849016783937398,0.71338606911949],"aabb_xy":[[-0.37591727804635117,1.6773001374318877],[-0.2159172820847811,1.6925032193555916]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.20904025634757817,1.4068661569707022,0.71338606911949],"aabb_xy":[[-0.27904025794985765,1.3934333637690446],[-0.13904025474529866,1.4202989501723597]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.261112503028814,0.6847591337752976,0.71338606911949],"aabb_xy":[[-0.2786124364627973,0.6672591338550631],[-0.24361256959483057,0.7022591336955322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620276587978902,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9583.png","name":"9583"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9583.png","name":"9583"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/864.png","name":"864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5377.png","name":"5377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5896.png","name":"5896"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":700.8799328489656,"rotation_z_degrees":331.22133432111144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024411986150403957,0.018272083365127197,0.0030241727082686125]},{"name":"camera_2","offset_m":[0.01072646155641126,0.019904987116406595,0.0097021190131651]},{"name":"camera_3","offset_m":[0.009549570098369705,-0.0027543418789514745,-0.013884860036023476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012730288720339128,0.0005530385469840584,0.0016029715039068944],"end_effector_yaw_offset_degrees":0.6418433598402093},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001900905988781846,-0.000664666088621685,0.0013988461846987151],"end_effector_yaw_offset_degrees":0.853945245242532},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015471386889500502,-0.0005767645249062769,-0.001424782178264444],"end_effector_yaw_offset_degrees":0.979484400905452}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025652022202026408,0.0027366806910958013],"position_m":[0.3533652022202026,0.16193668069109582,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003997034153536875,0.003483759198708824],"position_m":[0.3278029658464631,-0.047816240801291175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016627999581096255,-0.0026174323675284337],"position_m":[0.3182372000418904,0.30348256763247156,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035607076055375357,0.003531549653450005],"position_m":[0.21666070760553754,-0.38336845034655004,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"37f208e7444a6f4532fdfb0f07680ddecc1a7e230406210c79e6417f4c293f49","episode_index":189,"episode_name":"episode_0189"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0189.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9583/tex_ceiling_textures_5896/tex_floor_textures_5377/tex_table_textures_864/tex_wall_textures_3026","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3152430401988206644,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3152430401988206644,"visual_seed":3152430401988206644,"scene_id":"lab_003","finished_at":"2026-09-03T05:32:12"} +{"episode_id":"ep_000082","started_at":"2026-09-03T05:35:20","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.34974514052435124,0.9510646033604409,0.71338606911949],"aabb_xy":[[0.34560928419165116,0.913564603916084],[0.35388099685705154,0.988564602804798]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.38337872756825614,-0.08379871322867816,0.71338606911949],"aabb_xy":[[-0.4385039331978469,-0.1437987146699653],[-0.32825352193866536,-0.023798711787391024]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.6580691705007067,-0.06421044760735573,0.71338606911949],"aabb_xy":[[0.6380107588874665,-0.08427553451651326],[0.6781275821139471,-0.04414536069819819]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.16681776269483528,0.782765654308784,0.71338606911949],"aabb_xy":[[-0.1740790102652427,0.7699786440452745],[-0.15955651512442787,0.7955526645722935]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.6597896762424489,1.7260451186216295,0.71338606911949],"aabb_xy":[[0.6446873747814306,1.7109435969905673],[0.6748919777034668,1.7411466402526912]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.47920399875614095,1.4394340275570428,0.71338606911949],"aabb_xy":[[-0.4892857058347144,1.3594340296649279],[-0.46912229167756747,1.5194340254491572]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.3291880465465677,0.9613061906635112,0.71338606911949],"aabb_xy":[[-0.35210375943161765,0.9384018935270877],[-0.30627233366151785,0.9842104877999347]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.001971854898907388,-1.2278369660943964,0.71338606911949],"aabb_xy":[[-0.03947185484267379,-1.236130056129233],[0.035528145044859016,-1.2195438760595598]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.47453497200670336,-2.1647051908542676,0.71338606911949],"aabb_xy":[[-0.4921132741956502,-2.182279680428372],[-0.4569566698177565,-2.147130701280162]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.34475676905785546,-1.949386374670235,0.71338606911949],"aabb_xy":[[0.28975677085611057,-1.9899083412966723],[0.39975676725960024,-1.908864408043797]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.42508400785951306,-1.6347882403782903,0.71338606911949],"aabb_xy":[[0.3750840069089802,-1.6663373873818113],[0.4750840088100458,-1.6032390933747684]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.1453352253585356,1.2387067677118333,0.71338606911949],"aabb_xy":[[0.10033522389230679,1.1937069108503529],[0.1903352268247645,1.2837066245733142]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[-0.5376725495115007,0.6828330479675975,0.71338606911949],"aabb_xy":[[-0.6016725459070738,0.6188697595488639],[-0.4736725531159276,0.746796336386331]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.5271216865972685,-0.9183280010902903,0.71338606911949],"aabb_xy":[[0.5112371933319434,-0.9326809413891144],[0.5430061798625937,-0.9039750607914663]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.28605314964971734,-1.8110395188491826,0.71338606911949],"aabb_xy":[[-0.3313317645308666,-1.875039518197366],[-0.24077453476856808,-1.7470395195009987]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[-0.28017114804346843,1.7233324597024349,0.71338606911949],"aabb_xy":[[-0.3601711454470618,1.643339888504252],[-0.20017115063987498,1.8033250309006177]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.5359072797840085,1.7521864844368484,0.71338606911949],"aabb_xy":[[0.4994114591567298,1.7157025420100906],[0.5724031004112873,1.7886704268636058]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.16176867789857607,-1.289844248081445,0.71338606911949],"aabb_xy":[[0.09676867689807558,-1.3406306132361197],[0.22676867889907662,-1.2390578829267698]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.5644533830890659,-1.8099101754890465,0.71338606911949],"aabb_xy":[[-0.5731673521390002,-1.8324101761482343],[-0.5557394140391312,-1.7874101748298579]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.628599752848721,-2.05419062189872,0.71338606911949],"aabb_xy":[[0.5585997512464416,-2.0676234151003774],[0.6985997544510005,-2.0407578286970622]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.6077264413542001,-2.390069143906947,0.71338606911949],"aabb_xy":[[0.5227264429367768,-2.4749434393692322],[0.6927264397716233,-2.3051948484446623]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[-0.2980737834625037,-1.2025971807750622,0.71338606911949],"aabb_xy":[[-0.37807378144328874,-1.2101987217369141],[-0.21807378548171866,-1.1949956398132102]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5457574673346746,0.7532594310670913,0.71338606911949],"aabb_xy":[[0.4757574646980881,0.7331545660712256],[0.6157574699712608,0.7733642960629566]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[0.2206236535558228,-0.6833397510753563,0.71338606911949],"aabb_xy":[[0.13062365682021257,-0.7365232143926507],[0.310623650291433,-0.6301562877580617]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.08428516014087695,1.5076189055879836,0.71338606911949],"aabb_xy":[[0.04678516003528398,1.500796743735002],[0.12178516024646989,1.5144410674409643]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.5909848174764487,-1.9138489125959914,0.71338606911949],"aabb_xy":[[0.5758126481948153,-1.9290177695241946],[0.6061569867580819,-1.8986800556677879]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.2388575097236899,-1.5195323202769833,0.71338606911949],"aabb_xy":[[0.2038575114129945,-1.527247335200529],[0.27385750803438536,-1.5118173053534376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639688079312943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8012.png","name":"8012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":658.3442249142895,"rotation_z_degrees":12.680591778004695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002155181220667827,-0.016742965111572642,0.0015135324141195595]},{"name":"camera_2","offset_m":[0.01696864672192169,-0.0002014241765405135,0.01795904174773315]},{"name":"camera_3","offset_m":[0.013453618272790648,-0.00797828992941823,0.004408144258001699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00110718369400563,-0.0012654629021313921,-0.0008011380348477636],"end_effector_yaw_offset_degrees":0.5059722640391742},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00040428826804555194,0.0014394805953703688,-0.0006018760274084172],"end_effector_yaw_offset_degrees":-0.1407594516884072},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017353624124357397,0.0006433600746801023,0.001904323510700196],"end_effector_yaw_offset_degrees":0.3820687248063286}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010005581884330273,0.0012436905523818221],"position_m":[0.35180055818843303,0.16044369055238183,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002017801187192624,0.0041826124707938965],"position_m":[0.32978219881280735,-0.0471173875292061,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011527394993011584,-0.002465098245661277],"position_m":[0.31874726050069885,0.3036349017543387,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026700383316502468,-0.0010508911672819175],"position_m":[0.21577003833165026,-0.38795089116728193,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc6e33969a0b3c14f3c4d50abb5176e6228838c768bb3a0e10327ab71b4366e0","episode_index":191,"episode_name":"episode_0191"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0191.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8872/tex_ceiling_textures_471/tex_floor_textures_7320/tex_table_textures_4814/tex_wall_textures_8012","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6009105445516642689,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6009105445516642689,"visual_seed":6009105445516642689,"scene_id":"lab_003","finished_at":"2026-09-03T05:37:54"} +{"episode_id":"ep_000083","started_at":"2026-09-03T05:37:57","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.5865667752550981,0.904836809939435,0.71338606911949],"aabb_xy":[[-0.6365667756156641,0.8548568227298321],[-0.536566774894532,0.954816797149038]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.43395940713325365,-2.0768194989425415,0.71338606911949],"aabb_xy":[[-0.4432530253704041,-2.1143194974306754],[-0.42466578889610296,-2.0393195004544076]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.5947670832001893,-0.9308689227767009,0.71338606911949],"aabb_xy":[[-0.6797670816176126,-1.015743218238986],[-0.5097670847827661,-0.845994627314416]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.3717509210160396,-0.9968364473966675,0.71338606911949],"aabb_xy":[[-0.39424734244990367,-1.019336447203415],[-0.34925449958217547,-0.9743364475899201]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.1792127943738463,-1.6963454905866393,0.71338606911949],"aabb_xy":[[-0.1900644006227219,-1.70720478131429],[-0.1683611881249707,-1.685486199858988]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.605866040712782,-0.15121374518753639,0.71338606911949],"aabb_xy":[[-0.6417795451377716,-0.187127253404291],[-0.5699525362877923,-0.11530023697078176]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.42722615023349175,-2.257759156029733,0.71338606911949],"aabb_xy":[[0.4174701607243178,-2.2675216900889676],[0.4369821397426656,-2.2479966219704988]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.07396666314451672,-0.46542924106187034,0.71338606911949],"aabb_xy":[[-0.07930423881052129,-0.4904292419910102],[-0.06862908747851215,-0.4404292401327306]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.3821297108733702,1.2838580864082068,0.71338606911949],"aabb_xy":[[-0.437129709075115,1.243336119781769],[-0.32712971267162533,1.3243800530346441]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.5515062726206836,-0.010126787642333213,0.71338606911949],"aabb_xy":[[-0.6215062752572699,-0.030231652638198714],[-0.4815062699840972,0.00997807735353229]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.40440992466409287,1.344624522855994,0.71338606911949],"aabb_xy":[[0.3819099248501905,1.3401499064855134],[0.42690992447799525,1.3490991392264748]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.350004319564754,1.537254883002507,0.71338606911949],"aabb_xy":[[-0.40000359473319014,1.4872548817265598],[-0.3000050443963178,1.5872548842784542]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.017025336297940785,0.963000118053166,0.71338606911949],"aabb_xy":[[-0.04697466592246624,0.9186270339278777],[0.08102533851834781,1.0073732021784543]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.6353901252263825,-1.988070405686388,0.71338606911949],"aabb_xy":[[-0.6775745393872132,-2.0520704059635992],[-0.5932057110655518,-1.924070405409177]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.09308969389098753,-1.4711317092342182,0.71338606911949],"aabb_xy":[[-0.10111596452161355,-1.4798832042115708],[-0.08506342326036155,-1.4623802142568656]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.28183933238341075,-2.5353272109755722,0.71338606911949],"aabb_xy":[[-0.34683933338391126,-2.5861135761302476],[-0.21683933138291023,-2.4845408458208977]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.06843061361985348,0.12957682399164838,0.71338606911949],"aabb_xy":[[-0.12606108250712428,0.06957682506493777],[-0.010800144732582602,0.18957682291835892]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.3535904332357169,1.6891953788094205,0.71338606911949],"aabb_xy":[[0.29859818260020604,1.6341953770661082],[0.408582683871228,1.7441953805527337]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.37225290978079356,-0.6414822183406692,0.71338606911949],"aabb_xy":[[-0.3816703843506563,-0.6508983954783883],[-0.3628354352109308,-0.6320660412029503]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.2326235452861768,-2.1170204178378356,0.71338606911949],"aabb_xy":[[0.20213929515914666,-2.1670204176193315],[0.26310779541320695,-2.0670204180563396]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.09914114187941703,0.7110610233935821,0.71338606911949],"aabb_xy":[[-0.11469691128968232,0.6955105901491749],[-0.08358537246915178,0.7266114566379893]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.49660746492469376,0.370765678939601,0.71338606911949],"aabb_xy":[[-0.5466074658752265,0.3392165319360795],[-0.4466074639741609,0.4023148259431223]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.39226557551453345,-2.3608945606882075,0.71338606911949],"aabb_xy":[[-0.44225868762372544,-2.410894561362403],[-0.3422724634053416,-2.310894560014012]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.15730514945767182,-0.88741049098357,0.71338606911949],"aabb_xy":[[-0.19230514858762748,-0.8931557120592342],[-0.12230515032771616,-0.881665269907906]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.29923316466218863,-1.4521121072176306,0.71338606911949],"aabb_xy":[[0.2746869490394379,-1.4823610037666672],[0.32377938028493936,-1.4218632106685931]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.005512618142796688,-0.7797919307829912,0.71338606911949],"aabb_xy":[[-0.01269320551845099,-0.790817331364983],[0.023718441804044366,-0.7687665302009997]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.5825498698194749,0.02064724706488219,0.71338606911949],"aabb_xy":[[0.5765128568188103,0.014620545995933987],[0.5885868828201397,0.026673948133830398]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679469253521859,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8797.png","name":"8797"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8797.png","name":"8797"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6606.png","name":"6606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5395.png","name":"5395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7891.png","name":"7891"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":542.0996311710333,"rotation_z_degrees":104.51465197098403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014921196636794708,0.011964753367946186,-0.013893941604912712]},{"name":"camera_2","offset_m":[-0.006996598634553685,-0.0138369227418413,0.007388314904536831]},{"name":"camera_3","offset_m":[0.012047911137725752,-0.01764193543509957,0.011001655503180753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006584290817912082,-0.0008366539187193679,0.0010866832152594433],"end_effector_yaw_offset_degrees":0.02640001085955812},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000491624142047683,-0.00022713185238378356,-0.0005681341499268382],"end_effector_yaw_offset_degrees":0.138911244280145},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006380870058977123,0.0002848406990096906,-0.0015983453962940025],"end_effector_yaw_offset_degrees":0.19955250311355366}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004502751771709878,-0.0038964836750887046],"position_m":[0.3462972482282901,0.1553035163249113,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041398279794875375,0.004330815894638654],"position_m":[0.3359398279794875,-0.04696918410536134,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002053500276555928,0.0033254932868781806],"position_m":[0.32195350027655595,0.3094254932868782,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011546119052423965,0.004847702630849246],"position_m":[0.21425461190524242,-0.38205229736915075,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f816b4fb513c96d8410aff64f1cd54b197d60c28cd12850a52f42c9081874e59","episode_index":192,"episode_name":"episode_0192"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0192.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8797/tex_ceiling_textures_7891/tex_floor_textures_5395/tex_table_textures_5392/tex_wall_textures_6606","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4075557288722176088,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4075557288722176088,"visual_seed":4075557288722176088,"scene_id":"lab_003","finished_at":"2026-09-03T05:40:29"} +{"episode_id":"ep_000084","started_at":"2026-09-03T05:43:25","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.33783487231603804,1.316533127261918,0.71338606911949],"aabb_xy":[[0.2828348726942922,1.2615494344744458],[0.3928348719377839,1.3715168200493912]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.051329657208553425,1.6067611174154401,0.71338606911949],"aabb_xy":[[-0.13132348078711165,1.5267611148225988],[0.028664166370004796,1.686761120008282]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.5628212440216067,-2.3179959821807588,0.71338606911949],"aabb_xy":[[0.5548277542263248,-2.3259941141212344],[0.5708147338168889,-2.309997850240283]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.5789191208301876,0.9215924621256439,0.71338606911949],"aabb_xy":[[0.5212886519429166,0.8615924631989331],[0.6365495897174583,0.9815924610523543]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.07559433154212503,-0.9745819693434468,0.71338606911949],"aabb_xy":[[-0.11005667894026681,-1.0090758517412692],[-0.04113198414398322,-0.940088086945624]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.2961121749112067,-1.5928065409618615,0.71338606911949],"aabb_xy":[[-0.3460909834215226,-1.64280654096758],[-0.24613336640089084,-1.5428065409561424]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.4512785043214611,0.8071046074861061,0.71338606911949],"aabb_xy":[[0.4431508161281479,0.7981909990753984],[0.4594061925147743,0.8160182158968137]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.066816589417804,-2.1530283498175744,0.71338606911949],"aabb_xy":[[-0.15681659309472215,-2.214460756394678],[0.023183414259114184,-2.091595943240469]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.2197673728106012,-2.0896910906889143,0.71338606911949],"aabb_xy":[[0.1934785484901605,-2.1159625243435656],[0.24605619713104182,-2.063419657034263]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.30247821779574613,-0.8110915541545878,0.71338606911949],"aabb_xy":[[-0.38247822105975926,-0.824651586463501],[-0.222478214531733,-0.7975315218456743]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.13643938289540702,1.3378251413582176,0.71338606911949],"aabb_xy":[[-0.1472123568167748,1.3028251431391789],[-0.12566640897403925,1.3728251395772568]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.29492936053385377,-0.7726567747221784,0.71338606911949],"aabb_xy":[[0.2112071350337713,-0.8626567782568744],[0.3786515860339362,-0.6826567711874825]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.6085712738419786,-0.33404230548309144,0.71338606911949],"aabb_xy":[[0.5860712740280762,-0.33851692185357213],[0.631071273655881,-0.32956768911261075]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.2614776496286922,-2.5414334191553336,0.71338606911949],"aabb_xy":[[-0.2866984864885318,-2.5666571700082197],[-0.2362568127688525,-2.5162096683024466]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.6540050458797622,1.0506288988619277,0.71338606911949],"aabb_xy":[[0.6493699307275288,1.0467615637847787],[0.6586401610319955,1.0544962339390762]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.07493199849712606,-2.464205834460125,0.71338606911949],"aabb_xy":[[0.0695944228311215,-2.4892058353892654],[0.08026957416313063,-2.439205833530986]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.40116666711594684,-1.358353271006549,0.71338606911949],"aabb_xy":[[0.3161666686985236,-1.4432275664688339],[0.48616666553337007,-1.273478975544264]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.3394994555163149,-1.6376079660636806,0.71338606911949],"aabb_xy":[[0.3346001632097514,-1.665284885366249],[0.3443987478228784,-1.6099310467611114]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.14652565068869705,1.1484256870703873,0.71338606911949],"aabb_xy":[[-0.15185816534331004,1.1431013588251517],[-0.14119313603408407,1.1537500153156228]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.13879850858508158,0.7633947580608886,0.71338606911949],"aabb_xy":[[0.10633680770315408,0.7332619259459859],[0.17126020946700898,0.7935275901757911]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.5804012973015469,-1.1616984692969772,0.71338606911949],"aabb_xy":[[0.5454012973250512,-1.1711630853445936],[0.6154012972780428,-1.1522338532493603]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.3841861962409634,1.8147995387035603,0.71338606911949],"aabb_xy":[[0.37548823395024816,1.8026745643960858],[0.39288415853167874,1.8269245130110352]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.12514503729581927,-0.23149218893094314,0.71338606911949],"aabb_xy":[[-0.17031635514398824,-0.29549218607548156],[-0.07997371944765029,-0.16749219178640473]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[-0.4900948052868894,0.6184196845222836,0.71338606911949],"aabb_xy":[[-0.49830935040257335,0.609743094224642],[-0.4818802601712054,0.6270962748199247]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.3198087652700926,0.3272622306516948,0.71338606911949],"aabb_xy":[[-0.3998087655436996,0.2543126828259781],[-0.23980876499648565,0.4002117784774115]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.6554219222651627,0.42555664878707367,0.71338606911949],"aabb_xy":[[0.6216463630744697,0.4115181535739086],[0.6891974814558557,0.43959514400023864]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.21430195492611892,-1.8630844518967302,0.71338606911949],"aabb_xy":[[0.17930195357463719,-1.883444187853551],[0.24930195627760066,-1.8427247159399094]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.20533898242462179,-1.3150662887504194,0.71338606911949],"aabb_xy":[[-0.21092065405875057,-1.327566288568195],[-0.19975731079049305,-1.302566288932644]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.445520556104812,-2.473950793959565,0.71338606911949],"aabb_xy":[[-0.495513668214004,-2.523950794633761],[-0.39552744399562023,-2.42395079328537]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.5121403075002893,-2.032089188275432,0.71338606911949],"aabb_xy":[[0.4481403102146406,-2.073595907228276],[0.5761403047859379,-1.9905824693225882]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[-0.2734945085479432,-0.5646589874278947,0.71338606911949],"aabb_xy":[[-0.3374945118376513,-0.6079939064318123],[-0.20949450525823507,-0.521324068423977]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[0.101005569943585,-1.0476137469209448,0.71338606911949],"aabb_xy":[[0.08337273435005742,-1.0652366929365675],[0.11863840553711257,-1.0299908009053216]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_32","position":[0.6330423274982195,-0.26439650014546867,0.71338606911949],"aabb_xy":[[0.618707902372056,-0.2764567157000075],[0.6473767526243829,-0.2523362845909298]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_33","position":[0.36959679503446385,0.6604506759951034,0.71338606911949],"aabb_xy":[[0.31962372950194845,0.6104506761825707],[0.4195698605669794,0.7104506758076364]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_34","position":[-0.2666281577437443,-2.2094556770641445,0.71338606911949],"aabb_xy":[[-0.33062815800421513,-2.254464476417072],[-0.20262815748327354,-2.164446877711216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648148837389026,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9236.png","name":"9236"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9236.png","name":"9236"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6126.png","name":"6126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3916.png","name":"3916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1992.png","name":"1992"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":776.4826040367936,"rotation_z_degrees":323.84780408273883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010057904048419926,-0.008166302416908912,-0.017162523162814247]},{"name":"camera_2","offset_m":[-0.014585719402338904,0.01963237726692957,-0.0019342748066528102]},{"name":"camera_3","offset_m":[0.0054149388231983404,-0.01813174745811197,0.008087951662869405]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000683236146407388,0.0008525237674655551,-0.001087580684471614],"end_effector_yaw_offset_degrees":0.6141526782365039},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009792693390287992,0.00045038411940554867,-0.0015036379666759903],"end_effector_yaw_offset_degrees":0.8709299083832245},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008672513613294922,-0.0008936850240231625,-0.0016807754466358943],"end_effector_yaw_offset_degrees":-0.9898766030505384}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002889830937012885,0.0006831194193384436],"position_m":[0.3505110169062987,0.15988311941933844,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002061638721171004,-0.00011271255885572998],"position_m":[0.329738361278829,-0.051412712558855725,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002677898741414367,-0.004719425230095191],"position_m":[0.3225778987414144,0.3013805747699048,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040993416358168664,-0.00032166363327832976],"position_m":[0.2171993416358169,-0.38722166363327837,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2b34adb4fd80a2db2ab553af9424f1ea1ec2bf2aa63f8bd45b0cdb9ea25ddcab","episode_index":195,"episode_name":"episode_0195"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0195.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9236/tex_ceiling_textures_1992/tex_floor_textures_3916/tex_table_textures_6126/tex_wall_textures_5426","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2877555970343805714,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2877555970343805714,"visual_seed":2877555970343805714,"scene_id":"lab_003","finished_at":"2026-09-03T05:46:01"} +{"episode_id":"ep_000085","started_at":"2026-09-03T05:47:30","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.2520701241231543,1.43035196390371,0.71338606911949],"aabb_xy":[[-0.30970059301042513,1.3703519649769993],[-0.1944396552358834,1.4903519628304205]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.24814640151467138,-0.5307507065355983,0.71338606911949],"aabb_xy":[[0.18414640421232498,-0.5751171335034551],[0.3121463988170178,-0.48638427956774155]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.04260758430265377,-0.9416517959774244,0.71338606911949],"aabb_xy":[[-0.03739241310093965,-1.021644367175607],[0.12260758170624718,-0.8616592247792414]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.46995587877915157,-0.6737108165041201,0.71338606911949],"aabb_xy":[[-0.4775801468693299,-0.681344040040664],[-0.46233161068897344,-0.6660775929675765]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.2696812801043551,1.5092757632169387,0.71338606911949],"aabb_xy":[[0.23218128152873427,1.4965394675533807],[0.30718127867997586,1.5220120588804966]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.12895987077694093,-0.004330045577717989,0.71338606911949],"aabb_xy":[[-0.2186469470850564,-0.09433004583216853],[-0.03927279446882548,0.08566995467673255]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.2089144326129111,0.9599165076033329,0.71338606911949],"aabb_xy":[[-0.21617568018331854,0.9471294973398234],[-0.2016531850425037,0.9727035178668424]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.17826653185695762,-0.20711617376812663,0.71338606911949],"aabb_xy":[[-0.18630286655824246,-0.2151542930725434],[-0.17023019715567278,-0.19907805446370985]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.13408560436085903,0.8097072358596091,0.71338606911949],"aabb_xy":[[0.07408560385300612,0.7528605021736877],[0.19408560486871196,0.8665539695455303]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.58225868972848,0.09478456740794439,0.71338606911949],"aabb_xy":[[-0.6072586888941132,0.08783232170258781],[-0.5572586905628469,0.10173681311330096]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.5093289207546046,-2.027306647788436,0.71338606911949],"aabb_xy":[[0.41932892133623356,-2.060682144632626],[0.5993289201729753,-1.9939311509442463]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.6495198814205752,0.8965379949350916,0.71338606911949],"aabb_xy":[[0.627023459986711,0.8740379951283441],[0.6720163028544393,0.919037994741839]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.12887718291298333,1.1714998745884397,0.71338606911949],"aabb_xy":[[0.11177510495461518,1.1543930690571702],[0.1459792608713515,1.1886066801197097]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.25902043498566574,-1.2965996150875219,0.71338606911949],"aabb_xy":[[0.2244293521316205,-1.3615996153725525],[0.2936115178397109,-1.2315996148024904]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.46665921513645303,0.5119003231131862,0.71338606911949],"aabb_xy":[[0.4323429379618351,0.4619003231400085],[0.500975492311071,0.561900323086364]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.1916518996051777,-2.0080197430042177,0.71338606911949],"aabb_xy":[[-0.19509257584523493,-2.011881175978582],[-0.18821122336512058,-2.0041583100298532]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.15151936022097034,-1.6749688964186535,0.71338606911949],"aabb_xy":[[-0.1661627657750033,-1.6896276160754375],[-0.13687595466693733,-1.660310176761869]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.11592604753425906,-2.0934391535366164,0.71338606911949],"aabb_xy":[[0.10721207848432456,-2.1159391541958037],[0.12464001658419353,-2.0709391528774272]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.4005503653724174,-0.33742327382529735,0.71338606911949],"aabb_xy":[[-0.4805503623354565,-0.4144989154690708],[-0.3205503684093782,-0.2603476321815239]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.36933038289953246,-1.1117175110824393,0.71338606911949],"aabb_xy":[[0.31984996168557367,-1.1757175089952911],[0.41881080411349125,-1.0477175131695875]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.4153094593808926,-0.5482036361031812,0.71338606911949],"aabb_xy":[[-0.4953094596544996,-0.6211531839288978],[-0.3353094591072856,-0.47525408827746446]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.3298155724793604,0.2867389724676319,0.71338606911949],"aabb_xy":[[-0.3948155734364876,0.23479076053392636],[-0.2648155715222332,0.3386871844013375]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.04442522944231175,-1.4373459329745655,0.71338606911949],"aabb_xy":[[0.029262356465374666,-1.4525113902696842],[0.059588102419248834,-1.4221804756794467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582194736764769,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/948.png","name":"948"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/948.png","name":"948"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6404.png","name":"6404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2085.png","name":"2085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9007.png","name":"9007"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":624.7850103991201,"rotation_z_degrees":112.88139066498817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0003347220648766726,0.017672138368344064,0.017747550170904274]},{"name":"camera_2","offset_m":[-0.016842964178231425,-0.010137561369716558,-0.007401315342424471]},{"name":"camera_3","offset_m":[0.007195463658520161,0.0027239995314780087,0.010704403341679065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007807291832813549,-0.00116551354252916,-0.00033843035514531596],"end_effector_yaw_offset_degrees":-0.03733874727320563},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019890907419211684,0.001415563741277437,0.0013056853803288448],"end_effector_yaw_offset_degrees":0.684929536289002},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013438773407614649,0.0006701694258594891,0.0008349277065470982],"end_effector_yaw_offset_degrees":-0.8048712386297545}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012813499474897292,-0.0019476899700322436],"position_m":[0.35208134994748974,0.15725231002996776,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00100128376394329,-0.0013422548906340602],"position_m":[0.33079871623605667,-0.05264225489063406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004806485234137474,-0.004573148872073523],"position_m":[0.31509351476586256,0.3015268511279265,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030923354712430974,0.001793192053505325],"position_m":[0.2100076645287569,-0.3851068079464947,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9766db1434f5e368d2d0a50184f63cbec84d46311f714259105ffe4ee1c15f18","episode_index":197,"episode_name":"episode_0197"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0197.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_948/tex_ceiling_textures_9007/tex_floor_textures_2085/tex_table_textures_7850/tex_wall_textures_6404","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":9111725258364604390,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":9111725258364604390,"visual_seed":9111725258364604390,"scene_id":"lab_003","finished_at":"2026-09-03T05:50:24"} +{"episode_id":"ep_000086","started_at":"2026-09-03T05:50:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.09160231509785377,-2.4555589798200947,0.71338606911949],"aabb_xy":[[0.057139837084766,-2.462222657003017],[0.12606479311094154,-2.4488953026371716]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.39976139335280303,0.7543655624527572,0.71338606911949],"aabb_xy":[[0.35448277847165377,0.6903655631045735],[0.4450400082339523,0.8183655618009409]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.35191552453036873,1.596979856458859,0.71338606911949],"aabb_xy":[[-0.4369155232224433,1.5649939930639805],[-0.26691552583829403,1.6289657198537382]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.6389261764255305,-1.2532573644793004,0.71338606911949],"aabb_xy":[[0.5789261759176776,-1.3101040981652214],[0.6989261769333834,-1.1964106307933788]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.038355886228700564,-1.0498223119905497,0.71338606911949],"aabb_xy":[[-0.03164411640788579,-1.069927176986415],[0.10835588886528691,-1.029717446994684]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.08209807890092835,-0.7436556445172022,0.71338606911949],"aabb_xy":[[-0.09185406841010221,-0.7534181785764367],[-0.07234208939175443,-0.7338931104579678]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.46963829181587846,-1.2563893475844707,0.71338606911949],"aabb_xy":[[-0.5336382921934121,-1.3061346144352828],[-0.40563829143834484,-1.2066440807336583]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.27453954567288785,0.6278014508834882,0.71338606911949],"aabb_xy":[[0.2570395454135513,0.6137099086947156],[0.29203954593222453,0.6418929930722609]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.2740527415829924,-0.5460194492684423,0.71338606911949],"aabb_xy":[[0.23946165872894717,-0.6110194495534733],[0.3086438244370376,-0.48101944898341126]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.3056555859604846,-1.3229827125137847,0.71338606911949],"aabb_xy":[[0.2976293153298586,-1.3317342074911376],[0.3136818565911106,-1.3142312175364324]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.33934892806453787,-2.2622973665243897,0.71338606911949],"aabb_xy":[[0.32379315865427266,-2.2778477997687974],[0.3549046974748032,-2.246746933279983]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.2515191070953928,-2.4878013138813078,0.71338606911949],"aabb_xy":[[0.18752340970029618,-2.5518013121820164],[0.31551480449048935,-2.423801315580599]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.21883014225302289,0.3219139601525409,0.71338606911949],"aabb_xy":[[-0.22687350217897806,0.2369139590571745],[-0.2107867823270677,0.40691396124790735]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.3102155681276032,-2.2434126192636277,0.71338606911949],"aabb_xy":[[-0.3552081548460536,-2.2884126185380764],[-0.2652229814091528,-2.198412619989179]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.05884922924278102,1.0077508428242439,0.71338606911949],"aabb_xy":[[-0.07402139852441436,0.9925819858960405],[-0.04367705996114768,1.0229196997524472]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.5009693209308612,-0.6795923937091648,0.71338606911949],"aabb_xy":[[0.46346932058263335,-0.6913837892902482],[0.5384693212790889,-0.6678009981280811]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.5200582248286088,0.368507681750708,0.71338606911949],"aabb_xy":[[0.4400582215707658,0.2885111739587241],[0.6000582280864517,0.44850418954269206]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[-0.4111451692228749,1.3838959866813325,0.71338606911949],"aabb_xy":[[-0.4212981847770242,1.347826445108592],[-0.4009921536687254,1.4199655282540726]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.056342791476433396,-2.371283984236835,0.71338606911949],"aabb_xy":[[-0.06881014958616904,-2.3837493088701587],[-0.04387543336669775,-2.3588186596035117]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.16675371630443203,-0.9513547991108571,0.71338606911949],"aabb_xy":[[0.12925371551243656,-0.9577226400690472],[0.20425371709642745,-0.944986958152667]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.3243253942339461,1.0509448443154166,0.71338606911949],"aabb_xy":[[-0.32978333987096614,0.9709448410077575],[-0.318867448596926,1.1309448476230757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667737690237286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2058.png","name":"2058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2058.png","name":"2058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7153.png","name":"7153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2156.png","name":"2156"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":762.0251089025821,"rotation_z_degrees":195.16858710074519,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011595326388986828,-0.017586450600055367,-0.009016869167634103]},{"name":"camera_2","offset_m":[-0.0027539856737756954,0.008737510262584638,0.005869760598378723]},{"name":"camera_3","offset_m":[-0.010839792790604883,-0.009330901374272043,-0.0073863273571861225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000458218329394469,0.0010500597965338054,0.0007680660091908824],"end_effector_yaw_offset_degrees":0.6023185527946722},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016754082755743886,0.0019218556512309182,0.0009609529838904575],"end_effector_yaw_offset_degrees":-0.9816362297575598},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009203926129559585,-0.0003687274529819047,-0.0018230525493934952],"end_effector_yaw_offset_degrees":-0.4418871800291342}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004054170643476286,-0.0020388575293800704],"position_m":[0.3548541706434763,0.15716114247061994,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022202677828550422,-0.0008300793763522697],"position_m":[0.3295797322171449,-0.052130079376352265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007101940700964936,-0.0018322136025988966],"position_m":[0.3206101940700965,0.3042677863974011,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004767721351310828,-0.0029378347136307524],"position_m":[0.21786772135131083,-0.38983783471363076,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8cd8a0b54cd788d5380ab6fd46eadcd6f5fd0bc2c1fc891fde926fb729b70951","episode_index":198,"episode_name":"episode_0198"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0198.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2058/tex_ceiling_textures_2156/tex_floor_textures_7153/tex_table_textures_4530/tex_wall_textures_2231","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":8473127779378717437,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":8473127779378717437,"visual_seed":8473127779378717437,"scene_id":"lab_003","finished_at":"2026-09-03T05:53:11"} +{"episode_id":"ep_000087","started_at":"2026-09-03T05:53:15","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.3565813824954047,-1.0276342133027865,0.71338606911949],"aabb_xy":[[0.3452196478421185,-1.0390026797090743],[0.3679431171486908,-1.0162657468964982]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.3497281777940853,-1.279805727925373,0.71338606911949],"aabb_xy":[[-0.386762287222145,-1.3141829352590824],[-0.31269406836602553,-1.2454285205916635]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.2841665877708182,-0.22102763142674053,0.71338606911949],"aabb_xy":[[-0.29431960332496754,-0.2570971729994808],[-0.2740135722166688,-0.18495808985400017]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.32395910019242263,0.518146273696142,0.71338606911949],"aabb_xy":[[-0.34159193578595015,0.5005233276805189],[-0.306326264598895,0.5357692197117648]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.3990282108715385,-1.6109471387068592,0.71338606911949],"aabb_xy":[[-0.4490274860399746,-1.6609471399828066],[-0.3490289357031023,-1.5609471374309123]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.6857644667766161,-1.4443524758272117,0.71338606911949],"aabb_xy":[[0.6482644662792578,-1.4483211593753302],[0.7232644672739743,-1.4403837922790932]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.0436891141398954,1.579839269973903,0.71338606911949],"aabb_xy":[[-0.10868911202154322,1.5287156062673626],[0.021310883741752395,1.6309629336804443]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.7058875454240023,1.5195478525361783,0.71338606911949],"aabb_xy":[[0.6887854674656343,1.5024410470049085],[0.7229896233823706,1.536654658067448]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[-0.5989490131305415,-0.9875382340426728,0.71338606911949],"aabb_xy":[[-0.6289165700403672,-1.0175382343405586],[-0.5689814562207158,-0.9575382337447871]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.6494018447273103,-2.04167967716365,0.71338606911949],"aabb_xy":[[-0.6844018429974302,-2.048753804858638],[-0.6144018464571904,-2.0346055494686617]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.5719095095624271,-1.684266376045754,0.71338606911949],"aabb_xy":[[0.5516252068390283,-1.7045490011884625],[0.5921938122858258,-1.6639837509030448]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.28296334134208223,-1.046003491337166,0.71338606911949],"aabb_xy":[[-0.3008324490965377,-1.0598363993143771],[-0.26509423358762674,-1.0321705833599555]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.6695446740583724,-1.9637292051148472,0.71338606911949],"aabb_xy":[[0.656917886771176,-1.97327527881642],[0.6821714613455687,-1.9541831314132743]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.4031636766236597,0.6070498169398859,0.71338606911949],"aabb_xy":[[0.3902917731227195,0.5270498165260498],[0.4160355801245998,0.6870498173537221]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.5749137833518229,-2.4987774384544212,0.71338606911949],"aabb_xy":[[-0.5858195594393856,-2.5787774348532504],[-0.5640080072642601,-2.418777442055592]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.14009122687515352,-2.4084159446954,0.71338606911949],"aabb_xy":[[0.09009122521365874,-2.458414386951102],[0.19009122853664825,-2.3584175024396967]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.3229729915698747,-0.7989738280951681,0.71338606911949],"aabb_xy":[[-0.4029729948277177,-0.8789703358871522],[-0.2429729883120318,-0.7189773203031843]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.06669415678963908,1.1911433898823875,0.71338606911949],"aabb_xy":[[-0.12669415704104026,1.1368620648459231],[-0.0066941565382378915,1.2454247149188524]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.3806156271674235,-2.4821214251824757,0.71338606911949],"aabb_xy":[[0.36055721555418313,-2.502186512091633],[0.4006740387806637,-2.4620563382733183]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.6193067642794112,-1.5911755815926765,0.71338606911949],"aabb_xy":[[0.5543067631734679,-1.6161409546608048],[0.6843067653853545,-1.5662102085245482]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.504264426316255,0.7541238260306895,0.71338606911949],"aabb_xy":[[-0.5455689693799909,0.6901238264625724],[-0.4629598832525189,0.8181238255988066]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.47361356028476775,1.237394996961081,0.71338606911949],"aabb_xy":[[0.4675189323966495,1.2288256024094122],[0.47970818817288613,1.2459643915127496]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.25259553059840717,1.105131886869541,0.71338606911949],"aabb_xy":[[-0.2703890375333236,1.0873321412737433],[-0.23480202366349073,1.1229316324653387]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.37829950664617096,-1.954480312731698,0.71338606911949],"aabb_xy":[[0.3282995080002498,-2.004399856391161],[0.4282995052920922,-1.904560769072236]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[0.5858248118106759,-0.2932226862101208,0.71338606911949],"aabb_xy":[[0.5683248783766924,-0.3107226861303553],[0.6033247452446592,-0.2757226862898862]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.2729712043410068,-2.3342040312186136,0.71338606911949],"aabb_xy":[[-0.3279712025427516,-2.3747259978450512],[-0.21797120613926194,-2.293682064592176]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[0.011581445596442808,-0.7891305951482375,0.71338606911949],"aabb_xy":[[-0.06841855238434223,-0.7967321361100894],[0.09158144357722785,-0.7815290541863855]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[-0.005444159974055451,1.7687959963028939,0.71338606911949],"aabb_xy":[[-0.02790892994546057,1.7462959954240334],[0.017020609997349667,1.7912959971817544]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.28837537004362207,-0.5694018786083719,0.71338606911949],"aabb_xy":[[-0.2956366176140295,-0.5821888888718812],[-0.28111412247321466,-0.5566148683448623]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_29","position":[-0.45274653419969035,0.008116986441063734,0.71338606911949],"aabb_xy":[[-0.4609610793153742,-0.0005596038565775524],[-0.44453198908400626,0.01679357673870501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667340701560726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7049.png","name":"7049"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8616.png","name":"8616"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4004.png","name":"4004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1632.png","name":"1632"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":826.1360395921915,"rotation_z_degrees":252.49528868494426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005527806959540235,0.0023015193055572307,-0.008644755427596938]},{"name":"camera_2","offset_m":[0.018013157710116936,0.001794747293466483,-0.0022231431079898327]},{"name":"camera_3","offset_m":[-0.017215021851484772,-0.00790481725552695,0.008694777683071898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008911377386363658,-0.00031352395278087374,4.4172605235492674e-05],"end_effector_yaw_offset_degrees":0.7058250619651769},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005984338062621545,0.0010260225659184754,0.0011910260006300299],"end_effector_yaw_offset_degrees":-0.48765603157367954},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005856447688038795,0.00044383279618933485,-0.0013121872118669615],"end_effector_yaw_offset_degrees":0.6299915890532166}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024193117950876454,-0.004733563977190944],"position_m":[0.35321931179508764,0.15446643602280907,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016650499512096961,0.00024665342247495985],"position_m":[0.3334650499512097,-0.05105334657752504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004461825711941275,-0.003993515975526818],"position_m":[0.3243618257119413,0.30210648402447315,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004231108779515113,0.0032969046419112575],"position_m":[0.2088688912204849,-0.3836030953580888,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e807bd56b27546b934b4706022199cc53f807c20fa74dad5f11edabae7d88f9f","episode_index":199,"episode_name":"episode_0199"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0199.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9789/tex_ceiling_textures_1632/tex_floor_textures_4004/tex_table_textures_7049/tex_wall_textures_8616","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":1506782711191293643,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":1506782711191293643,"visual_seed":1506782711191293643,"scene_id":"lab_003","finished_at":"2026-09-03T05:55:50"} +{"episode_id":"ep_000088","started_at":"2026-09-03T05:55:53","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.178592459062069,1.5317749775100693,0.71338606911949],"aabb_xy":[[0.15404624343931828,1.5015260809610322],[0.20313867468481972,1.5620238740591064]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.46622834207766806,-0.28296113098336617,0.71338606911949],"aabb_xy":[[0.3762283423544938,-0.30603448351854595],[0.5562283418008421,-0.2598877784481863]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.20440276037552002,0.755480231987697,0.71338606911949],"aabb_xy":[[-0.24542070376189093,0.7054802313567397],[-0.16338481698914917,0.8054802326186543]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.5584569879725547,0.5550216530128584,0.71338606911949],"aabb_xy":[[-0.5654984389233023,0.5479949012750639],[-0.5514155370218071,0.562048404750653]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.6743636251909759,-0.11156314140444179,0.71338606911949],"aabb_xy":[[0.6642106096368263,-0.1476326829771821],[0.6845166407451251,-0.07549359983170144]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.459053002201301,-2.1829087880680156,0.71338606911949],"aabb_xy":[[-0.5240530033072444,-2.2078741611361443],[-0.39405300109535774,-2.1579434149998877]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[0.4326161360696399,-0.9932798534557801,0.71338606911949],"aabb_xy":[[0.3686161387672935,-1.0376462804236368],[0.4966161333719863,-0.9489134264879232]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.054431687768486836,-1.731305917325853,0.71338606911949],"aabb_xy":[[0.031932552042259865,-1.7538059181041157],[0.07693082349471381,-1.7088059165475897]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.4420389557174613,-0.7413988981208877,0.71338606911949],"aabb_xy":[[0.36203895524724544,-0.749709605735236],[0.5220389561876774,-0.7330881905065393]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.4102495609495456,1.6868572644570734,0.71338606911949],"aabb_xy":[[-0.41824305074482776,1.678859132516598],[-0.4022560711542637,1.6948553963975492]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.2875685743293963,1.2348267230962087,0.71338606911949],"aabb_xy":[[0.2375911574641427,1.18482672160696],[0.33754599119464984,1.284826724585457]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.35264390368353604,1.7447586101518424,0.71338606911949],"aabb_xy":[[0.32972819079848614,1.7218543130154194],[0.375559616568586,1.7676629072882664]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.4119003919154134,0.29277237857798566,0.71338606911949],"aabb_xy":[[-0.44940039226364115,0.2809809829969021],[-0.37440039156718563,0.3045637741590692]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.5081434521554165,1.2595648714644678,0.71338606911949],"aabb_xy":[[-0.5257762877489439,1.2419419254488446],[-0.4905106165618888,1.2771878174800906]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.18944546362643688,0.9948346024337522,0.71338606911949],"aabb_xy":[[0.18218421605602947,0.9820475921702427],[0.1967067111968443,1.0076216126972617]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.2152933041557918,1.6654886579306711,0.71338606911949],"aabb_xy":[[-0.2502933041322877,1.6560240418830545],[-0.18029330417929598,1.6749532739782877]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.18166717563115198,0.4565714464459534,0.71338606911949],"aabb_xy":[[-0.22297171869488797,0.3925714468778363],[-0.140362632567416,0.5205714460140705]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.0792518264917057,-2.002421654912538,0.71338606911949],"aabb_xy":[[-0.0007481756710567833,-2.0823768385386816],[0.15925182865446819,-1.9224664712863944]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.3775912776807982,1.2661286539244556,0.71338606911949],"aabb_xy":[[-0.44159127795477643,1.2160625537271679],[-0.31359127740681997,1.3161947541217438]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.029976433562240556,0.6122841356680753,0.71338606911949],"aabb_xy":[[-0.048182257223488234,0.6012587350860837],[-0.011770609900992879,0.623309536250067]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.6062338146037072,-2.4511610339647834,0.71338606911949],"aabb_xy":[[0.5956663349456081,-2.461706064077792],[0.6168012942618061,-2.440616003851775]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.4383861119800431,-1.1628420055876068,0.71338606911949],"aabb_xy":[[-0.4464123826106691,-1.1715935005649594],[-0.4303598413494171,-1.1540905106102541]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.54204682149972,-0.9823846177156605,0.71338606911949],"aabb_xy":[[-0.6320468182353303,-1.035568081032955],[-0.45204682476410984,-0.9292011543983659]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.1798472729855609,-0.5950263267222282,0.71338606911949],"aabb_xy":[[-0.25984727157288035,-0.6743419286603891],[-0.0998472743982415,-0.5157107247840673]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.4868378927823098,0.906605233825617,0.71338606911949],"aabb_xy":[[0.46896878502785433,0.8927723258484059],[0.5047070005367653,0.9204381418028278]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[0.46792127065201017,-1.4057794130276395,0.71338606911949],"aabb_xy":[[0.3779212712336393,-1.4391549098718293],[0.5579212700703811,-1.3724039161834498]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.41312743441472755,-0.1510444381696363,0.71338606911949],"aabb_xy":[[-0.4631267095831637,-0.20104443944558348],[-0.3631281592462914,-0.10104443689368914]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.08072287723638627,1.2094382844487073,0.71338606911949],"aabb_xy":[[-0.10322287676009366,1.1869423369980863],[-0.05822287771267886,1.2319342318993278]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626395765317386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1188.png","name":"1188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8308.png","name":"8308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1820.png","name":"1820"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":652.968878379198,"rotation_z_degrees":54.82954119027144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00028185465215046016,-0.007737071235514712,-0.003745390367035032]},{"name":"camera_2","offset_m":[0.004666852472106523,0.002554389234225879,-0.009325708438074658]},{"name":"camera_3","offset_m":[-0.018226419836774213,0.0026917509114632344,0.008017004553178525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008685944277168835,0.000821736157396015,-0.001417261962248328],"end_effector_yaw_offset_degrees":-0.16342996325071213},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007560985509798405,-0.0011473825380202505,0.001697229058135575],"end_effector_yaw_offset_degrees":0.06816996917919971},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001491980044336256,0.0007802868617811575,-0.00041049196383786154],"end_effector_yaw_offset_degrees":-0.7611833258790772}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00347075074965037,0.0026706359484199183],"position_m":[0.34732924925034964,0.16187063594841994,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004657252354679669,8.100411543467047e-05],"position_m":[0.33645725235467966,-0.05121899588456533,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004923164439020355,-0.003822125258172409],"position_m":[0.31497683556097966,0.3022778747418276,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007483830185828532,-0.0014422896489090964],"position_m":[0.21384838301858286,-0.3883422896489091,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a684dd876d176da8487ac1aad92223cfc8cd0358048ef0c932cd0927d791f84f","episode_index":200,"episode_name":"episode_0200"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0200.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1442/tex_ceiling_textures_1820/tex_floor_textures_2285/tex_table_textures_1188/tex_wall_textures_8308","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":993410337343188289,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":993410337343188289,"visual_seed":993410337343188289,"scene_id":"lab_003","finished_at":"2026-09-03T05:58:36"} +{"episode_id":"ep_000089","started_at":"2026-09-03T05:58:40","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[-0.2588328242857495,-1.551999205179251,0.71338606911949],"aabb_xy":[[-0.32283282596374685,-1.6005165966585653],[-0.19483282260775214,-1.5034818136999368]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[-0.5149080201494749,-0.4421570673917907,0.71338606911949],"aabb_xy":[[-0.5725384890367455,-0.5021570663185012],[-0.4572775512622038,-0.38215706846508]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.5018341463911762,0.5871200466093227,0.71338606911949],"aabb_xy":[[-0.5150650919258575,0.5738926275873231],[-0.4886032008564949,0.6003474656313219]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.6116477614961644,1.3601187297784407,0.71338606911949],"aabb_xy":[[0.574147761552398,1.351825639743604],[0.6491477614399308,1.368411819813277]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[0.09353232835274738,-2.2339467176436822,0.71338606911949],"aabb_xy":[[0.07103232834259911,-2.2480429372832855],[0.11603232836289569,-2.219850498004079]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.5114446035868692,-2.224394867021823,0.71338606911949],"aabb_xy":[[0.5020975960045739,-2.238698489239467],[0.5207916111691644,-2.210091244804179]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.20922318972351384,0.884545558721265,0.71338606911949],"aabb_xy":[[0.17676148884158635,0.8544127266063621],[0.24168489060544127,0.9146783908361673]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[-0.5226276944916227,1.2699621009283169,0.71338606911949],"aabb_xy":[[-0.5451276947351381,1.2577574662685451],[-0.5001276942481073,1.282166735588089]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[-0.4700144250946302,0.4660495177539543,0.71338606911949],"aabb_xy":[[-0.5600144215955019,0.42013787533549607],[-0.3800144285937584,0.5119611601724126]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.4718033009190925,1.1806664431044882,0.71338606911949],"aabb_xy":[[0.4078032977004547,1.1339433312054799],[0.5358033041377304,1.2273895550034966]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.37352097937662626,-1.2934023895408036,0.71338606911949],"aabb_xy":[[-0.40700014663766726,-1.3268815029119108],[-0.3400418121155854,-1.2599232761696968]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.6819368098725345,-0.09990990539311762,0.71338606911949],"aabb_xy":[[-0.6863674392273748,-0.10535827712780022],[-0.6775061805176944,-0.09446153365843502]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.5147899159348792,-2.1678535555707725,0.71338606911949],"aabb_xy":[[-0.569783127272016,-2.222853555909566],[-0.45979670459774247,-2.112853555231979]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.2909777978891943,0.672248451182385,0.71338606911949],"aabb_xy":[[0.25597779957849887,0.6645334362588393],[0.32597779619988976,0.6799634661059306]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.08035330181490252,-0.42779201564761316,0.71338606911949],"aabb_xy":[[-0.13045076579597614,-0.49179201615742496],[-0.030255837833828902,-0.36379201513780135]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.15932766242079255,-1.6228045096471377,0.71338606911949],"aabb_xy":[[0.13481403832378666,-1.647069102949174],[0.18384128651779838,-1.598539916345101]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.08983344923659053,1.5687349120193264,0.71338606911949],"aabb_xy":[[0.004833450544515894,1.5367490486244475],[0.17483344792866518,1.6007207754142052]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.16614305207571567,1.7735710980800605,0.71338606911949],"aabb_xy":[[-0.1749242792229519,1.7647913507915305],[-0.15736182492847944,1.782350845368591]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.06503386598339123,-1.263436245971723,0.71338606911949],"aabb_xy":[[-0.06911202389044097,-1.2675172262199865],[-0.060955708076341486,-1.25935526572346]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.08378039395287418,0.30073364651725587,0.71338606911949],"aabb_xy":[[-0.13878039357462002,0.24574995372978314],[-0.028780394331128334,0.3557173393047286]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.44667777921214813,-0.3419936401824999,0.71338606911949],"aabb_xy":[[0.38667777756922633,-0.3939937894744441],[0.50667778085507,-0.2899934908905557]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.3943739829832706,-2.4998655200609625,0.71338606911949],"aabb_xy":[[-0.4743739816401566,-2.5143703789852254],[-0.3143739843263846,-2.4853606611366996]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.07375725996058802,0.6163912181283813,0.71338606911949],"aabb_xy":[[-0.08383896703916148,0.5363912202362665],[-0.06367555288201453,0.6963912160204958]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.0952371819408423,0.8684276160272644,0.71338606911949],"aabb_xy":[[0.08819573099009471,0.8614008642894699],[0.10227863289158991,0.875454367765059]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641586048872745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/453.png","name":"453"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2570.png","name":"2570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9546.png","name":"9546"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":739.7767291616359,"rotation_z_degrees":346.169448750618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008367809407776653,0.007983152874302527,-0.008812194359273993]},{"name":"camera_2","offset_m":[0.016278074307669244,-0.014261640204954063,-0.013880698042631524]},{"name":"camera_3","offset_m":[-0.018770620509304888,-0.0016726704729219805,0.01939774656776769]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003985835504509768,-0.0008259327645068547,0.0006884851374023412],"end_effector_yaw_offset_degrees":-0.32859486886608646},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003748232657581514,0.0006800100696118566,-0.0003608821334692349],"end_effector_yaw_offset_degrees":-0.9718723810227847},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011908270033371218,-0.0016830947282858734,-0.00045950740563639367],"end_effector_yaw_offset_degrees":-0.7409681071916767}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032834301489043797,0.0021924896660752225],"position_m":[0.35408343014890437,0.16139248966607522,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003282243110306932,0.0015894130246583973],"position_m":[0.33508224311030693,-0.0497105869753416,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014690201510631573,0.0018863986825906854],"position_m":[0.31843097984893687,0.30798639868259065,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003491191985424246,-0.0025796005883572948],"position_m":[0.20960880801457576,-0.3894796005883573,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"674c5cbff0b1304d3576162c977d523e18deb8c502de5d0b0873d973bb63133d","episode_index":201,"episode_name":"episode_0201"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0201.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7126/tex_ceiling_textures_2468/tex_floor_textures_9546/tex_table_textures_453/tex_wall_textures_2570","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3486852601756054040,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3486852601756054040,"visual_seed":3486852601756054040,"scene_id":"lab_003","finished_at":"2026-09-03T06:01:27"} +{"episode_id":"ep_000090","started_at":"2026-09-03T06:02:56","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[0.4762301110245011,-0.23380611465808343,0.71338606911949],"aabb_xy":[[0.4262301114481664,-0.2837866936101894],[0.5262301106008358,-0.18382553570597748]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[-0.27680962334789944,-1.809976320473932,0.71338606911949],"aabb_xy":[[-0.28483589397852543,-1.818727815451285],[-0.26878335271727344,-1.8012248254965797]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.4307616657817849,-1.9715328236391054,0.71338606911949],"aabb_xy":[[-0.43717547942496976,-1.9779426438867735],[-0.4243478521385999,-1.9651230033914369]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.1212148016225254,0.1260736059976657,0.71338606911949],"aabb_xy":[[-0.21121479812339716,0.08016196357920745],[-0.031214805121653668,0.17198524841612392]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.18868328266493484,1.0755707337495535,0.71338606911949],"aabb_xy":[[0.18258865477681652,1.067001339197885],[0.19477791055305316,1.0841401283012224]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.2805414532683157,0.40657272039063397,0.71338606911949],"aabb_xy":[[0.27254796347303367,0.3985745884501583],[0.2885349430635977,0.41457085233110963]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.4959149820521731,0.7741457256856785,0.71338606911949],"aabb_xy":[[0.4159149809790528,0.764367679348294],[0.5759149831252934,0.7839237720230628]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.4579448642086896,0.48110846117531825,0.71338606911949],"aabb_xy":[[-0.5079441393771258,0.43110845989937113],[-0.4079455890402534,0.5311084624512654]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.21198534940230984,-1.4756396925050475,0.71338606911949],"aabb_xy":[[0.15435488051503896,-1.5356396914317576],[0.26961581828958064,-1.4156396935783366]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.5541966849914949,1.058232116598838,0.71338606911949],"aabb_xy":[[-0.5916966848085284,1.053593905287696],[-0.5166966851744613,1.0628703279099796]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.6527748595807257,0.9899251805252764,0.71338606911949],"aabb_xy":[[0.5887748588772562,0.9439067980523554],[0.7167748602841949,1.0359435629981975]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.6587107134849128,-0.04683017167102266,0.71338606911949],"aabb_xy":[[0.647465657914295,-0.05807196939511793],[0.6699557690555307,-0.03558837394692737]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.07525446488427823,-2.207139272960638,0.71338606911949],"aabb_xy":[[-0.15525446347159766,-2.2864548748987987],[0.00474553370304119,-2.127823671022477]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.598392895782379,-1.1757569075735606,0.71338606911949],"aabb_xy":[[-0.6216747379805102,-1.2607569088707884],[-0.5751110535842475,-1.0907569062763323]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[0.4814863985907534,1.3020685384547144,0.71338606911949],"aabb_xy":[[0.44648640032063336,1.294994410759726],[0.5164863968608732,1.3091426661497023]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.6714103882542942,-1.4763880653497603,0.71338606911949],"aabb_xy":[[-0.6768683338913142,-1.5563880686574192],[-0.665952442617274,-1.396388062042101]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.38039598564589894,0.5843883663283229,0.71338606911949],"aabb_xy":[[-0.38909394793661434,0.5722633920208483],[-0.3716980233551837,0.5965133406357978]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.15440555167967573,1.7079539914769897,0.71338606911949],"aabb_xy":[[0.13190555116763514,1.685462133111591],[0.17690555219171633,1.7304458498423878]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.6331365399880162,-0.23084230100822145,0.71338606911949],"aabb_xy":[[0.579120943706116,-0.29484230390047855],[0.687152136269916,-0.16684229811596424]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.1808208421059312,-1.6212820329604858,0.71338606911949],"aabb_xy":[[-0.18640251374005995,-1.6337820327782615],[-0.17523917047180243,-1.6087820331427105]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[0.3902619537402472,-0.4032624408192693,0.71338606911949],"aabb_xy":[[0.3822256190389623,-0.4113005601236861],[0.398298288441532,-0.39522432151485254]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.17825511251896842,-1.5168566195286204,0.71338606911949],"aabb_xy":[[-0.20690444487938459,-1.5455021788056962],[-0.14960578015855214,-1.4882110602515446]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.5192682510238851,-2.17928012548531,0.71338606911949],"aabb_xy":[[0.4740969331757162,-2.2432801226298484],[0.5644395688720542,-2.1152801283407716]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[0.7034569516587301,-0.9388917151931218,0.71338606911949],"aabb_xy":[[0.6955336714199818,-0.9613917154311251],[0.7113802318974785,-0.9163917149551184]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.43441964461988425,-0.7841075833430169,0.71338606911949],"aabb_xy":[[0.39691964619648384,-0.7972717973108474],[0.47191964304328454,-0.7709433693751861]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.42383046697166965,-1.2900163968135427,0.71338606911949],"aabb_xy":[[-0.4736472464365044,-1.340016395297846],[-0.3740136875068349,-1.2400163983292394]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[-0.5879507154207666,-2.2053287939196813,0.71338606911949],"aabb_xy":[[-0.6222669925953845,-2.255328793892859],[-0.5536344382461487,-2.1553287939465036]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[-0.1974086607511984,-1.9804909535101416,0.71338606911949],"aabb_xy":[[-0.23199974360524359,-2.0454909537951727],[-0.16281757789715315,-1.9154909532251105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627397825954374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2753.png","name":"2753"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8500.png","name":"8500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7942.png","name":"7942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":819.5545367519013,"rotation_z_degrees":3.071679833125729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010012933225309127,0.014900848824643004,0.016989202668041815]},{"name":"camera_2","offset_m":[-0.008226659907215833,-0.018012826880821883,0.006794596467564085]},{"name":"camera_3","offset_m":[0.01987896206178229,0.018418552192719203,0.015576349164349478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00045107126055482895,-0.00043976951708945265,0.0013648532924892404],"end_effector_yaw_offset_degrees":0.4524883604989618},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017684230255190676,0.0017605552075852134,-0.000716031421193847],"end_effector_yaw_offset_degrees":-0.6612595030346624},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006285699302759368,0.0006610661391908395,-0.0015157793449790669],"end_effector_yaw_offset_degrees":0.059768619651703325}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037580162678823993,-0.001490248553788397],"position_m":[0.3470419837321176,0.1577097514462116,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028251591076739837,-0.004274370435972928],"position_m":[0.328974840892326,-0.05557437043597293,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003017981694886807,-0.003448439320940617],"position_m":[0.31959820183051135,0.30265156067905935,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032401340770123956,0.003038676157717025],"position_m":[0.2098598659229876,-0.383861323842283,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c9ab1ab124cbce56a264c3c4e70f70d484ae3439d6dc6aa462b8413900b49bf","episode_index":203,"episode_name":"episode_0203"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0203.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4116/tex_ceiling_textures_3902/tex_floor_textures_7942/tex_table_textures_2753/tex_wall_textures_8500","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":2878549570527027836,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":2878549570527027836,"visual_seed":2878549570527027836,"scene_id":"lab_003","finished_at":"2026-09-03T06:05:41"} +{"episode_id":"ep_000091","started_at":"2026-09-03T06:05:44","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.013408728399571412,-2.2831300469413183,0.71338606911949],"aabb_xy":[[-0.05059127089459681,-2.3471161873101725],[0.07740872769373963,-2.219143906572464]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.42664532722388837,0.009929496947543193,0.71338606911949],"aabb_xy":[[-0.4566128841337141,-0.02007050335034255],[-0.39667777031406276,0.039929497245428935]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.48530609348621023,-0.30599505835415197,0.71338606911949],"aabb_xy":[[-0.5703060919036333,-0.3908693538164369],[-0.40030609506878695,-0.22112076289186694]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.558683333453011,-1.9409912244838337,0.71338606911949],"aabb_xy":[[0.5509801427789339,-1.9487005951825718],[0.5663865241270879,-1.9332818537850955]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.6681072201892941,0.5794717031530414,0.71338606911949],"aabb_xy":[[-0.6769092754982668,0.5716603769981122],[-0.6593051648803214,0.5872830293079704]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.5233980150903709,-0.6775619100811243,0.71338606911949],"aabb_xy":[[-0.5321792422376072,-0.6863416573696546],[-0.5146167879431348,-0.6687821627925943]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.4442697289850883,0.5336403400058698,0.71338606911949],"aabb_xy":[[0.42676979555110495,0.5161403400856351],[0.4617696624190717,0.5511403399261042]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[0.0310857127271017,-1.1482424221660343,0.71338606911949],"aabb_xy":[[-0.018914286849233016,-1.1982230011181403],[0.08108571230343642,-1.0982618432139284]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.2781078137392383,1.406822224086977,0.71338606911949],"aabb_xy":[[0.19310781504716362,1.374836360692098],[0.3631078124313129,1.4388080874818556]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.13436987574300807,0.1032680475541401,0.71338606911949],"aabb_xy":[[-0.14248353041638517,0.095162231100111],[-0.12625622106963097,0.11137386400816916]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.26073011162663584,-2.0346710843832843,0.71338606911949],"aabb_xy":[[0.25273662183135387,-2.0426692163237603],[0.2687236014219179,-2.026672952442809]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.10222639547075296,-0.840643492350583,0.71338606911949],"aabb_xy":[[-0.1182883229292706,-0.9256434941631747],[-0.08616446801223532,-0.7556434905379911]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.6557107342667926,-1.6256877353443073,0.71338606911949],"aabb_xy":[[-0.673504241201709,-1.643487480940105],[-0.6379172273318762,-1.6078879897485097]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.33782415789243486,-1.6852577975048981,0.71338606911949],"aabb_xy":[[-0.3603241574161422,-1.7077537449555187],[-0.3153241583687274,-1.6627618500542771]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.38303947764640867,-0.6076805108017578,0.71338606911949],"aabb_xy":[[-0.4630394756271937,-0.6152820517636096],[-0.3030394796656236,-0.6000789698399057]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.581895814749444,0.14923157569028334,0.71338606911949],"aabb_xy":[[0.5443958148056774,0.14093848565544678],[0.6193958146932103,0.15752466572511994]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.19617885541980945,1.5343501384871545,0.71338606911949],"aabb_xy":[[-0.23302940335679703,1.4968501376641208],[-0.1593283074828218,1.5718501393101882]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.5651987056078693,0.27827578986953716,0.71338606911949],"aabb_xy":[[0.5475658700143416,0.2606528438539142],[0.5828315412013968,0.29589873588516014]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.5269774127924365,-1.2513123370731056,0.71338606911949],"aabb_xy":[[-0.5310555706994862,-1.255393317321369],[-0.5228992548853868,-1.2472313568248423]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.021832856003021872,1.3579696509289314,0.71338606911949],"aabb_xy":[[-0.026732148309585365,1.3302927316263624],[-0.016933563696458372,1.3856465702315]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.026809023768969542,1.1997852341373751,0.71338606911949],"aabb_xy":[[-0.03319097709184326,1.1483588041308883],[0.08680902462978234,1.251211664143861]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.6344839491903633,-1.494115119416812,0.71338606911949],"aabb_xy":[[-0.6437775674275138,-1.5316151179049458],[-0.6251903309532126,-1.456615120928678]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.20170047926249812,1.361059405362214,0.71338606911949],"aabb_xy":[[-0.256674201298831,1.3060594057979809],[-0.14672675722616524,1.4160594049264472]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651854401036629,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6853.png","name":"6853"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6853.png","name":"6853"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3901.png","name":"3901"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6894.png","name":"6894"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4854.png","name":"4854"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":581.4402936119224,"rotation_z_degrees":186.89819356183403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036766345315151112,-0.012371901504185155,-0.007836051234521252]},{"name":"camera_2","offset_m":[0.007589127429929291,0.011061371960889074,-0.002937256896283942]},{"name":"camera_3","offset_m":[-0.01796816671423978,0.006870010143816732,0.004556241703774382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.113044976479391e-05,-0.0012582281342578266,0.001927836506352869],"end_effector_yaw_offset_degrees":0.41083201844066175},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000157937812764936,0.0010647936159527893,7.192004291473649e-05],"end_effector_yaw_offset_degrees":0.32152460820177464},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00012545087270002275,0.0013683416128046117,-0.00043079757857656634],"end_effector_yaw_offset_degrees":0.4290491250837287}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0043966175218257365,0.0039232988972973315],"position_m":[0.35519661752182574,0.16312329889729735,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003087744504919468,0.0021666531368887514],"position_m":[0.3348877445049194,-0.049133346863111244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020311919084062538,-0.002638106065470324],"position_m":[0.32193119190840624,0.30346189393452966,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.057066100006314e-05,-0.0004153466380182281],"position_m":[0.21301942933899995,-0.38731534663801825,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d3bbbd0e5b844252d8701ba8717c990179398651e946e8c812891934bd096654","episode_index":204,"episode_name":"episode_0204"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0204.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6853/tex_ceiling_textures_4854/tex_floor_textures_8499/tex_table_textures_3901/tex_wall_textures_6894","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6872402401398195724,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6872402401398195724,"visual_seed":6872402401398195724,"scene_id":"lab_003","finished_at":"2026-09-03T06:08:32"} +{"episode_id":"ep_000092","started_at":"2026-09-03T06:11:46","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.338255479054308,1.514482764996679,0.71338606911949],"aabb_xy":[[0.3132554797823457,1.4981374014005167],[0.36325547832627025,1.5308281285928413]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.392860751720851,1.1593483692789008,0.71338606911949],"aabb_xy":[[-0.405732655221791,1.0793483688650645],[-0.37998884821991075,1.2393483696927368]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.5584425695789532,-1.8993258039114878,0.71338606911949],"aabb_xy":[[0.546570486567452,-1.9843258036051383],[0.5703146525904542,-1.8143258042178376]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.0025946014324025324,0.8599744277373116,0.71338606911949],"aabb_xy":[[-0.00917358536225499,0.7749744278320904],[0.014362788227060056,0.9449744276425335]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.22070492671428743,-1.6078153681554035,0.71338606911949],"aabb_xy":[[0.1567049274201192,-1.6718015085242577],[0.28470492600845565,-1.5438292277865493]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.07692199941419875,0.6568514069945457,0.71338606911949],"aabb_xy":[[-0.10020384161233008,0.5718514056973175],[-0.0536401572160674,0.7418514082917737]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.20325262425513269,-1.8708541011951945,0.71338606911949],"aabb_xy":[[0.19247965033376488,-1.9058540994142337],[0.21402559817650044,-1.8358541029761557]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.26554097000567956,1.6918442398855738,0.71338606911949],"aabb_xy":[[-0.30684551306941554,1.6278442403174564],[-0.22423642694194357,1.7558442394536906]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.34553184819717164,1.3661906823264203,0.71338606911949],"aabb_xy":[[0.3335991138353436,1.3538085295185607],[0.3574645825589997,1.3785728351342794]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.15076135779667188,-1.1471322334698753,0.71338606911949],"aabb_xy":[[0.14264770312329478,-1.1552380499239043],[0.15887501247004898,-1.1390264170158462]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.2691134515958275,-0.3825127912484083,0.71338606911949],"aabb_xy":[[-0.35911345019029745,-0.3987633775618294],[-0.17911345300135756,-0.36626220493498735]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.0033001937313930085,-1.2589363858044291,0.71338606911949],"aabb_xy":[[-0.07330019712295498,-1.29425215950786],[0.06669980966016896,-1.2236206121009983]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.6784981647627601,0.8965298225682217,0.71338606911949],"aabb_xy":[[0.6615874323264183,0.8830576169756069],[0.6954088971991018,0.910002028160836]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.33592781102982533,-0.6551771920763991,0.71338606911949],"aabb_xy":[[-0.3909015330661582,-0.7101771916406323],[-0.28095408899349245,-0.600177192512166]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.42502022840845477,1.540015353694494,0.71338606911949],"aabb_xy":[[-0.429450857763295,1.5345669819598116],[-0.42058959905361465,1.5454637254291765]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.2252959306896033,0.5512534644686555,0.71338606911949],"aabb_xy":[[0.19029593237890788,0.5435384495451099],[0.26029592900029874,0.5589684793922012]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.5692230423460594,-0.8975311430566204,0.71338606911949],"aabb_xy":[[-0.5847788117563246,-0.9130815763010279],[-0.5536672729357941,-0.8819807098122135]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.6446984335558865,0.8691069083575282,0.71338606911949],"aabb_xy":[[-0.6672121253793436,0.7991069077565207],[-0.6221847417324292,0.9391069089585358]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.5019162734194429,-1.1169684672876015,0.71338606911949],"aabb_xy":[[0.46441627499604243,-1.130132681255432],[0.5394162718428431,-1.1038042533197705]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.38733981798427836,-0.8368265339505143,0.71338606911949],"aabb_xy":[[-0.46733981596506335,-0.8444280749123662],[-0.30733982000349325,-0.8292249929886623]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.4888698897185765,-2.018182759550852,0.71338606911949],"aabb_xy":[[-0.4948364286593122,-2.024143904210216],[-0.48290335077784063,-2.0122216148914878]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.12922294393522116,-1.3757295246271806,0.71338606911949],"aabb_xy":[[0.09189166740997853,-1.410382579422033],[0.16655422046046378,-1.3410764698323285]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.22948657548426726,0.20397072009890715,0.71338606911949],"aabb_xy":[[-0.29448657404134015,0.1742181866850245],[-0.16448657692719446,0.23372325351278975]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.10539810674905947,-0.7453320233580363,0.71338606911949],"aabb_xy":[[0.06789810680529307,-0.7536251133928729],[0.14289810669282588,-0.7370389333231997]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.4330873240950188,-1.0359917955547417,0.71338606911949],"aabb_xy":[[0.42516404385627055,-1.0584917957927453],[0.4410106043337672,-1.0134917953167386]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.07008407560955199,1.1221147132227296,0.71338606911949],"aabb_xy":[[-0.13407977300464857,1.0581147149220207],[-0.006088378214455403,1.186114711523438]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[0.5184406421326064,-0.5475708224328018,0.71338606911949],"aabb_xy":[[0.46844064111347117,-0.5840370381706298],[0.5684406431517417,-0.5111046066949739]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[0.5624147270270752,0.15623805291297765,0.71338606911949],"aabb_xy":[[0.5274147278342567,0.145271006915315],[0.5974147262198932,0.16720509891064025]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[-0.5994976749580286,-0.15649410774023575,0.71338606911949],"aabb_xy":[[-0.6344976763095104,-0.1768538436970566],[-0.5644976736065469,-0.13613437178341492]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[-0.391221570686341,0.9871202260595271,0.71338606911949],"aabb_xy":[[-0.45522157390497886,0.9403971141605187],[-0.32722156746770314,1.0338433379585354]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_30","position":[0.7019711392842702,-0.5712648564294098,0.71338606911949],"aabb_xy":[[0.693927779358315,-0.6562648575247763],[0.7100144992102253,-0.4862648553340434]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[-0.15038576473207588,0.45184500371623226,0.71338606911949],"aabb_xy":[[-0.20038576568260866,0.4202958567127108],[-0.10038576378154304,0.4833941507197536]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_32","position":[0.2626684527899923,-0.5509165340217792,0.71338606911949],"aabb_xy":[[0.2216505094036214,-0.6009165346527365],[0.30368639617636317,-0.5009165333908219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638052515060926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4066.png","name":"4066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4066.png","name":"4066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9170.png","name":"9170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8140.png","name":"8140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/311.png","name":"311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9811.png","name":"9811"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":694.9332276454539,"rotation_z_degrees":259.2042953307331,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0054995155841813265,-0.004682760002375601,-0.010587782743141313]},{"name":"camera_2","offset_m":[0.004566032799780156,0.0038229170530149764,-0.011321175814318943]},{"name":"camera_3","offset_m":[-0.0053154395975678476,0.016856033010787228,0.004134829261954364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000561511426566247,-0.0017963714124459215,0.0008404285126685698],"end_effector_yaw_offset_degrees":0.1405539477676705},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008754083952842268,-0.00010072344508864719,-0.0015368156039038473],"end_effector_yaw_offset_degrees":0.14787573440403268},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003177230016355784,-0.001102828485782644,-0.0003068905450135265],"end_effector_yaw_offset_degrees":-0.9847920404470067}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019336803928085757,0.0008431332682861141],"position_m":[0.34886631960719144,0.16004313326828612,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00015296422316107405,-0.004165733175326936],"position_m":[0.33195296422316106,-0.05546573317532694,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003249838373177009,0.004510668204011271],"position_m":[0.316650161626823,0.31061066820401123,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006433191149702875,0.004897192981438291],"position_m":[0.21245668088502973,-0.3820028070185617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0572e8f95b4d3c8c1711544f400df565fe19255855287ec9086b794d2401e2ef","episode_index":207,"episode_name":"episode_0207"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0207.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4066/tex_ceiling_textures_9811/tex_floor_textures_311/tex_table_textures_9170/tex_wall_textures_8140","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":5375444828339492294,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":5375444828339492294,"visual_seed":5375444828339492294,"scene_id":"lab_003","finished_at":"2026-09-03T06:14:27"} +{"episode_id":"ep_000093","started_at":"2026-09-03T06:14:31","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.19790187101313023,-0.946754638441903,0.71338606911949],"aabb_xy":[[-0.23439769164040894,-0.9832385808686605],[-0.16140605038585146,-0.9102706960151453]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.36252567695912785,0.792581643150891,0.71338606911949],"aabb_xy":[[0.3527696874499539,0.7828191090916565],[0.3722816664683017,0.8023441772101254]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.07253389474752636,1.16945381161332,0.71338606911949],"aabb_xy":[[-0.01746610497564782,1.14638045907814],[0.16253389447070052,1.1925271641484996]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.593561565347408,-0.32203202929178376,0.71338606911949],"aabb_xy":[[-0.6575615626497544,-0.36639845625964057],[-0.5295615680450616,-0.27766560232392706]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.21919941878932492,-1.8041020901757312,0.71338606911949],"aabb_xy":[[0.20632751528838478,-1.8841020905895671],[0.23207132229026506,-1.7241020897618948]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.5661484492913527,-1.4411623252680659,0.71338606911949],"aabb_xy":[[0.5515050437373197,-1.45582104492485],[0.5807918548453856,-1.4265036056112816]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.05232819242935616,1.5542237807950934,0.71338606911949],"aabb_xy":[[-0.05874200607254109,1.5478139605474248],[-0.04591437878617121,1.5606336010427615]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.4785153765701533,-1.3303028908663046,0.71338606911949],"aabb_xy":[[-0.5425153797887912,-1.3770260027653127],[-0.41451537335151545,-1.283579778967296]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.22993383459969247,-0.045174673269814836,0.71338606911949],"aabb_xy":[[-0.23389431836942684,-0.05284253785533543],[-0.2259733508299581,-0.03750680868429423]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.6839405417784461,1.73376381700808,0.71338606911949],"aabb_xy":[[0.6798623838713964,1.7296828367598167],[0.6880186996854958,1.7378447972563433]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.18549925281078838,-1.1775924238654407,0.71338606911949],"aabb_xy":[[-0.26549924977382755,-1.2546680655092142],[-0.10549925584774922,-1.1005167822216673]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.2288646605922714,0.5046682201755623,0.71338606911949],"aabb_xy":[[-0.23756262288298668,0.4925432458680876],[-0.2201666983015561,0.5167931944830371]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.3377892677461569,1.2198903649936277,0.71338606911949],"aabb_xy":[[0.3152928463122929,1.1973903651868802],[0.3602856891800211,1.2423903648003751]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.3883802140020891,-2.32012414869519,0.71338606911949],"aabb_xy":[[0.3647950905381943,-2.3851241509406216],[0.411965337465984,-2.255124146449758]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.26067039645511336,-0.8522534297655189,0.71338606911949],"aabb_xy":[[-0.3406703975282337,-0.8620314761029033],[-0.18067039538199303,-0.8424753834281344]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.2382058006703583,0.2731111820679333,0.71338606911949],"aabb_xy":[[-0.3032058033081517,0.22163158336848637],[-0.17320579803256478,0.3245907807673803]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.16405038931263083,-1.3952652858568153,0.71338606911949],"aabb_xy":[[0.10005038709222377,-1.4396383699821034],[0.22805039153303783,-1.3508922017315268]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[0.6701888790207646,-0.0338193536843745,0.71338606911949],"aabb_xy":[[0.6326888778359717,-0.03823757638043503],[0.7076888802055573,-0.029401130988313953]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.16368014916608742,-2.070763228282667,0.71338606911949],"aabb_xy":[[0.14118101343986045,-2.0932632290609297],[0.1861792848923144,-2.048263227504404]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.27712335500983065,0.09490507108626645,0.71338606911949],"aabb_xy":[[-0.30212335494234854,0.08802240286534314],[-0.25212335507731276,0.10178773930718978]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.6100280998796692,0.4158203618558396,0.71338606911949],"aabb_xy":[[0.5729939904516094,0.38144315452213],[0.6470622093077288,0.45019756918954895]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.644861930267246,-0.23971432029390316,0.71338606911949],"aabb_xy":[[0.6360598749582733,-0.24752564644883224],[0.6536639855762187,-0.23190299413897408]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.4909706140736117,-0.7155011881998949,0.71338606911949],"aabb_xy":[[-0.5709706143472185,-0.7884507360256116],[-0.41097061380000466,-0.6425516403741781]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.6011953370492739,0.39962005103232245,0.71338606911949],"aabb_xy":[[-0.6082367880000215,0.3925932992945279],[-0.5941538860985263,0.406646802770117]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.4608815959296876,-1.1812058391493063,0.71338606911949],"aabb_xy":[[-0.498381596721683,-1.1875736801074965],[-0.4233815951376921,-1.1748379981911161]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638496097448853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7094.png","name":"7094"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7094.png","name":"7094"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4390.png","name":"4390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/462.png","name":"462"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8346.png","name":"8346"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.7858893693137,"rotation_z_degrees":141.59938726247876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007418297655708797,-0.00031573152840861166,-0.01834559966368288]},{"name":"camera_2","offset_m":[-0.008930786327598113,0.010865325210348487,-0.01842919805454348]},{"name":"camera_3","offset_m":[0.019299641396127633,-0.013339790718618492,-0.002004913563866312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012297494685359128,-0.00014870118251267923,0.00027408172221848317],"end_effector_yaw_offset_degrees":-0.018493538184038538},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00179480691594784,-8.987129217757233e-05,-0.001233471858171179],"end_effector_yaw_offset_degrees":0.08892109644451329},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008263256302173398,-5.181905291378537e-05,-0.00032504304345121193],"end_effector_yaw_offset_degrees":0.4811675167097116}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004929519002090304,0.0019452276845668163],"position_m":[0.3458704809979097,0.16114522768456682,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-7.175344036229082e-06,0.0008620371917764979],"position_m":[0.33179282465596377,-0.0504379628082235,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026904359645742036,0.003546927424787026],"position_m":[0.31720956403542583,0.309646927424787,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002913507091207822,0.004189576728493624],"position_m":[0.2133913507091208,-0.3827104232715064,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51e40a52170427fb0c62459ae3914353c4a53b3c655f24d652ec588be9fe2b40","episode_index":208,"episode_name":"episode_0208"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0208.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7094/tex_ceiling_textures_8346/tex_floor_textures_462/tex_table_textures_9961/tex_wall_textures_4390","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3993633786537390696,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3993633786537390696,"visual_seed":3993633786537390696,"scene_id":"lab_003","finished_at":"2026-09-03T06:17:20"} +{"episode_id":"ep_000094","started_at":"2026-09-03T06:17:24","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.2507879476885896,-2.447946030761261,0.71338606911949],"aabb_xy":[[0.23311231709999122,-2.4656262470406634],[0.26846357827718786,-2.430265814481858]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.010287101040755475,1.6605290159753836,0.71338606911949],"aabb_xy":[[-0.027787100175122648,1.6506493889377958],[0.0072128980936116945,1.6704086430129714]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.6374377091047071,-2.3497037102195684,0.71338606911949],"aabb_xy":[[-0.6456522542203909,-2.3583803005172093],[-0.6292231639890229,-2.3410271199219266]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.3357463378503993,-0.9802501134924844,0.71338606911949],"aabb_xy":[[0.26574633521381286,-1.0003549784883496],[0.40574634048698555,-0.9601452484966186]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.4385593999473867,-1.5624448754002238,0.71338606911949],"aabb_xy":[[0.3585593988742664,-1.5722229217376085],[0.518559401020507,-1.5526668290628396]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.5111876527686596,-0.9795516104710462,0.71338606911949],"aabb_xy":[[0.5035633846784814,-0.98718483400759],[0.5188119208588379,-0.9719183869345026]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.055757841686591925,-1.8998644428158737,0.71338606911949],"aabb_xy":[[0.038257908252608545,-1.9173644427361083],[0.0732577751205753,-1.8823644428956392]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.32319346254570347,-1.8677110359948905,0.71338606911949],"aabb_xy":[[-0.33023491349645107,-1.8747377877326852],[-0.3161520115949559,-1.8606842842570963]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[0.13282681915533523,-2.143946069129403,0.71338606911949],"aabb_xy":[[0.0528268158913221,-2.1575061014383166],[0.21282682241934836,-2.13038603682049]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.6967332741653547,-1.7994513863932027,0.71338606911949],"aabb_xy":[[0.6806713467068369,-1.8844513882057945],[0.7127952016238722,-1.7144513845806109]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.2446443083204327,0.49321320616353415,0.71338606911949],"aabb_xy":[[-0.2671580001438899,0.4232132055625266],[-0.22213061649697552,0.5632132067645417]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.6005138010567677,-2.16460922869767,0.71338606911949],"aabb_xy":[[0.5455205897196309,-2.219609229036464],[0.6555070123939044,-2.109609228358877]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.5246173908682891,0.540011944167551,0.71338606911949],"aabb_xy":[[-0.535184870526388,0.5294669140545425],[-0.51404991121019,0.5505569742805596]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.2859362843954414,-1.9360018551901377,0.71338606911949],"aabb_xy":[[-0.2896395457245803,-1.9397038734988556],[-0.2822330230663025,-1.9322998368814197]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.01214308742764414,1.2852309967220115,0.71338606911949],"aabb_xy":[[-0.04285239039301525,1.2302309952881043],[0.06713856524830353,1.3402309981559182]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.4501679771738849,-0.3252625765229298,0.71338606911949],"aabb_xy":[[0.38516797861681207,-0.35501510993681235],[0.5151679757309577,-0.2955100431090471]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.6289731637396738,-0.3670308118535952,0.71338606911949],"aabb_xy":[[0.6180673876521111,-0.4470308082524243],[0.6398789398272365,-0.287030815454766]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.4016174105677943,-2.2126038859243415,0.71338606911949],"aabb_xy":[[0.3729680782073781,-2.241249445201417],[0.43026674292821054,-2.1839583266472653]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.2416145131828854,1.2848575253014638,0.71338606911949],"aabb_xy":[[0.18398404429561455,1.224857526374753],[0.29924498207015626,1.3448575242281742]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.05578067720186186,-1.7022816835257069,0.71338606911949],"aabb_xy":[[0.018746567773802146,-1.7366588908594163],[0.09281478662992157,-1.6679044761919974]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.46798312799262987,-1.452983674778046,0.71338606911949],"aabb_xy":[[-0.5295738872166227,-1.5169836728870931],[-0.4063923687686371,-1.3889836766689994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700444847067414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/546.png","name":"546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/546.png","name":"546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/176.png","name":"176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1669.png","name":"1669"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5283.png","name":"5283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7581.png","name":"7581"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":729.1317418497047,"rotation_z_degrees":53.1881101263066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008908682009412323,-0.005263080920971514,0.01621939043147733]},{"name":"camera_2","offset_m":[-0.017907233368006127,0.0007829679862073335,0.01652729601982537]},{"name":"camera_3","offset_m":[0.011611986634855718,0.0014955496585079275,0.010965211978564055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018160539098866523,-0.0002609128908362007,-0.0018715853567937714],"end_effector_yaw_offset_degrees":-0.059088564894204776},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002935074045256826,0.0009481526245976994,-1.1021168889215928e-05],"end_effector_yaw_offset_degrees":0.18869102472647636},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0001606855903033633,-0.0018398299540357175,-0.0015194881806699842],"end_effector_yaw_offset_degrees":0.07269195836338871}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003352577529428403,0.0009775003066928535],"position_m":[0.35046474224705715,0.16017750030669287,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033510091264987918,-0.004629766836603925],"position_m":[0.3284489908735012,-0.055929766836603924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004543539610519961,0.0030867994366254895],"position_m":[0.32444353961051997,0.30918679943662547,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038023595637291787,0.003463648651253189],"position_m":[0.2169023595637292,-0.3834363513487468,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fd880a5253865eeb0e22cc524dab0c56b3a7b103ddbe1e0ef190a7fb558e3e9f","episode_index":209,"episode_name":"episode_0209"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0209.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_546/tex_ceiling_textures_7581/tex_floor_textures_5283/tex_table_textures_176/tex_wall_textures_1669","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4775866498931888535,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4775866498931888535,"visual_seed":4775866498931888535,"scene_id":"lab_003","finished_at":"2026-09-03T06:20:06"} +{"episode_id":"ep_000095","started_at":"2026-09-03T06:21:47","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[0.33564266700766754,-1.4305330793032158,0.71338606911949],"aabb_xy":[[0.2716426666301339,-1.480278346154028],[0.39964266738520116,-1.3807878124524036]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.5246941449078163,-1.9620947990713387,0.71338606911949],"aabb_xy":[[-0.5596941448843121,-1.971559415118955],[-0.48969414493132046,-1.9526301830237218]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[-0.060214677412882,-1.183547825746396,0.71338606911949],"aabb_xy":[[-0.12021467725944879,-1.2403664479394347],[-0.00021467756631522034,-1.1267292035533574]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.6756591815950499,1.4064981301684178,0.71338606911949],"aabb_xy":[[-0.685812197149199,1.3704285885956773],[-0.6655061660409003,1.442567671741158]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.4658220010517018,-1.2312002504345376,0.71338606911949],"aabb_xy":[[0.44393225346276094,-1.3212002477237867],[0.48771174864064254,-1.1412002531452885]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.005640713692765642,-1.6543666785792968,0.71338606911949],"aabb_xy":[[-0.04064071504424737,-1.6747264145361176],[0.02935928765871609,-1.634006942622476]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.6326930915698467,-0.758738609683097,0.71338606911949],"aabb_xy":[[-0.6821735127838054,-0.8227386075959489],[-0.5832126703558879,-0.6947386117702452]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.6798948333796765,1.7991730594387705,0.71338606911949],"aabb_xy":[[-0.6848508535645577,1.776673059236649],[-0.6749388131947953,1.8216730596408923]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.5363581570726561,1.1238521479215562,0.71338606911949],"aabb_xy":[[-0.5472639331602188,1.043852151522727],[-0.5254523809850934,1.2038521443203853]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.6031645618172752,0.08592199872474593,0.71338606911949],"aabb_xy":[[0.5531645622409405,0.03594141977263998],[0.6531645613936099,0.13590257767685188]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.219240928729469,-2.1150900959025565,0.71338606911949],"aabb_xy":[[0.1576501695054762,-2.1790900940116034],[0.2808316879534618,-2.0510900977935096]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.0957303244927209,1.2509644944757063,0.71338606911949],"aabb_xy":[[0.0732303249690135,1.2284685470250856],[0.1182303240164283,1.2734604419263271]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.08985396850599925,-1.9031030753606872,0.71338606911949],"aabb_xy":[[-0.13985396794619487,-1.9530709998450033],[-0.03985396906580363,-1.8531351508763707]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.16492997462364223,1.2629175674456654,0.71338606911949],"aabb_xy":[[-0.17305766281695545,1.2540039590349579],[-0.156802286430329,1.2718311758563734]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.43696104365934163,-2.01151513507536,0.71338606911949],"aabb_xy":[[0.3569610462557482,-2.0915077062735423],[0.5169610410629351,-1.931522563877177]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.3396133704224862,-1.4569550612719384,0.71338606911949],"aabb_xy":[[-0.404613368979559,-1.4867075946858213],[-0.27461337186541335,-1.427202527858056]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.4647650052957213,-0.2700506620041705,0.71338606911949],"aabb_xy":[[0.447265071861738,-0.287550661924405],[0.4822649387297047,-0.2525506620839359]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.0686377697918209,-0.667008809257756,0.71338606911949],"aabb_xy":[[-0.1326377662191428,-0.7141784330798524],[-0.004637773364499012,-0.6198391854356595]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.39225334048115235,0.4446968480685505,0.71338606911949],"aabb_xy":[[0.3422800464778919,0.39469684751400314],[0.4422266344844128,0.4946968486230978]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.31352459367650565,1.0948201829569588,0.71338606911949],"aabb_xy":[[0.3017564068818481,1.0098201830517375],[0.32529278047116317,1.1798201828621806]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[0.6306177887695352,-0.1024503552960212,0.71338606911949],"aabb_xy":[[0.5656177877690348,-0.15323672045069614],[0.6956177897700359,-0.05166399014134626]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.20828740194052658,-1.6854260234738316,0.71338606911949],"aabb_xy":[[-0.25327998865897694,-1.7304260227482802],[-0.16329481522207615,-1.6404260241993827]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.12057757739600106,-2.309812506698254,0.71338606911949],"aabb_xy":[[0.05657757517559403,-2.354185590823542],[0.18457757961640808,-2.2654394225729653]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.43256043999414123,0.7840552973728174,0.71338606911949],"aabb_xy":[[-0.5175604384115644,0.6991810019105326],[-0.34756044157671795,0.8689295928351025]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.20544896492606168,1.021762188453315,0.71338606911949],"aabb_xy":[[0.18090274930331096,0.9915132919042778],[0.2299951805488124,1.0520110850023519]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[-0.28460919329599355,-2.3086712888131484,0.71338606911949],"aabb_xy":[[-0.339609192472583,-2.3636609635881056],[-0.229609194119404,-2.2536816140381903]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[-0.054721930204590485,1.4559713913256815,0.71338606911949],"aabb_xy":[[-0.06030360183871924,1.443471391507906],[-0.04914025857046172,1.468471391143457]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[-0.3656698450382927,-1.0474491896498455,0.71338606911949],"aabb_xy":[[-0.4206620956738037,-1.1024491913931584],[-0.31067759440278175,-0.9924491879065329]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_28","position":[0.4429779925694983,-0.1926905514435484,0.71338606911949],"aabb_xy":[[0.4278151195925613,-0.2078560087386672],[0.45814086554643546,-0.17752509414842965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669136783880316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7234.png","name":"7234"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9405.png","name":"9405"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3400.png","name":"3400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9170.png","name":"9170"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":799.3049379252624,"rotation_z_degrees":90.43172238502262,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010496234699697956,-0.013109767812456093,0.011386138584818833]},{"name":"camera_2","offset_m":[0.01593672368911445,-0.010826529238086096,-0.011078622159111675]},{"name":"camera_3","offset_m":[0.00454921334938874,-0.017724519719909192,-0.0027417904841965414]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015035050937999808,0.0008778106495199085,-0.00020554971985911152],"end_effector_yaw_offset_degrees":0.7647331561048518},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009606645507089806,-0.000561704227987741,-1.3083181979386526e-05],"end_effector_yaw_offset_degrees":0.7047675272507037},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001969838426880456,0.00023826095964819827,-0.0018385923165874362],"end_effector_yaw_offset_degrees":-0.2826771539445869}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035449833481035918,-0.0018741882097987094],"position_m":[0.3543449833481036,0.1573258117902013,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009433224644040854,0.0030595740173271864],"position_m":[0.3327433224644041,-0.048240425982672815,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022570285686789016,0.004558469207143903],"position_m":[0.31764297143132114,0.3106584692071439,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003583886528298657,-0.004813480332195152],"position_m":[0.21668388652829867,-0.39171348033219516,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"09d6702b71ab47c22be4d3a7768c0b1a71cb45fdf6d398dadcd4c9d6f87af9ba","episode_index":211,"episode_name":"episode_0211"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0211.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8798/tex_ceiling_textures_9170/tex_floor_textures_3400/tex_table_textures_7234/tex_wall_textures_9405","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":6727700174317044533,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":6727700174317044533,"visual_seed":6727700174317044533,"scene_id":"lab_003","finished_at":"2026-09-03T06:24:23"} +{"episode_id":"ep_000096","started_at":"2026-09-03T06:28:57","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.1955622030491197,-0.776722995980317,0.71338606911949],"aabb_xy":[[-0.27556220045271307,-0.8567155671784997],[-0.11556220564552626,-0.6967304247821341]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.49903128869661884,-1.6284190915772887,0.71338606911949],"aabb_xy":[[0.4350312854069107,-1.671754010581206],[0.563031291986327,-1.5850841725733709]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.33535557049670095,0.5612398404834051,0.71338606911949],"aabb_xy":[[-0.39034878183383775,0.5062398401446117],[-0.2803623591595642,0.6162398408221988]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.4689427145990779,1.2250003572041228,0.71338606911949],"aabb_xy":[[0.41894271357994267,1.188534141466295],[0.5189427156182131,1.261466572941951]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.34258243192675814,1.4929089286207122,0.71338606911949],"aabb_xy":[[-0.3488945314630966,1.4871419893674933],[-0.33627033239041976,1.4986758678739311]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.11459464762661864,0.4960645958990306,0.71338606911949],"aabb_xy":[[-0.19459464869973897,0.48628654956164613],[-0.03459464655349831,0.5058426422364151]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.3375078495951744,-0.2852467061261872,0.71338606911949],"aabb_xy":[[-0.38750785125666914,-0.33524514838188985],[-0.2875078479336796,-0.23524826387048445]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.22717888567122246,0.7780793124641496,0.71338606911949],"aabb_xy":[[0.21918489709351904,0.7700792323690593],[0.23517287424892583,0.78607939255924]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.3170995525719693,1.1890476237031429,0.71338606911949],"aabb_xy":[[-0.3770995524185361,1.132229001510104],[-0.2570995527254025,1.2458662458961813]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.07583831277466146,-0.2866787001300346,0.71338606911949],"aabb_xy":[[-0.13983831007700787,-0.3310451270978913],[-0.011838315472315064,-0.2423122731621778]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.64910843891274,1.800514423807027,0.71338606911949],"aabb_xy":[[0.6316777238337332,1.783242309143176],[0.6665391539917462,1.8177865384708776]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.39086438129207624,-2.2940884385601183,0.71338606911949],"aabb_xy":[[-0.4548643776876493,-2.358051726978852],[-0.32686438489650316,-2.230125150141385]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.5239627891037315,-0.2668696402701789,0.71338606911949],"aabb_xy":[[0.4739627881531986,-0.29841878727370025],[0.5739627900542642,-0.23532049326665744]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.5577230468596375,-1.2340751440931172,0.71338606911949],"aabb_xy":[[-0.6004897537390577,-1.2980751475149197],[-0.5149563399802173,-1.1700751406713148]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.32496135171788154,0.4684501586055685,0.71338606911949],"aabb_xy":[[0.25996135168357876,0.4217494819252412],[0.3899613517521842,0.5151508352858958]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.06348194449114675,1.734626139627014,0.71338606911949],"aabb_xy":[[-0.07594930260088241,1.7221608149936904],[-0.05101458638141111,1.7470914642603375]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.560635625794083,1.075902084777395,0.71338606911949],"aabb_xy":[[-0.5757379272551009,1.0608005631463326],[-0.5455333243330647,1.0910036064084565]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.27533898558822545,0.6589332917659942,0.71338606911949],"aabb_xy":[[0.23033898412199666,0.6139334349045136],[0.32033898705445435,0.7039331486274749]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.5260737082170177,-2.1751391757773186,0.71338606911949],"aabb_xy":[[0.46607370796561653,-2.229420500813784],[0.5860737084684189,-2.120857850740854]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.5581832412545004,0.5228341325885393,0.71338606911949],"aabb_xy":[[-0.5663109294478136,0.5139205241778316],[-0.5500555530611871,0.5317477409992469]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.314903712061599,-0.564474993838517,0.71338606911949],"aabb_xy":[[-0.33736848203300407,-0.5869749947173775],[-0.29243894209019383,-0.5419749929596565]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.13010638169419175,-1.4155609035911028,0.71338606911949],"aabb_xy":[[-0.18010638034011292,-1.4654804472505651],[-0.08010638304827053,-1.3656413599316404]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.6096240361856176,0.7946287005688917,0.71338606911949],"aabb_xy":[[-0.6645977582219504,0.7396287010046585],[-0.5546503141492847,0.8496287001331249]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.11703505108062373,1.4684823308067805,0.71338606911949],"aabb_xy":[[-0.16703006204007576,1.418482331771189],[-0.0670400401211717,1.5184823298423726]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[0.3656930751283487,-1.285932870373022,0.71338606911949],"aabb_xy":[[0.33069307515185287,-1.2953974864206383],[0.40069307510484453,-1.2764682543254051]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[-0.40426657455570136,-1.687564761182414,0.71338606911949],"aabb_xy":[[-0.4217665079896847,-1.7050647611026484],[-0.38676664112171794,-1.6700647612621793]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_26","position":[0.5336547832402447,1.5252123126193484,0.71338606911949],"aabb_xy":[[0.5256285126096188,1.5164608176419958],[0.5416810538708708,1.533963807596701]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663966623589948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2228.png","name":"2228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2228.png","name":"2228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1171.png","name":"1171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/48.png","name":"48"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5035.png","name":"5035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":619.260532739928,"rotation_z_degrees":247.33061498899534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014133985889286849,0.010137960018259666,0.009876212890103774]},{"name":"camera_2","offset_m":[-0.012463899712760816,-0.007425308593462918,-0.01973252931104536]},{"name":"camera_3","offset_m":[0.015119936374478813,0.007978956022938914,-0.012415016383684595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005201372480189165,0.0007943575274866779,-0.0002668500797241174],"end_effector_yaw_offset_degrees":0.34430025943142883},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010981561496269299,-0.0015785003236726608,0.001996594568302041],"end_effector_yaw_offset_degrees":-0.35475137586433614},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017779212958333001,0.0012074489796035726,0.0003458488630184802],"end_effector_yaw_offset_degrees":-0.5541297072740723}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037989362370433643,0.0017313245193297635],"position_m":[0.35459893623704336,0.16093132451932976,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011269605591456297,-0.0038785003032928787],"position_m":[0.3329269605591456,-0.055178500303292875,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017828273229523088,-0.004830857211667447],"position_m":[0.32168282732295234,0.30126914278833256,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037333444235476067,0.0037931473062576522],"position_m":[0.2093666555764524,-0.3831068526937424,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"431334a5343b83ab695b96c0e03e83e6336d3d85a63810f2c57e905fcd53c7de","episode_index":215,"episode_name":"episode_0215"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0215.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2228/tex_ceiling_textures_5650/tex_floor_textures_5035/tex_table_textures_1171/tex_wall_textures_48","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":4997050873514590070,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":4997050873514590070,"visual_seed":4997050873514590070,"scene_id":"lab_003","finished_at":"2026-09-03T06:31:30"} +{"episode_id":"ep_000097","started_at":"2026-09-03T06:33:06","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.6173025617183625,-0.34178910256598893,0.71338606911949],"aabb_xy":[[0.6092592017924072,-0.42678910366135536],[0.6253459216443176,-0.2567891014706225]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.029398350472450985,0.058301551037959864,0.71338606911949],"aabb_xy":[[-0.03473086512706397,0.052977222792724266],[-0.024065835817838,0.06362587928319546]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.510315562409638,0.17050868732435154,0.71338606911949],"aabb_xy":[[0.5010219441724875,0.13300868883621764],[0.5196091806467886,0.20800868581248544]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.6871146861498472,1.2960318913382718,0.71338606911949],"aabb_xy":[[0.6727802610236837,1.283971675783733],[0.7014491112760106,1.3080921068928106]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.08998348936363687,-0.2976744306237209,0.71338606911949],"aabb_xy":[[-0.11248348937378515,-0.3117706502633242],[-0.06748348935348857,-0.2835782109841176]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.5879505993089648,0.8959923585306591,0.71338606911949],"aabb_xy":[[-0.6080090109222049,0.8759272716215016],[-0.5678921876957244,0.9160574454398167]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.4381559463702007,1.587464762513528,0.71338606911949],"aabb_xy":[[-0.4469580016791734,1.579653436358599],[-0.42935389106122795,1.5952760886684572]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.3035846528815166,-2.2027665549965367,0.71338606911949],"aabb_xy":[[0.2584133350333476,-2.2667665521410756],[0.34875597072968556,-2.1387665578519988]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.6534885064248397,0.01655405710925706,0.71338606911949],"aabb_xy":[[0.6400419797907965,0.0030842054561658304],[0.6669350330588831,0.03002390876234828]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[-0.6022137766134756,-0.7691152872255345,0.71338606911949],"aabb_xy":[[-0.6173160780744935,-0.784216808856596],[-0.5871114751524573,-0.7540137655944723]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.44772530134314065,-1.7089900780812834,0.71338606911949],"aabb_xy":[[-0.4781234124422842,-1.739396980082953],[-0.417327190243997,-1.678583176079614]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.48631264346395287,-1.5700883925808609,0.71338606911949],"aabb_xy":[[-0.5018684128742182,-1.5856388258252683],[-0.4707568740536877,-1.554537959336454]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.24447788245765267,-1.4980721836305675,0.71338606911949],"aabb_xy":[[0.2364516118270267,-1.5068236786079203],[0.25250415308827867,-1.489320688653215]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.24190542192245168,1.111243367785507,0.71338606911949],"aabb_xy":[[-0.25453220920964803,1.101697294083934],[-0.22927863463525533,1.1207894414870798]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.09278679700341175,-2.357879886197326,0.71338606911949],"aabb_xy":[[-0.10156802415064801,-2.3666596334858565],[-0.08400556985617555,-2.349100138908796]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[0.5264296069295091,-0.6728108311721062,0.71338606911949],"aabb_xy":[[0.4889296061375137,-0.6791786721302963],[0.5639296077215046,-0.6664429902139161]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.6048837985525974,-1.5632122899156102,0.71338606911949],"aabb_xy":[[0.5148837991342265,-1.5965877867598],[0.6948837979709683,-1.5298367930714205]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.4378720897121493,0.46518597217694513,0.71338606911949],"aabb_xy":[[-0.4716476489028422,0.4511474769637801],[-0.4040965305214563,0.47922446739011015]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.4712869622855034,1.4001267569883038,0.71338606911949],"aabb_xy":[[-0.5362869604414224,1.3738305124383916],[-0.4062869641295843,1.426423001538216]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.4473200339612704,-1.3000542562979085,0.71338606911949],"aabb_xy":[[-0.4655258576225181,-1.3110796568799004],[-0.4291142103000227,-1.289028855715917]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.17631071739462345,0.48539288504045874,0.71338606911949],"aabb_xy":[[-0.2379014766186163,0.42139288693141197],[-0.11471995817063066,0.5493928831495057]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.5629550721139819,-1.4566887552173688,0.71338606911949],"aabb_xy":[[-0.5807485790488982,-1.4744885008131663],[-0.5451615651790653,-1.438889009621571]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.23841526065995866,1.764458051876121,0.71338606911949],"aabb_xy":[[0.21386904503720797,1.734209155327084],[0.2629614762827094,1.794706948425158]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.2948779308662981,-0.7843598040651956,0.71338606911949],"aabb_xy":[[0.2868839422885947,-0.7923598841602858],[0.3028719194440015,-0.7763597239701051]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.4158450447028384,-0.4785580564895766,0.71338606911949],"aabb_xy":[[-0.45334504520019664,-0.48252674003769497],[-0.37834504420548015,-0.47458937294145814]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.3670527313021186,-0.7743613782656662,0.71338606911949],"aabb_xy":[[-0.39570206366253474,-0.803006937542742],[-0.3384033989417023,-0.7457158189885904]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.22250038902005498,0.7279384585558839,0.71338606911949],"aabb_xy":[[0.1648699201327841,0.6679384596291732],[0.2801308579073258,0.7879384574825943]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.2284171337655475,1.5172269781279284,0.71338606911949],"aabb_xy":[[-0.2834171319672923,1.4767050115014908],[-0.17341713556380264,1.557748944754366]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[-0.02683393706550885,-1.6701013000070661,0.71338606911949],"aabb_xy":[[-0.09183393562258169,-1.699853833420949],[0.038166061491563985,-1.6403487665931837]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[-0.16662236713809897,-2.495633867935656,0.71338606911949],"aabb_xy":[[-0.18790037528157122,-2.5606338702617286],[-0.14534435899462672,-2.4306338656095825]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_30","position":[-0.6366417262474968,1.417810831853561,0.71338606911949],"aabb_xy":[[-0.6462733624679264,1.408173519073852],[-0.6270100900270672,1.4274481446332699]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[-0.49685455597010103,1.1739956851576756,0.71338606911949],"aabb_xy":[[-0.5268462187039713,1.1439956858208749],[-0.46686289323623065,1.203995684494476]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[-0.4842094606651819,1.0028691091607076,0.71338606911949],"aabb_xy":[[-0.49396545017435567,0.9931065751014732],[-0.4744534711560079,1.012631643219942]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_33","position":[0.18708978295924172,-1.933338979060153,0.71338606911949],"aabb_xy":[[0.15029514983433542,-1.970244854156735],[0.22388441608414797,-1.8964331039635705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626819736696944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8608.png","name":"8608"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1016.png","name":"1016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1754.png","name":"1754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/723.png","name":"723"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.3127123929271,"rotation_z_degrees":285.386606464508,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001623991812328373,0.017897861527853522,-0.01348910549808681]},{"name":"camera_2","offset_m":[0.004734459403763477,-0.010243932848090043,-0.013787114755508992]},{"name":"camera_3","offset_m":[-0.004669149901953152,-0.018368445834841422,-0.013440086138820754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015328334957207214,-0.0015051740428498222,-0.0015212109025211202],"end_effector_yaw_offset_degrees":-0.20346504071676863},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014381383210507251,0.001356743336081752,-0.00026929973317044945],"end_effector_yaw_offset_degrees":0.8512323391260888},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005216598769059325,-0.0006677324593371186,-0.0007213136816166274],"end_effector_yaw_offset_degrees":0.5135421741835522}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00425699466139954,-0.004545181418429347],"position_m":[0.34654300533860044,0.15465481858157065,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002940270635721153,0.004353693399173682],"position_m":[0.3288597293642788,-0.04694630660082632,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004347229725515083,0.0041826757749105796],"position_m":[0.3155527702744849,0.3102826757749106,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00015127119755396594,0.0023098816689587666],"position_m":[0.21325127119755397,-0.38459011833104123,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a17e9bc5b0f8cde89b4b24f6ef334a471154d1aa45f52927eeb2523ec5262d01","episode_index":217,"episode_name":"episode_0217"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0217.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2127/tex_ceiling_textures_723/tex_floor_textures_1754/tex_table_textures_8608/tex_wall_textures_1016","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":505354429208561708,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":505354429208561708,"visual_seed":505354429208561708,"scene_id":"lab_003","finished_at":"2026-09-03T06:36:00"} +{"episode_id":"ep_000098","started_at":"2026-09-03T06:36:03","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.3567719682790255,-2.393087991212116,0.71338606911949],"aabb_xy":[[-0.3942719686272532,-2.4048793867931995],[-0.3192719679307977,-2.3812965956310324]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.07356424033589792,-1.2289062738701617,0.71338606911949],"aabb_xy":[[-0.13756423676321983,-1.2760758976922582],[-0.00956424390857602,-1.1817366500480653]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.4603884800935021,0.808976813766058,0.71338606911949],"aabb_xy":[[0.44914342452288425,0.7977350160419627],[0.4716335356641199,0.8202186114901533]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.5283558659038277,-2.2279775207710455,0.71338606911949],"aabb_xy":[[0.46435586449583705,-2.2797664722949698],[0.5923558673118183,-2.1761885692471203]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.5810398277101763,-0.6923256207987925,0.71338606911949],"aabb_xy":[[-0.5969243209755014,-0.7066785610976164],[-0.5651553344448511,-0.6779726804999683]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.15162979431681367,0.6225797936005297,0.71338606911949],"aabb_xy":[[-0.15984433943249762,0.6139032033028883],[-0.14341524920112966,0.631256383898171]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.4761434998467462,-0.7728773513567331,0.71338606911949],"aabb_xy":[[0.4261434984858589,-0.8228552559321486],[0.5261435012076333,-0.7228994467813173]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.22588292568299984,-1.1444602909572192,0.71338606911949],"aabb_xy":[[0.2171689566330653,-1.1669602916164072],[0.23459689473293427,-1.1219602902980308]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.05361376555070685,1.4104336579084777,0.71338606911949],"aabb_xy":[[0.016113765378834917,1.3777329225255706],[0.09111376572257879,1.443134393291385]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[0.6983555939615649,0.5747341200103486,0.71338606911949],"aabb_xy":[[0.67477047049767,0.5097341177649167],[0.7219407174254597,0.6397341222557803]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.4341221049908439,-1.2564694170454427,0.71338606911949],"aabb_xy":[[0.4222500219793428,-1.341469416739093],[0.445994188002345,-1.1714694173517923]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.36871716847166813,-0.9101927461359647,0.71338606911949],"aabb_xy":[[0.29871716583508173,-0.9302976111318301],[0.4387171711082544,-0.8900878811400991]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.11088896493790901,-1.6497785985740636,0.71338606911949],"aabb_xy":[[-0.1454800477919542,-1.7147785988590947],[-0.07629788208386377,-1.5847785982890326]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.06555417139853648,-1.5390757781489044,0.71338606911949],"aabb_xy":[[0.04566313151819624,-1.5517315894336015],[0.08544521127887673,-1.5264199668642078]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.24335222519551797,1.1269263654140826,0.71338606911949],"aabb_xy":[[-0.29834447583102897,1.07192636367077],[-0.18835997456000705,1.1819263671573956]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.10953995099482061,1.3421513101601596,0.71338606911949],"aabb_xy":[[-0.1247028239717577,1.326985852865041],[-0.09437707801788355,1.3573167674552784]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[0.2955286409374448,0.7379354803984888,0.71338606911949],"aabb_xy":[[0.23152863764773665,0.6946005613945709],[0.35952864422715286,0.7812703994024062]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.20834449317788184,-2.422108234993025,0.71338606911949],"aabb_xy":[[-0.2733444958156753,-2.473587833692472],[-0.14334449054008835,-2.3706286362935782]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.38140125865815655,-1.9158771207006693,0.71338606911949],"aabb_xy":[[0.29640125996608185,-1.9478629840955481],[0.46640125735023114,-1.8838912573057904]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.6066237224083288,0.27641646318279944,0.71338606911949],"aabb_xy":[[-0.6110543517631691,0.27096809144811684],[-0.6021930930534888,0.28186483491748204]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.09012566141501077,-1.0878585705294688,0.71338606911949],"aabb_xy":[[0.045133074696560374,-1.1328585698039175],[0.13511824813346118,-1.04285857125502]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.018720680234688758,-2.435633672909386,0.71338606911949],"aabb_xy":[[-0.06870491594286599,-2.4856336717228817],[0.03126355547348847,-2.3856336740958906]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.24702426803517058,-1.4453681586892222,0.71338606911949],"aabb_xy":[[-0.2845242692199633,-1.4497863813852823],[-0.20952426685037776,-1.4409499359931612]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.5320434191857699,-2.156008736144171,0.71338606911949],"aabb_xy":[[-0.5870388970064293,-2.211008737578078],[-0.47704794136511053,-2.101008734710264]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.25727912741957926,1.2082163691087708,0.71338606911949],"aabb_xy":[[0.20727912877365806,1.1582968254493082],[0.30727912606550045,1.258135912768233]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.4769836555309421,0.8854738910396711,0.71338606911949],"aabb_xy":[[-0.5409836559084757,0.8357286241888587],[-0.41298365515340846,0.9352191578904833]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.27231905726437405,0.5349197514831672,0.71338606911949],"aabb_xy":[[-0.30731905553449396,0.527845623788179],[-0.23731905899425415,0.5419938791781553]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.2761875517141682,-1.841949214953753,0.71338606911949],"aabb_xy":[[-0.36587462802228365,-1.9319492152082036],[-0.18650047540605275,-1.7519492146993025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659780123016468,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4675.png","name":"4675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4675.png","name":"4675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9259.png","name":"9259"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4907.png","name":"4907"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7341.png","name":"7341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3670.png","name":"3670"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":557.9885100605392,"rotation_z_degrees":132.55941706270534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016562776458733348,0.0027645193900477476,0.019872160313509694]},{"name":"camera_2","offset_m":[0.0032696110491868824,-0.00424871562657422,-0.008954840388792849]},{"name":"camera_3","offset_m":[0.0009390693322727586,-0.006849471929344753,-0.0041339526652697245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012155932121382476,-0.0016853567428991166,3.9788166810265924e-05],"end_effector_yaw_offset_degrees":0.7139034707211926},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008750640887182862,-0.0015785852834345154,-0.0008060228125234764],"end_effector_yaw_offset_degrees":-0.28704372619896446},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00022638609296897873,0.0005834905997007186,0.000123308451927125],"end_effector_yaw_offset_degrees":0.07570512964264187}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036567689413716372,-0.003136562837982996],"position_m":[0.3544567689413716,0.156063437162017,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004940076513016579,-0.002539208801421955],"position_m":[0.3322940076513016,-0.053839208801421956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006585286046525219,-0.0020739922606905405],"position_m":[0.3192414713953475,0.30402600773930943,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038618267649059594,-0.0028335336442271365],"position_m":[0.21696182676490597,-0.38973353364422714,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"49be58637f8c85020955c93d1db171491ce4bdf446693344054f22a5f3d0bc2f","episode_index":218,"episode_name":"episode_0218"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0218.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4675/tex_ceiling_textures_3670/tex_floor_textures_7341/tex_table_textures_9259/tex_wall_textures_4907","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3276682514663631273,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3276682514663631273,"visual_seed":3276682514663631273,"scene_id":"lab_003","finished_at":"2026-09-03T06:38:40"} +{"episode_id":"ep_000099","started_at":"2026-09-03T06:43:11","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.41499360391676704,-1.6206013635345746,0.71338606911949],"aabb_xy":[[-0.4382754461148983,-1.705601364831803],[-0.39171176171863564,-1.5356013622373468]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[-0.3702851766464086,-1.4538777081948167,0.71338606911949],"aabb_xy":[[-0.38939748400438745,-1.4730124870720587],[-0.3511728692884297,-1.4347429293175746]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.48739925163558295,-0.43662377242022865,0.71338606911949],"aabb_xy":[[0.4523992517395641,-0.44499800793216865],[0.5223992515316018,-0.42824953690828876]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.366742727938979,1.132882888816432,0.71338606911949],"aabb_xy":[[-0.38865141007833,1.1109822219963412],[-0.3448340457996279,1.1547835556365227]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.40923411509851193,-1.2393262655306583,0.71338606911949],"aabb_xy":[[0.371734114992919,-1.2461484273836392],[0.4467341152041049,-1.232504103677677]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.022628092384467502,1.6001287924045333,0.71338606911949],"aabb_xy":[[0.00012809214095210741,1.5879241577447614],[0.045128092627982896,1.6123334270643053]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.2841276746042003,-1.9645509178670284,0.71338606911949],"aabb_xy":[[0.2796970452493601,-1.9699992896017113],[0.2885583039590405,-1.959102546132346]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5781008439873584,-1.6637328935864935,0.71338606911949],"aabb_xy":[[-0.5868820711345946,-1.6725126408750242],[-0.5693196168401222,-1.654953146297964]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.6888944580614982,-1.9008712313146272,0.71338606911949],"aabb_xy":[[0.6653093345976034,-1.9658712335600588],[0.7124795815253931,-1.8358712290691952]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.2574526167802583,-1.1038758202042656,0.71338606911949],"aabb_xy":[[0.25331676044755813,-1.1413758196486228],[0.2615884731129585,-1.0663758207599088]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.49892408414302913,-0.7878924840976929,0.71338606911949],"aabb_xy":[[0.4902261218523139,-0.8000174584051677],[0.5076220464337444,-0.7757675097902182]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.6675271185707885,0.21967811912046775,0.71338606911949],"aabb_xy":[[0.6550597604610529,0.20721279448714428],[0.6799944766805242,0.23214344375379128]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.2520101065758872,0.23486121457869702,0.71338606911949],"aabb_xy":[[-0.25797664551662297,0.22890006991933298],[-0.2460435676351514,0.24082235923806106]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.5156713583406957,0.4991458584912256,0.71338606911949],"aabb_xy":[[-0.5856713601494411,0.47779208972703824],[-0.4456713565319502,0.520499627255413]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.047405866128397256,-1.8968201286198756,0.71338606911949],"aabb_xy":[[-0.007567855907935621,-1.951820128184109],[0.10237958816473014,-1.8418201290556426]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.5104521299735545,-2.0986964239573926,0.71338606911949],"aabb_xy":[[0.49700560333951116,-2.112166275610484],[0.5238986566075978,-2.0852265723043013]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.08201981126534441,1.8060277354231942,0.71338606911949],"aabb_xy":[[0.07389212307203119,1.7971141270124864],[0.09014749945865763,1.814941343833902]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[-0.16088591372032313,-2.2457895495424562,0.71338606911949],"aabb_xy":[[-0.21085920772358355,-2.295789550097003],[-0.11091261971706265,-2.1957895489879085]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.3490561529001015,1.5088862491909656,0.71338606911949],"aabb_xy":[[0.25905615348173056,1.4755107523467756],[0.43905615231847234,1.542261746035155]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.4332998487640285,-2.2533050992763277,0.71338606911949],"aabb_xy":[[0.3692998467142965,-2.293399582365636],[0.4972998508137605,-2.21321061618702]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.04963238957121974,1.1710694727369275,0.71338606911949],"aabb_xy":[[-0.01436761364741812,1.1243463608379192],[0.1136323927898576,1.2177925846359359]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.6417740639745453,-1.8329560546456038,0.71338606911949],"aabb_xy":[[-0.6497680525522487,-1.8409561347406938],[-0.6337800753968419,-1.824955974550513]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.2437924882810455,-1.2653541911992214,0.71338606911949],"aabb_xy":[[0.20629248748905005,-1.2717220321574112],[0.28129248907304094,-1.2589863502410312]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.5584317048417158,0.4439049380695863,0.71338606911949],"aabb_xy":[[0.5503953701404309,0.4358668187651695],[0.5664680395430006,0.45194305737400303]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.3876797614164728,-0.3136231264390599,0.71338606911949],"aabb_xy":[[-0.3957934160898499,-0.32172894289308895],[-0.3795661067430957,-0.3055173099850308]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.02808713663447837,0.7894982783257003,0.71338606911949],"aabb_xy":[[-0.06488176975938464,0.7525924032291179],[0.008707496490427898,0.8264041534222825]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.1638983151401242,-1.2246081452125601,0.71338606911949],"aabb_xy":[[-0.18641200696358137,-1.2946081458135674],[-0.14138462331666699,-1.1546081446115524]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691565356796318,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4530.png","name":"4530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3627.png","name":"3627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2420.png","name":"2420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9115.png","name":"9115"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4182.png","name":"4182"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":800.646786050567,"rotation_z_degrees":68.86477433716094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007563972039332491,-0.01157544276596683,0.00933344682928611]},{"name":"camera_2","offset_m":[-0.018103706728467856,0.017694645654290086,0.0036673935155260746]},{"name":"camera_3","offset_m":[0.008330354817877729,-0.007030661554921007,0.01216646848229783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015528018718827226,-0.001554502538429577,-0.0016985859464033286],"end_effector_yaw_offset_degrees":0.6072886620279729},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009258643245688334,0.0010053220233462988,-0.0019305888729701738],"end_effector_yaw_offset_degrees":-0.1080932597538562},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010962939509254889,0.00033834324763939343,0.00034791087386364973],"end_effector_yaw_offset_degrees":-0.8966528462056733}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00016","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009609330445197843,0.0011171371457243577],"position_m":[0.3498390669554802,0.16031713714572438,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011483085240522094,0.004344140983188894],"position_m":[0.33065169147594775,-0.046955859016811104,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003367222916272947,0.0034229534717031126],"position_m":[0.32326722291627297,0.3095229534717031,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002723904756138449,0.0038389023916335007],"position_m":[0.21582390475613847,-0.38306109760836654,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"986bca5dc508ca58a130b7dd0161a3f775785f1c454268d40cb32c48eb1b15ff","episode_index":221,"episode_name":"episode_0221"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/dataset/episode_0221.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4530/tex_ceiling_textures_4182/tex_floor_textures_9115/tex_table_textures_3627/tex_wall_textures_2420","seeds":{"action_seed":2891541627295583141,"physical_seed":1061768133550289122,"visual_seed":3076466779972449043,"layout_id":"layout_00016","physical_randomization_enabled":true},"episode_seed":3076466779972449043,"visual_seed":3076466779972449043,"scene_id":"lab_003","finished_at":"2026-09-03T06:46:05"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..26ede1d59f77ddf4f19da1d06b43f16da58179b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_lbk_00016 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at home. + layout_id: layout_00016 + reproducibility: + enabled: true + layout_id: layout_00016 + action_seed: 2891541627295583141 + step_seeds: + - 1164515841808467485 + - 5066845160497422571 + - 1159376154734467498 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.3508 + - 0.3508 + 'y': + - 0.1592 + - 0.1592 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3318 + - 0.3318 + 'y': + - -0.0513 + - -0.0513 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3199 + - 0.3199 + 'y': + - 0.3061 + - 0.3061 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2131 + - 0.2131 + 'y': + - -0.3869 + - -0.3869 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fed3d8b7be281f9c744139267e172fe8a7053d8f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_103_success.json @@ -0,0 +1,684 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.36849926299283625, + 0.1646380544440192, + 1.0174228045955547 + ], + "current_z": 1.0174228045955547, + "required_z": 0.8611068060379898, + "initial_z": 0.7611068060379899, + "lift_margin": 0.15631599855756484, + "gripper_z": 1.0529370056058445, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3653416232051885, + 0.1607718824386815, + 1.0529370056058445 + ], + "object_minus_gripper": [ + 0.00315763978764777, + 0.003866172005337676, + -0.03551420101028979 + ], + "object_to_gripper_xy": 0.004991790761179098, + "object_to_gripper_z": -0.03551420101028979, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.36849926299283625, + 0.14080621729078222, + 1.0393646776389533 + ], + "finger_b": [ + 0.3590850871335157, + 0.1646380544440192, + 1.0394629600150997 + ], + "finger_midpoint": [ + 0.36379217506317596, + 0.1527221358674007, + 1.0394138188270265 + ], + "object_minus_finger_midpoint": [ + 0.004707087929660292, + 0.0119159185766185, + -0.021991014231471873 + ], + "finger_gap": 0.025624067371010414, + "fingertip_max_gap": 0.10918296807728836, + "finger_z_skew": 9.82823761463969e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012811939443431486, + "object_to_finger_midpoint_z": 0.021991014231471873, + "finger_midpoint_minus_object_z": 0.021991014231471873, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0174228045955547, + "object_top_z": 1.0749102382312978, + "finger_top_clearance": 0.035496419404271284, + "fingertip_min_top_clearance": 0.01724623009072296, + "object_projection_between_fingers": 0.8650183080126236, + "object_to_finger_line_xy": 0.008755782331077405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05709148403864418, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.315510421068228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 190, + "max_stable_success_frames": 190, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.370473574392595, + 0.16317142985431615, + 1.2069523314632673 + ], + "held_position": [ + 0.373116823279855, + 0.1664035378786576, + 1.171297720304894 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03589825321399097, + "max_held_gripper_dist": 0.03594883719350653, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03565461115837332, + "max_held_gripper_z_dist": 0.03568971377890895, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08708305926890803, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.373116823279855, + 0.14205942473573743, + 1.1933182524968493 + ], + "held_grasp_finger_b": [ + 0.3662984641202056, + 0.16686799017967482, + 1.1932087452617897 + ], + "held_grasp_midpoint": [ + 0.3697076437000303, + 0.15446370745770613, + 1.1932634988793196 + ], + "held_grasp_object_position": [ + 0.373116823279855, + 0.1664035378786576, + 1.171297720304894 + ], + "held_grasp_finger_gap": 0.025728718056884016, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024837169459161, + "held_grasp_world_z_skew": 0.0001095072350596471, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016841057814822313, + -0.996144369517196, + 0.08609746715708888 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.02117146833035906, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03599267151428756, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3290765139017014, + 0.16136317180526186, + 0.7611067919487042 + ], + "target_position": [ + 0.3460551660454808, + 0.16192191830970765, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01698784348514242, + "xy_threshold": 0.08, + "gripper_dist": 0.20362138510876326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067919487042, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758463921269999, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09209756980541643, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17459078418759363, + "release_required_pad_clearance": 0.05604878490270822, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.346449467078606, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 247, + "max_placed_release_frames": 247 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94d34664c1a60dff7b735d6805b13ecc0e12ae7685475963eb78a02e518228f8", + "visual_seed": 1931867057734027064, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_107_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe829a1eefb49ce9a51e3ee86c4fd88d5dc96130 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_107_success.json @@ -0,0 +1,684 @@ +{ + "episode": 107, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37884650293737265, + 0.16261295362097528, + 1.053616963921503 + ], + "current_z": 1.053616963921503, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19251051551138176, + "gripper_z": 1.0540267396059098, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.373472819730649, + 0.15753686247826576, + 1.0540267396059098 + ], + "object_minus_gripper": [ + 0.005373683206723656, + 0.005076091142709516, + -0.0004097756844068101 + ], + "object_to_gripper_xy": 0.007392102034963927, + "object_to_gripper_z": -0.0004097756844068101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37884650293737265, + 0.13806647770462244, + 1.053616963921503 + ], + "finger_b": [ + 0.3665505236996874, + 0.16261295362097528, + 1.053616963921503 + ], + "finger_midpoint": [ + 0.37269851331853, + 0.15033971566279886, + 1.053616963921503 + ], + "object_minus_finger_midpoint": [ + 0.006147989618842664, + 0.01227323795817642, + 0.0 + ], + "finger_gap": 0.027453972122912874, + "fingertip_max_gap": 0.09246626114376591, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01372698606145645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053616963921503, + "object_top_z": 1.1045982308261966, + "finger_top_clearance": 0.05098126690469362, + "fingertip_min_top_clearance": 0.015294380071408119, + "object_projection_between_fingers": 0.7994069574890823, + "object_to_finger_line_xy": 0.010993781041028947, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873313057188296, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9409990837608228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3797657337563183, + 0.15915646409514111, + 1.2417940020972988 + ], + "held_position": [ + 0.3856020078192859, + 0.1636665232459144, + 1.2411467729235024 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007404163294049879, + "max_held_gripper_dist": 0.007407627694661053, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006472291737964486, + "max_held_gripper_z_dist": 0.0007348018444506277, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08869246692885573, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3856020078192859, + 0.1378359315587075, + 1.2411467729235024 + ], + "held_grasp_finger_b": [ + 0.37595346062599044, + 0.1636665232459144, + 1.2411467729235024 + ], + "held_grasp_midpoint": [ + 0.38077773422263816, + 0.15075122740231095, + 1.2411467729235024 + ], + "held_grasp_object_position": [ + 0.3856020078192859, + 0.1636665232459144, + 1.2411467729235024 + ], + "held_grasp_finger_gap": 0.02757379063263614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484531927503115, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09019506296283224, + -0.9955470981087284, + 0.027401205528601372 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036574582289017376, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036427339110980346, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3437609487528064, + 0.15643652903643548, + 0.7611105605706677 + ], + "target_position": [ + 0.3541253976720726, + 0.15837345046682416, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010543882872432575, + "xy_threshold": 0.08, + "gripper_dist": 0.20951046827890368, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611105605706677, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583915352536075, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700962192473875, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17965051318728556, + "release_required_pad_clearance": 0.05350481096236938, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.014324660562759, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 107, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "085bdf9b325711f3f768df5011e0af2548b848ac84d69e8652f94f7a9769da8f", + "visual_seed": 1780310609981724801, + "episode_index": 107, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_109_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_109_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5727b368183ce4df8aec71259fd33363689e2f2c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_109_success.json @@ -0,0 +1,684 @@ +{ + "episode": 109, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3764864628043043, + 0.15733401992986687, + 1.052474978415649 + ], + "current_z": 1.052474978415649, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.19136823198230402, + "gripper_z": 1.053012524859731, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37120850759472623, + 0.15231876479377618, + 1.053012524859731 + ], + "object_minus_gripper": [ + 0.005277955209578078, + 0.0050152551360906905, + -0.0005375464440819933 + ], + "object_to_gripper_xy": 0.007280768865607287, + "object_to_gripper_z": -0.0005375464440819933, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3764864628043043, + 0.13282490573209935, + 1.052474978415649 + ], + "finger_b": [ + 0.3643247706945528, + 0.15733401992986687, + 1.052474978415649 + ], + "finger_midpoint": [ + 0.37040561674942857, + 0.1450794628309831, + 1.052474978415649 + ], + "object_minus_finger_midpoint": [ + 0.006080846054875744, + 0.012254557098883762, + 0.0 + ], + "finger_gap": 0.027360618299512186, + "fingertip_max_gap": 0.09254027645877047, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013680309149756093, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052474978415649, + "object_top_z": 1.1033655461340817, + "finger_top_clearance": 0.05089056771843259, + "fingertip_min_top_clearance": 0.015267170315529809, + "object_projection_between_fingers": 0.8024230877019716, + "object_to_finger_line_xy": 0.01089420924238768, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877013822938524, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9556891969316019, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3773548159362499, + 0.1540483387977828, + 1.2441797543171662 + ], + "held_position": [ + 0.3830721766135601, + 0.1585365724688306, + 1.2434502844819433 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007305106490728244, + "max_held_gripper_dist": 0.0073105190739764, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000729469835222929, + "max_held_gripper_z_dist": 0.0008121561530087806, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08858765629553743, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3830721766135601, + 0.13280093145358457, + 1.2434502844819433 + ], + "held_grasp_finger_b": [ + 0.3733736560344819, + 0.1585365724688306, + 1.2434502844819433 + ], + "held_grasp_midpoint": [ + 0.378222916324021, + 0.1456687519612076, + 1.2434502844819433 + ], + "held_grasp_object_position": [ + 0.3830721766135601, + 0.1585365724688306, + 1.2434502844819433 + ], + "held_grasp_finger_gap": 0.027502445707398758, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024831484828856058, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08316911666393485, + -0.9962099721229689, + 0.025467419894724556 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037769473371145096, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649789026615811, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3390809125979808, + 0.15536787646564623, + 0.7611186379961264 + ], + "target_position": [ + 0.3518796395067981, + 0.15503167748947397, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012803141811214318, + "xy_threshold": 0.08, + "gripper_dist": 0.206166759933317, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611186379961264, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751552768055118, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08895845426493419, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17841364384049746, + "release_required_pad_clearance": 0.0544792271324671, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.935702182456468, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 109, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64e36cb6c54bb3ddc216d9d2dd1396c74a64a7d63e62f4a6bcaa9d9d206c5592", + "visual_seed": 7868243842208249673, + "episode_index": 109, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cec50b027a5a2ff6ed688495fede148dc3d8ee39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38102930149389935, + 0.16483041333406767, + 1.0227108972050094 + ], + "current_z": 1.0227108972050094, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.16160421037630912, + "gripper_z": 1.052950216570091, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37450614771113866, + 0.15939253508342593, + 1.052950216570091 + ], + "object_minus_gripper": [ + 0.006523153782760693, + 0.005437878250641737, + -0.03023931936508162 + ], + "object_to_gripper_xy": 0.008492470496996005, + "object_to_gripper_z": -0.03023931936508162, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38102930149389935, + 0.13963175443653955, + 1.0393751827346034 + ], + "finger_b": [ + 0.36795304278466456, + 0.16483041333406767, + 1.0394767349126066 + ], + "finger_midpoint": [ + 0.37449117213928196, + 0.1522310838853036, + 1.039425958823605 + ], + "object_minus_finger_midpoint": [ + 0.006538129354617395, + 0.012599329448764074, + -0.016715061618595595 + ], + "finger_gap": 0.028389633053452257, + "fingertip_max_gap": 0.09762833338040192, + "finger_z_skew": 0.00010155217800322802, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014194725711200033, + "object_to_finger_midpoint_z": 0.016715061618595595, + "finger_midpoint_minus_object_z": 0.016715061618595595, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0227108972050094, + "object_top_z": 1.0748115519734638, + "finger_top_clearance": 0.035385593149858785, + "fingertip_min_top_clearance": 0.015630196430536297, + "object_projection_between_fingers": 0.7878451289820199, + "object_to_finger_line_xy": 0.011606570974804078, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05131416669020096, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.242818888697674, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 196, + "max_stable_success_frames": 196, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3804735224309178, + 0.16039485099576148, + 1.2113103649570238 + ], + "held_position": [ + 0.38681795552695863, + 0.1647191661061222, + 1.1807898580365765 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03147146128105434, + "max_held_gripper_dist": 0.031505525992261245, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.030520506920447277, + "max_held_gripper_z_dist": 0.030609580562199756, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08795189312774918, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38681795552695863, + 0.13874206293994132, + 1.1976098864938722 + ], + "held_grasp_finger_b": [ + 0.3772332792161516, + 0.16578460478229928, + 1.1974960983252803 + ], + "held_grasp_midpoint": [ + 0.3820256173715551, + 0.1522633338611203, + 1.1975529924095762 + ], + "held_grasp_object_position": [ + 0.38681795552695863, + 0.1647191661061222, + 1.1807898580365765 + ], + "held_grasp_finger_gap": 0.028691079398062716, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.026514379399795514, + "held_grasp_world_z_skew": 0.00011378816859197727, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.050457897468079514, + -0.9982190696163687, + 0.031822784877065795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.016871325591526196, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651133986889667, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34091337111927955, + 0.1661201885378545, + 0.7611064791006039 + ], + "target_position": [ + 0.3550548909056572, + 0.16135111410476966, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014924029376036936, + "xy_threshold": 0.08, + "gripper_dist": 0.20727801460356518, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064791006039, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554528968441433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08853346558933149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17983816019154755, + "release_required_pad_clearance": 0.05426673279466575, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5526012748527567, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c74522bc9b3d5d76aa60a8962cd7d0e94f9667f857ef1a4c5244e3ebf37a0aa7", + "visual_seed": 6414798346443941890, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_112_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_112_success.json new file mode 100644 index 0000000000000000000000000000000000000000..beb189ec16998d21f04937e6e3c8becf357e2f1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_112_success.json @@ -0,0 +1,684 @@ +{ + "episode": 112, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3718340827012108, + 0.16199901276369927, + 1.0554473238254931 + ], + "current_z": 1.0554473238254931, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.1943406369967926, + "gripper_z": 1.0555506477354888, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36659757176302676, + 0.15697580987565157, + 1.0555506477354888 + ], + "object_minus_gripper": [ + 0.005236510938184058, + 0.005023202888047695, + -0.00010332390999567842 + ], + "object_to_gripper_xy": 0.007256281007528029, + "object_to_gripper_z": -0.00010332390999567842, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3718340827012108, + 0.13755117678738016, + 1.0554473238254931 + ], + "finger_b": [ + 0.35962441412817314, + 0.16199901276369927, + 1.0554473238254931 + ], + "finger_midpoint": [ + 0.365729248414692, + 0.1497750947755397, + 1.0554473238254931 + ], + "object_minus_finger_midpoint": [ + 0.006104834286518812, + 0.012223917988159555, + 0.0 + ], + "finger_gap": 0.02732714201281259, + "fingertip_max_gap": 0.09050367388069355, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013663571006406283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0554473238254931, + "object_top_z": 1.105425251612039, + "finger_top_clearance": 0.04997792778654597, + "fingertip_min_top_clearance": 0.014993378335963791, + "object_projection_between_fingers": 0.8003729802358492, + "object_to_finger_line_xy": 0.010923205012031235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775183694034678, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17453236205705983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37277725757548397, + 0.15886134913118408, + 1.2458539733845992 + ], + "held_position": [ + 0.3784693692950865, + 0.163347422847934, + 1.2455477548144178 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007253879171400293, + "max_held_gripper_dist": 0.007258276128286135, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00030621857018142684, + "max_held_gripper_z_dist": 0.00039200710182418774, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0884103186834046, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3784693692950865, + 0.13762547228774627, + 1.2455477548144178 + ], + "held_grasp_finger_b": [ + 0.36879521879482646, + 0.163347422847934, + 1.2455477548144178 + ], + "held_grasp_midpoint": [ + 0.37363229404495646, + 0.15048644756784013, + 1.2455477548144178 + ], + "held_grasp_object_position": [ + 0.3784693692950865, + 0.163347422847934, + 1.2455477548144178 + ], + "held_grasp_finger_gap": 0.027481046714461648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024685023823270855, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.094874384419805, + -0.9953698043567315, + 0.015420886997999261 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036007414637308243, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03645990908496291, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3361011076713246, + 0.15776903195403896, + 0.7611095267172564 + ], + "target_position": [ + 0.34725675326548083, + 0.15957126130716526, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011300285804513399, + "xy_threshold": 0.08, + "gripper_dist": 0.20703953334137704, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611095267172564, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755866962661971, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09176520018822486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17776052508439102, + "release_required_pad_clearance": 0.05588260009411243, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.965463775790256, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 112, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a82c701ec588ab919d7011dd8d2fb60cfc7656c379435814b7f515ec0ca30048", + "visual_seed": 4569176983946569634, + "episode_index": 112, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6d08f94ebf1aefc4a825ef35a19b730b9b7d9a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3706319535841578, + 0.1679221145435962, + 1.0526774397745635 + ], + "current_z": 1.0526774397745635, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19157093175979756, + "gripper_z": 1.0531718237211658, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3653798305436845, + 0.16294454279928555, + 1.0531718237211658 + ], + "object_minus_gripper": [ + 0.005252123040473289, + 0.004977571744310655, + -0.0004943839466022837 + ], + "object_to_gripper_xy": 0.007236091272367299, + "object_to_gripper_z": -0.0004943839466022837, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3706319535841578, + 0.14339298272032022, + 1.0526774397745635 + ], + "finger_b": [ + 0.3585715261436305, + 0.1679221145435962, + 1.0526774397745635 + ], + "finger_midpoint": [ + 0.36460173986389416, + 0.15565754863195821, + 1.0526774397745635 + ], + "object_minus_finger_midpoint": [ + 0.006030213720263633, + 0.012264565911637992, + 0.0 + ], + "finger_gap": 0.027333719433181313, + "fingertip_max_gap": 0.09250628854262041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013666859716590657, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526774397745635, + "object_top_z": 1.1036579971192484, + "finger_top_clearance": 0.050980557344684874, + "fingertip_min_top_clearance": 0.015294167203405462, + "object_projection_between_fingers": 0.8053170422398728, + "object_to_finger_line_xy": 0.010822962284987405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875314427131021, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8914927819475155, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3715307234468057, + 0.1650377910390129, + 1.244653709824542 + ], + "held_position": [ + 0.3772018171358523, + 0.16951508952556127, + 1.2439785990005447 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007256947015947616, + "max_held_gripper_dist": 0.0072621070530888504, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006751108239972936, + "max_held_gripper_z_dist": 0.0007647190685418082, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08802932870186819, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3772018171358523, + 0.14382252831795406, + 1.2439785990005447 + ], + "held_grasp_finger_b": [ + 0.36748866547358766, + 0.16951508952556127, + 1.2439785990005447 + ], + "held_grasp_midpoint": [ + 0.37234524130472, + 0.15666880892175766, + 1.2439785990005447 + ], + "held_grasp_object_position": [ + 0.3772018171358523, + 0.16951508952556127, + 1.2439785990005447 + ], + "held_grasp_finger_gap": 0.027467308142968754, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024799762867023317, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08206245932518183, + -0.9962746716216194, + 0.026505309934757526 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00380175329552951, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03652328352337949, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3319630316407058, + 0.16343477531589232, + 0.761106640664843 + ], + "target_position": [ + 0.34606431933172815, + 0.16403127318466684, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014113898265625677, + "xy_threshold": 0.08, + "gripper_dist": 0.20559333565779214, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106640664843, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547312383492855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0938714535310242, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17703602412931752, + "release_required_pad_clearance": 0.056935726765512104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.371675237346787, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 203, + "max_placed_release_frames": 203 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0b7133ed492399652725f6fd70a5a3f6b08133a262a1035e4578db9601754ad9", + "visual_seed": 1532312489687073723, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb9e3f0eb038e3163c7fa42247e788632a96eb9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37077331578181183, + 0.161493184619292, + 1.0511396220224096 + ], + "current_z": 1.0511396220224096, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.19003287558906445, + "gripper_z": 1.0517525825864729, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36556426812452986, + 0.1565361101538995, + 1.0517525825864729 + ], + "object_minus_gripper": [ + 0.005209047657281973, + 0.00495707446539248, + -0.0006129605640632363 + ], + "object_to_gripper_xy": 0.007190741599534847, + "object_to_gripper_z": -0.0006129605640632363, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37077331578181183, + 0.13700721421237436, + 1.0511396220224096 + ], + "finger_b": [ + 0.3587311544561685, + 0.161493184619292, + 1.0511396220224096 + ], + "finger_midpoint": [ + 0.36475223511899013, + 0.14925019941583317, + 1.0511396220224096 + ], + "object_minus_finger_midpoint": [ + 0.006021080662821698, + 0.012242985203458817, + 0.0 + ], + "finger_gap": 0.02728692720262335, + "fingertip_max_gap": 0.09272836209456806, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01364346360131169, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511396220224096, + "object_top_z": 1.1021025648896958, + "finger_top_clearance": 0.0509629428672862, + "fingertip_min_top_clearance": 0.015288882860185891, + "object_projection_between_fingers": 0.8052400665123798, + "object_to_finger_line_xy": 0.010806053890402222, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886418104728403, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9713401635331916, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3715323502883778, + 0.1585964376212194, + 1.2398096701422654 + ], + "held_position": [ + 0.3771493273612697, + 0.16305351966471626, + 1.2389758569098426 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072188126645882245, + "max_held_gripper_dist": 0.007223123837177107, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008338132324228198, + "max_held_gripper_z_dist": 0.0009151955904402875, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08821301889475885, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3771493273612697, + 0.13738076664742754, + 1.2389758569098426 + ], + "held_grasp_finger_b": [ + 0.3675443730816382, + 0.16305351966471626, + 1.2389758569098426 + ], + "held_grasp_midpoint": [ + 0.372346850221454, + 0.1502171431560719, + 1.2389758569098426 + ], + "held_grasp_object_position": [ + 0.3771493273612697, + 0.16305351966471626, + 1.2389758569098426 + ], + "held_grasp_finger_gap": 0.02741068029437648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024831431454138075, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0784990238778759, + -0.9965978706004329, + 0.025111502641287912 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003794136956587043, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655055480768332, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33401438006174944, + 0.15592607348789328, + 0.7611073082283396 + ], + "target_position": [ + 0.34630196472178637, + 0.1564915529637126, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012300589571851742, + "xy_threshold": 0.08, + "gripper_dist": 0.20625541282999565, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073082283396, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522053571019208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08940532549894163, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17790855123880508, + "release_required_pad_clearance": 0.05470266274947082, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.447919175339836, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93186f1eeeda4037e24bc2a421eac7ee592b36662205117534c60e7f04fe3796", + "visual_seed": 501647342736976432, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_121_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9acb407cd79430f8e71e952795acdd0ab0b526 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_121_success.json @@ -0,0 +1,684 @@ +{ + "episode": 121, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3723450875870171, + 0.16544327555032562, + 1.0163842241557726 + ], + "current_z": 1.0163842241557726, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.15527777574565127, + "gripper_z": 1.051544195221775, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36612716727866046, + 0.15998923699822382, + 1.051544195221775 + ], + "object_minus_gripper": [ + 0.006217920308356661, + 0.005454038552101803, + -0.03515997106600244 + ], + "object_to_gripper_xy": 0.008270977541311966, + "object_to_gripper_z": -0.03515997106600244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3723450875870171, + 0.14008610900620988, + 1.0379689679462085 + ], + "finger_b": [ + 0.359686576386781, + 0.16544327555032562, + 1.0380676352235139 + ], + "finger_midpoint": [ + 0.366015831986899, + 0.15276469227826775, + 1.0380183015848612 + ], + "object_minus_finger_midpoint": [ + 0.0063292556001181, + 0.01267858327205787, + -0.021634077429088627 + ], + "finger_gap": 0.028341374987536107, + "fingertip_max_gap": 0.09939058399531511, + "finger_z_skew": 9.866727730534208e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014170601618778646, + "object_to_finger_midpoint_z": 0.021634077429088627, + "finger_midpoint_minus_object_z": 0.021634077429088627, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0163842241557726, + "object_top_z": 1.0690762421541198, + "finger_top_clearance": 0.03105794056925859, + "fingertip_min_top_clearance": 0.015807605399504147, + "object_projection_between_fingers": 0.8005065268030142, + "object_to_finger_line_xy": 0.01132570039509049, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05219529199765756, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.386294899300224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 192, + "max_stable_success_frames": 192, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3736544859031553, + 0.1568014322660648, + 1.2099985572802485 + ], + "held_position": [ + 0.37967390516253985, + 0.16014458452847927, + 1.174474841104205 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03618486543053649, + "max_held_gripper_dist": 0.03623091227305126, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03552371617604355, + "max_held_gripper_z_dist": 0.03559404621048379, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08980636248822173, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37967390516253985, + 0.13380338304640443, + 1.1965535902890365 + ], + "held_grasp_finger_b": [ + 0.3728524400784854, + 0.16679106636387667, + 1.1954378180586878 + ], + "held_grasp_midpoint": [ + 0.3762631726205126, + 0.15029722470514056, + 1.1959957041738623 + ], + "held_grasp_object_position": [ + 0.37967390516253985, + 0.16014458452847927, + 1.174474841104205 + ], + "held_grasp_finger_gap": 0.03370407370358704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03204473874954729, + "held_grasp_world_z_skew": 0.001115772230348755, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.11037373072917812, + -0.9923975511179938, + 0.054449426993606886 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021061618294862444, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038399500358702335, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33951419200388605, + 0.16085155020230557, + 0.761121296681053 + ], + "target_position": [ + 0.34606203246938183, + 0.1636977392420111, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0071396783408865, + "xy_threshold": 0.08, + "gripper_dist": 0.21000854703688338, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761121296681053, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571926074657857, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09071072361230702, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18004815950532924, + "release_required_pad_clearance": 0.05535536180615351, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.7787278257451815, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 121, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28014b8d3d9ad030c73ce0218c232a421104e7251d2f2f701b4a7f41f6311e7f", + "visual_seed": 406901808662292316, + "episode_index": 121, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_123_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_123_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a7165856428ad2ffedd677fab235312238da30 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_123_success.json @@ -0,0 +1,684 @@ +{ + "episode": 123, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.372686639529256, + 0.1627542170509951, + 1.0518346539980181 + ], + "current_z": 1.0518346539980181, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19072814598325216, + "gripper_z": 1.0523874258944752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3673810781053602, + 0.15769910821760325, + 1.0523874258944752 + ], + "object_minus_gripper": [ + 0.0053055614238958215, + 0.005055108833391858, + -0.0005527718964570827 + ], + "object_to_gripper_xy": 0.007328240398633757, + "object_to_gripper_z": -0.0005527718964570827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.372686639529256, + 0.13825968765699587, + 1.0518346539980181 + ], + "finger_b": [ + 0.36042583063702827, + 0.1627542170509951, + 1.0518346539980181 + ], + "finger_midpoint": [ + 0.36655623508314217, + 0.15050695235399547, + 1.0518346539980181 + ], + "object_minus_finger_midpoint": [ + 0.006130404446113846, + 0.012247264696999632, + 0.0 + ], + "finger_gap": 0.027391776228007262, + "fingertip_max_gap": 0.09268558069136204, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013695888114003631, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0518346539980181, + "object_top_z": 1.1028850870012044, + "finger_top_clearance": 0.051050433003186235, + "fingertip_min_top_clearance": 0.01531512990095587, + "object_projection_between_fingers": 0.7996460743995168, + "object_to_finger_line_xy": 0.010963974782249003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04884279034568102, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9832731250769686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3734877923173005, + 0.15970419965896396, + 1.2434081973474551 + ], + "held_position": [ + 0.379243552349466, + 0.16421454178523787, + 1.2426771576362907 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007348903231313776, + "max_held_gripper_dist": 0.007352943424339281, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000731039711164394, + "max_held_gripper_z_dist": 0.000818577654302155, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08810579505179038, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.379243552349466, + 0.13848091070273266, + 1.2426771576362907 + ], + "held_grasp_finger_b": [ + 0.3694522152702071, + 0.16421454178523787, + 1.2426771576362907 + ], + "held_grasp_midpoint": [ + 0.3743478838098365, + 0.15134772624398526, + 1.2426771576362907 + ], + "held_grasp_object_position": [ + 0.379243552349466, + 0.16421454178523787, + 1.2426771576362907 + ], + "held_grasp_finger_gap": 0.027533435137849182, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02478335704749269, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08625504494501277, + -0.9958916868423926, + 0.02756474740946957 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037847996413272406, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036484019326505475, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34025979065520046, + 0.15976711474544897, + 0.7611063687087916 + ], + "target_position": [ + 0.3480618474241936, + 0.15991607535175933, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007803478653063912, + "xy_threshold": 0.08, + "gripper_dist": 0.21037413377147546, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063687087916, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557500655847169, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872161769451396, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18118577115665202, + "release_required_pad_clearance": 0.05436080884725698, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7450427017709536, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 123, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8367fb99fbfcc09c2d5f5607447a0c9766665f81c387617769492b7d20fd5fd", + "visual_seed": 6719622162968191627, + "episode_index": 123, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_124_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1d64f419637e7c541a4312f72979705a2e366466 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_124_success.json @@ -0,0 +1,684 @@ +{ + "episode": 124, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37398712554649227, + 0.16537689840496336, + 1.0516127620292446 + ], + "current_z": 1.0516127620292446, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.19050607520054452, + "gripper_z": 1.052130411718989, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3686843554056368, + 0.1603194122494419, + 1.052130411718989 + ], + "object_minus_gripper": [ + 0.005302770140855451, + 0.005057486155521457, + -0.0005176496897443261 + ], + "object_to_gripper_xy": 0.007327860354840241, + "object_to_gripper_z": -0.0005176496897443261, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37398712554649227, + 0.14088849894474845, + 1.0516127620292446 + ], + "finger_b": [ + 0.361719487695304, + 0.16537689840496336, + 1.0516127620292446 + ], + "finger_midpoint": [ + 0.3678533066208981, + 0.1531326986748559, + 1.0516127620292446 + ], + "object_minus_finger_midpoint": [ + 0.00613381892559417, + 0.012244199730107458, + 0.0 + ], + "finger_gap": 0.02738935279576649, + "fingertip_max_gap": 0.09271446287867732, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013694676397883259, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0516127620292446, + "object_top_z": 1.1025769698619095, + "finger_top_clearance": 0.050964207832664865, + "fingertip_min_top_clearance": 0.015289262349799493, + "object_projection_between_fingers": 0.7993873321226193, + "object_to_finger_line_xy": 0.010968306493886413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048857231439338664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0278707560418152, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3747698044012356, + 0.16237570399330023, + 1.241425263517434 + ], + "held_position": [ + 0.3805176506654696, + 0.16688919374961517, + 1.2406943073334888 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007344632284905535, + "max_held_gripper_dist": 0.007351180604286151, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007309561839452527, + "max_held_gripper_z_dist": 0.0008215933325854685, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08826212398179735, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3805176506654696, + 0.14115178788312127, + 1.2406943073334888 + ], + "held_grasp_finger_b": [ + 0.3707802658731906, + 0.16688919374961517, + 1.2406943073334888 + ], + "held_grasp_midpoint": [ + 0.3756489582693301, + 0.1540204908163682, + 1.2406943073334888 + ], + "held_grasp_object_position": [ + 0.3805176506654696, + 0.16688919374961517, + 1.2406943073334888 + ], + "held_grasp_finger_gap": 0.02751782555598355, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024829268078277903, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08318787559094429, + -0.9961882159358395, + 0.026245300250421932 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037968249373058617, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036495583676274854, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33713122207001084, + 0.1633368371020739, + 0.7611072441949923 + ], + "target_position": [ + 0.3493745139906779, + 0.16251610734232388, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012270769918518205, + "xy_threshold": 0.08, + "gripper_dist": 0.2068028813181771, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072441949923, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075686742979448, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09140843488229032, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1778357784966739, + "release_required_pad_clearance": 0.05570421744114516, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.585187068820382, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 124, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1b5068da67251f643a5995a17b3dd22abe79d75ec4a98aeb00982876332185a1", + "visual_seed": 4426608926378910890, + "episode_index": 124, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_125_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b121c363a0614644050904b9608f3011390c2541 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_125_success.json @@ -0,0 +1,684 @@ +{ + "episode": 125, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3749889099095791, + 0.15947823479541146, + 1.0519467383525445 + ], + "current_z": 1.0519467383525445, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.19083999191919943, + "gripper_z": 1.0537741752945389, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3692248415161829, + 0.15425450910358052, + 1.0537741752945389 + ], + "object_minus_gripper": [ + 0.005764068393396216, + 0.005223725691830938, + -0.001827436941994387 + ], + "object_to_gripper_xy": 0.00777893273831596, + "object_to_gripper_z": -0.001827436941994387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3749889099095791, + 0.13460994360993792, + 1.0519467383525445 + ], + "finger_b": [ + 0.3625592857463831, + 0.15947823479541146, + 1.0519467383525445 + ], + "finger_midpoint": [ + 0.3687740978279811, + 0.1470440892026747, + 1.0519467383525445 + ], + "object_minus_finger_midpoint": [ + 0.00621481208159802, + 0.012434145592736756, + 0.0 + ], + "finger_gap": 0.027801573036859047, + "fingertip_max_gap": 0.09431466742024977, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01390078651842951, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0519467383525445, + "object_top_z": 1.102807395185763, + "finger_top_clearance": 0.05086065683321861, + "fingertip_min_top_clearance": 0.015258197049965616, + "object_projection_between_fingers": 0.8001163573953859, + "object_to_finger_line_xy": 0.011118202290444166, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04965733371012489, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.195288899813665, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37483495378909315, + 0.15737713655347224, + 1.243129386384736 + ], + "held_position": [ + 0.3809131998544918, + 0.16217617991760583, + 1.2411273608828477 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00799899984701709, + "max_held_gripper_dist": 0.008007522135791657, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002002025501888216, + "max_held_gripper_z_dist": 0.002096217442223436, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08871894326787688, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3809131998544918, + 0.13646389409624918, + 1.2411273608828477 + ], + "held_grasp_finger_b": [ + 0.3702976428623881, + 0.16217617991760583, + 1.2411273608828477 + ], + "held_grasp_midpoint": [ + 0.37560542135843994, + 0.1493200370069275, + 1.2411273608828477 + ], + "held_grasp_object_position": [ + 0.3809131998544918, + 0.16217617991760583, + 1.2411273608828477 + ], + "held_grasp_finger_gap": 0.027817470992377077, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025367211596508118, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.030932376515041344, + -0.9993501231602667, + 0.018507280261874755 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004913405592034111, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03670827986604437, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34444442994181257, + 0.15216767454474234, + 0.7611064053712797 + ], + "target_position": [ + 0.35005840356197937, + 0.1547577783114481, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0061826642582492, + "xy_threshold": 0.08, + "gripper_dist": 0.21245892241777162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064053712797, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581945625948308, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09302981128055192, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18226761372910444, + "release_required_pad_clearance": 0.05651490564027596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.39835886744611, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 125, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4335a98c566c7429dfe8f52c07a3b795cf8c878bb218f85cc073e1df1bbca10d", + "visual_seed": 5174935751418211284, + "episode_index": 125, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_126_success.json new file mode 100644 index 0000000000000000000000000000000000000000..260a909fa54eee93ece6b172491124aeb716fa32 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_126_success.json @@ -0,0 +1,684 @@ +{ + "episode": 126, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38011987690757165, + 0.1649701114350941, + 1.0534959227999865 + ], + "current_z": 1.0534959227999865, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.1923894743898651, + "gripper_z": 1.0537163486421008, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3748106443377968, + 0.15994599824734518, + 1.0537163486421008 + ], + "object_minus_gripper": [ + 0.0053092325697748355, + 0.005024113187748924, + -0.0002204258421143468 + ], + "object_to_gripper_xy": 0.007309559754408644, + "object_to_gripper_z": -0.0002204258421143468, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38011987690757165, + 0.14042861138935267, + 1.0534959227999865 + ], + "finger_b": [ + 0.367957534707152, + 0.1649701114350941, + 1.0534959227999865 + ], + "finger_midpoint": [ + 0.3740387058073618, + 0.1526993614122234, + 1.0534959227999865 + ], + "object_minus_finger_midpoint": [ + 0.006081171100209837, + 0.012270750022870702, + 0.0 + ], + "finger_gap": 0.027389921363436515, + "fingertip_max_gap": 0.09250538378843412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013694960681718245, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0534959227999865, + "object_top_z": 1.1044836272270748, + "finger_top_clearance": 0.05098770442708833, + "fingertip_min_top_clearance": 0.015296311328126465, + "object_projection_between_fingers": 0.8028245383221827, + "object_to_finger_line_xy": 0.010897516561196606, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875269189421706, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8950730290199974, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38106181691565433, + 0.1617971234339906, + 1.2436710711728747 + ], + "held_position": [ + 0.3868074937683216, + 0.16630408414295597, + 1.2432427628290643 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007314980886154888, + "max_held_gripper_dist": 0.007319260736925158, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00042830834381035743, + "max_held_gripper_z_dist": 0.0005196695039850763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08837493395058907, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3868074937683216, + 0.1405533676238639, + 1.2432427628290643 + ], + "held_grasp_finger_b": [ + 0.3770964048282041, + 0.16630408414295597, + 1.2432427628290643 + ], + "held_grasp_midpoint": [ + 0.3819519492982628, + 0.15342872588340994, + 1.2432427628290643 + ], + "held_grasp_object_position": [ + 0.3868074937683216, + 0.16630408414295597, + 1.2432427628290643 + ], + "held_grasp_finger_gap": 0.027520985622784544, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482661267534596, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08470812114363246, + -0.9960585273308876, + 0.02630483498787395 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037632076017630293, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036484335634046024, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3499812217780678, + 0.16909921667111769, + 0.7611064474720193 + ], + "target_position": [ + 0.3554910303577586, + 0.16336602081406576, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00795157376373707, + "xy_threshold": 0.08, + "gripper_dist": 0.21288503944726822, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064474720193, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547576960396082, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856948955796014, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18496490167334814, + "release_required_pad_clearance": 0.0528474477898007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7380708280394258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 126, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7e4da16d322f6a13a1400bc92accbaaa82b0986c09be4fbbf8e1b8dad98be274", + "visual_seed": 305354376196385974, + "episode_index": 126, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_127_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ee6f99dea73a5d62edf74454ccad0e663ab9e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_127_success.json @@ -0,0 +1,684 @@ +{ + "episode": 127, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3732775979783907, + 0.15967266913588823, + 1.0537847826675333 + ], + "current_z": 1.0537847826675333, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.19267803623418844, + "gripper_z": 1.0542292975630532, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.368016909261049, + 0.1547273446114359, + 1.0542292975630532 + ], + "object_minus_gripper": [ + 0.005260688717341699, + 0.004945324524452344, + -0.00044451489551988743 + ], + "object_to_gripper_xy": 0.007220185623162056, + "object_to_gripper_z": -0.00044451489551988743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3732775979783907, + 0.13509602091939732, + 1.0537847826675333 + ], + "finger_b": [ + 0.36131925280883787, + 0.15967266913588823, + 1.0537847826675333 + ], + "finger_midpoint": [ + 0.3672984253936143, + 0.14738434502764278, + 1.0537847826675333 + ], + "object_minus_finger_midpoint": [ + 0.0059791725847764265, + 0.012288324108245458, + 0.0 + ], + "finger_gap": 0.027331550573491327, + "fingertip_max_gap": 0.09284793315019882, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013665775286745663, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0537847826675333, + "object_top_z": 1.1048229873662774, + "finger_top_clearance": 0.051038204698744094, + "fingertip_min_top_clearance": 0.015311461409623228, + "object_projection_between_fingers": 0.8085684004545926, + "object_to_finger_line_xy": 0.010752995578981952, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892396657509941, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0068989556814008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3740285673175499, + 0.1568450083650486, + 1.2448218039913097 + ], + "held_position": [ + 0.37966950766328, + 0.16132918277773828, + 1.2441852573160999 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072341702922468585, + "max_held_gripper_dist": 0.007237395579279274, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006365466752098481, + "max_held_gripper_z_dist": 0.0007218105257316143, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08804957740607434, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37966950766328, + 0.13568410577781953, + 1.2441852573160999 + ], + "held_grasp_finger_b": [ + 0.3699125000395719, + 0.16132918277773828, + 1.2441852573160999 + ], + "held_grasp_midpoint": [ + 0.37479100385142594, + 0.1485066442777789, + 1.2441852573160999 + ], + "held_grasp_object_position": [ + 0.37966950766328, + 0.16132918277773828, + 1.2441852573160999 + ], + "held_grasp_finger_gap": 0.02743846154763164, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024879125868340027, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07101569166689216, + -0.9971514810978271, + 0.025410534852352788 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003969344198614287, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658778649092828, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3297460125083526, + 0.1584181372442336, + 0.7611125674283853 + ], + "target_position": [ + 0.3487341524808055, + 0.15774695030922858, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018999998724083787, + "xy_threshold": 0.08, + "gripper_dist": 0.20248478638190173, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611125674283853, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555705803588232, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08930307259256968, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17446454525010094, + "release_required_pad_clearance": 0.054651536296284844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.326564551183819, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 127, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "baea94d0f553e89c6c9b41ce9ffacbfad753dbc3ef52cea1d9245737091039b5", + "visual_seed": 6422710227499196452, + "episode_index": 127, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_128_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00cf54617e529f772a1445ec9320220f863d6fbc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_128_success.json @@ -0,0 +1,684 @@ +{ + "episode": 128, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37711710938057297, + 0.15730762467770124, + 1.006272535850035 + ], + "current_z": 1.006272535850035, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.14516584902133478, + "gripper_z": 1.0549103280122147, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37307873072743525, + 0.1516533376695356, + 1.0549103280122147 + ], + "object_minus_gripper": [ + 0.00403837865313772, + 0.005654287008165643, + -0.04863779216217967 + ], + "object_to_gripper_xy": 0.006948342515796785, + "object_to_gripper_z": -0.04863779216217967, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37711710938057297, + 0.13155882323077006, + 1.0413267526305552 + ], + "finger_b": [ + 0.36663228098364953, + 0.15730762467770124, + 1.0414253621748737 + ], + "finger_midpoint": [ + 0.37187469518211125, + 0.14443322395423563, + 1.0413760574027144 + ], + "object_minus_finger_midpoint": [ + 0.00524241419846172, + 0.012874400723465601, + -0.03510352155267937 + ], + "finger_gap": 0.027801836743435636, + "fingertip_max_gap": 0.10085200379761569, + "finger_z_skew": 9.860954431850644e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013900830932595526, + "object_to_finger_midpoint_z": 0.03510352155267937, + "finger_midpoint_minus_object_z": 0.03510352155267937, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.006272535850035, + "object_top_z": 1.0580866702404066, + "finger_top_clearance": 0.01671061283769215, + "fingertip_min_top_clearance": 0.015544240317111456, + "object_projection_between_fingers": 0.8577732979467003, + "object_to_finger_line_xy": 0.009710634058733913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05292600189880785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 5.932131072058763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 195, + "max_stable_success_frames": 195, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38312465232281423, + 0.13719090761053362, + 1.2008154705519007 + ], + "held_position": [ + 0.3871178262072341, + 0.13788953672138127, + 1.151535651829914 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 6, + "effective_shake_count": 6, + "min_shake_count": 3, + "held_gripper_dist": 0.049446274415547324, + "max_held_gripper_dist": 0.04954011602151568, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04927981872198672, + "max_held_gripper_z_dist": 0.04934150051522246, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09161689726963175, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3871178262072341, + 0.11065599349488103, + 1.1879832367574634 + ], + "held_grasp_finger_b": [ + 0.3871178262072341, + 0.16264863428923448, + 1.1840359862479808 + ], + "held_grasp_midpoint": [ + 0.3871178262072341, + 0.13665231389205776, + 1.186009611502722 + ], + "held_grasp_object_position": [ + 0.3871178262072341, + 0.13788953672138127, + 1.151535651829914 + ], + "held_grasp_finger_gap": 0.05214226197006875, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04855912513523955, + "held_grasp_world_z_skew": 0.003947250509482636, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.3641956930855724, + -0.9292701443085225, + 0.06179398057041896 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03433986360925313, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.046440252638740895, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3547418678659477, + 0.16236693066251898, + 0.7611063747045276 + ], + "target_position": [ + 0.3507097794667585, + 0.1609692162018994, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004267474964460944, + "xy_threshold": 0.08, + "gripper_dist": 0.2178341856961448, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063747045276, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540091313399074, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08965345009565788, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18845549727679606, + "release_required_pad_clearance": 0.05482672504782894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.7103570224904985, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 333, + "max_placed_release_frames": 333 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 128, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3742e854fc08cda98ec1055350b2e5aee2caa8cbd195c550fd21afa5bfde9b9b", + "visual_seed": 8594885457601962218, + "episode_index": 128, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5fa0b7a81aaf146be5c726e8ab7d504442d95db3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_12_success.json @@ -0,0 +1,684 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37857190038530986, + 0.16082038789158215, + 1.02045485862038 + ], + "current_z": 1.02045485862038, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.15934817179168004, + "gripper_z": 1.053756484119299, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3711486807677154, + 0.15477693477128512, + 1.053756484119299 + ], + "object_minus_gripper": [ + 0.0074232196175944565, + 0.0060434531202970265, + -0.03330162549891891 + ], + "object_to_gripper_xy": 0.009572226235744068, + "object_to_gripper_z": -0.03330162549891891, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37857190038530986, + 0.1348235335412633, + 1.040177217811817 + ], + "finger_b": [ + 0.3646708362705296, + 0.16082038789158215, + 1.0402770875383176 + ], + "finger_midpoint": [ + 0.3716213683279197, + 0.14782196071642273, + 1.0402271526750673 + ], + "object_minus_finger_midpoint": [ + 0.0069505320573901574, + 0.012998427175159422, + -0.019772294054687167 + ], + "finger_gap": 0.029480264476378, + "fingertip_max_gap": 0.09446159885220076, + "finger_z_skew": 9.986972650066761e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014740047656257126, + "object_to_finger_midpoint_z": 0.019772294054687167, + "finger_midpoint_minus_object_z": 0.019772294054687167, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.02045485862038, + "object_top_z": 1.0713101726262653, + "finger_top_clearance": 0.031083019951198, + "fingertip_min_top_clearance": 0.015256594201765516, + "object_projection_between_fingers": 0.777649389515538, + "object_to_finger_line_xy": 0.012258574311765514, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04973079942610038, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3369981362995653, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 200, + "max_stable_success_frames": 200, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38031240068704364, + 0.1471120941758786, + 1.2117645189311843 + ], + "held_position": [ + 0.38730891846170634, + 0.14952845921982666, + 1.1778193870942921 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03474279862677698, + "max_held_gripper_dist": 0.03477086539508381, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.033945131836892184, + "max_held_gripper_z_dist": 0.0339937462684341, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09151713662325048, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38730891846170634, + 0.12252839471088775, + 1.1983946662850413 + ], + "held_grasp_finger_b": [ + 0.3829967641918028, + 0.16314833106479412, + 1.1964770537072633 + ], + "held_grasp_midpoint": [ + 0.38515284132675454, + 0.14283836288784094, + 1.1974358599961523 + ], + "held_grasp_object_position": [ + 0.38730891846170634, + 0.14952845921982666, + 1.1778193870942921 + ], + "held_grasp_finger_gap": 0.04089316742245952, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03829423535595202, + "held_grasp_world_z_skew": 0.001917612577778005, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.24992715950308436, + -0.9665875184233533, + 0.056964762537058955 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.019189345785608707, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04159737650387064, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3428085645602277, + 0.16010172761915806, + 0.7611097452456147 + ], + "target_position": [ + 0.3501865823959006, + 0.16062885786238856, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007396824553606513, + "xy_threshold": 0.08, + "gripper_dist": 0.20843496538736173, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097452456147, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751774081689987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873212424001271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17990891439054682, + "release_required_pad_clearance": 0.053660621200063555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.319882510939703, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31635c3164bb3b9d9d7a9cf4eff3d0cff06becaf01ca8138cd99c076a42a93dd", + "visual_seed": 4251808428323235307, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_130_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dfb8982345df921b1830127501df3f2f010adad4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_130_success.json @@ -0,0 +1,684 @@ +{ + "episode": 130, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37041870306479563, + 0.16890120913584833, + 1.0545883357910877 + ], + "current_z": 1.0545883357910877, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.19348158935774273, + "gripper_z": 1.0551255897620082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36511707390184883, + 0.16389542601787194, + 1.0551255897620082 + ], + "object_minus_gripper": [ + 0.005301629162946797, + 0.005005783117976392, + -0.000537253970920526 + ], + "object_to_gripper_xy": 0.007291442683421807, + "object_to_gripper_z": -0.000537253970920526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37041870306479563, + 0.14434448081449183, + 1.0545883357910877 + ], + "finger_b": [ + 0.35830950610892154, + 0.16890120913584833, + 1.0545883357910877 + ], + "finger_midpoint": [ + 0.3643641045868586, + 0.1566228449751701, + 1.0545883357910877 + ], + "object_minus_finger_midpoint": [ + 0.006054598477937045, + 0.012278364160678235, + 0.0 + ], + "finger_gap": 0.027380021124262535, + "fingertip_max_gap": 0.09251032682839552, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013690010562131255, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0545883357910877, + "object_top_z": 1.1055976672541252, + "finger_top_clearance": 0.051009331463037544, + "fingertip_min_top_clearance": 0.01530279943891123, + "object_projection_between_fingers": 0.8044025771320004, + "object_to_finger_line_xy": 0.010860556260553515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048755163414197764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8681657390280096, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37126336465158233, + 0.16606124193817495, + 1.2441413619658945 + ], + "held_position": [ + 0.3769751910921896, + 0.17056915671395784, + 1.2433888487979037 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007315226105961548, + "max_held_gripper_dist": 0.007321923874225022, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007525131679908537, + "max_held_gripper_z_dist": 0.0008434410470639087, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08807809624877191, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3769751910921896, + 0.1448580271135177, + 1.2433888487979037 + ], + "held_grasp_finger_b": [ + 0.36724576690097016, + 0.17056915671395784, + 1.2433888487979037 + ], + "held_grasp_midpoint": [ + 0.3721104789965799, + 0.15771359191373777, + 1.2433888487979037 + ], + "held_grasp_object_position": [ + 0.3769751910921896, + 0.17056915671395784, + 1.2433888487979037 + ], + "held_grasp_finger_gap": 0.027490432525213472, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024822407258964344, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08162105939649417, + -0.9963207983024996, + 0.026131772478421134 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038144779281905562, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651492053080768, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33391492211100554, + 0.16014729847891598, + 0.7611068010570646 + ], + "target_position": [ + 0.3458012293322712, + 0.16380744487473886, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012437080485273354, + "xy_threshold": 0.08, + "gripper_dist": 0.20792659231733282, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068010570646, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572950919679976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08987252924608667, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17824050123180143, + "release_required_pad_clearance": 0.05493626462304334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.94010872748166, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 130, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a545136bb0310354492c0f954a2b48719e99b9f429fe0a1c880a3ebb28dc7f18", + "visual_seed": 4234109860558895198, + "episode_index": 130, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_133_success.json new file mode 100644 index 0000000000000000000000000000000000000000..754203b02701aea506ddfccc2cd25c02537b2a4d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_133_success.json @@ -0,0 +1,684 @@ +{ + "episode": 133, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37031086273194797, + 0.15858820289545814, + 1.0544987850739704 + ], + "current_z": 1.0544987850739704, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19339227705920436, + "gripper_z": 1.0551598100389035, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3651753015786814, + 0.15361838018153617, + 1.0551598100389035 + ], + "object_minus_gripper": [ + 0.005135561153266577, + 0.004969822713921962, + -0.0006610249649330324 + ], + "object_to_gripper_xy": 0.007146546450332174, + "object_to_gripper_z": -0.0006610249649330324, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37031086273194797, + 0.13422165466090405, + 1.0544987850739704 + ], + "finger_b": [ + 0.358167229351014, + 0.15858820289545814, + 1.0544987850739704 + ], + "finger_midpoint": [ + 0.364239046041481, + 0.1464049287781811, + 1.0544987850739704 + ], + "object_minus_finger_midpoint": [ + 0.006071816690466969, + 0.012183274117277043, + 0.0 + ], + "finger_gap": 0.027224924326017582, + "fingertip_max_gap": 0.09287893839888409, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013612462163008791, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0544987850739704, + "object_top_z": 1.1054584687212436, + "finger_top_clearance": 0.05095968364727321, + "fingertip_min_top_clearance": 0.015287905094181996, + "object_projection_between_fingers": 0.8010408430371706, + "object_to_finger_line_xy": 0.010868659356988246, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048939469199442046, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0988043199948834, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3712688529864274, + 0.1557530238574931, + 1.2451897087837356 + ], + "held_position": [ + 0.3768387709911572, + 0.16019410812846635, + 1.2443349890940605 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071748004731293615, + "max_held_gripper_dist": 0.007183029260462026, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008547196896750986, + "max_held_gripper_z_dist": 0.000934085132689777, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0880616615522754, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3768387709911572, + 0.13456602941862056, + 1.2443349890940605 + ], + "held_grasp_finger_b": [ + 0.36719832732011104, + 0.16019410812846635, + 1.2443349890940605 + ], + "held_grasp_midpoint": [ + 0.37201854915563415, + 0.14738006877354345, + 1.2443349890940605 + ], + "held_grasp_object_position": [ + 0.3768387709911572, + 0.16019410812846635, + 1.2443349890940605 + ], + "held_grasp_finger_gap": 0.027381317947327975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024758270603196242, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08068128884425002, + -0.9964100045391305, + 0.025644346058355305 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037853806411613554, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03656331134808655, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33218522740211703, + 0.1514760188006351, + 0.7611084033626345 + ], + "target_position": [ + 0.34584793285932464, + 0.15654134544370665, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014571446544918622, + "xy_threshold": 0.08, + "gripper_dist": 0.20622834601739404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084033626345, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752232395802038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850563962589486, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17706279848721881, + "release_required_pad_clearance": 0.052528198129474304, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.125109101001578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 133, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5cb27536ace39a296847fe2a9869b86154c55b68302a6c717b30023b1be4b119", + "visual_seed": 5338782685272274723, + "episode_index": 133, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_139_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcbe1313edd2cb9053a1c3809bfd61c7ede28b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_139_success.json @@ -0,0 +1,684 @@ +{ + "episode": 139, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37111653579105675, + 0.16173457236340658, + 1.0517255833424501 + ], + "current_z": 1.0517255833424501, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.19061901572303952, + "gripper_z": 1.0522290289539065, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3658113335484749, + 0.15678311880808438, + 1.0522290289539065 + ], + "object_minus_gripper": [ + 0.005305202242581852, + 0.0049514535553221994, + -0.0005034456114563213 + ], + "object_to_gripper_xy": 0.00725686317531262, + "object_to_gripper_z": -0.0005034456114563213, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37111653579105675, + 0.13710252358279157, + 1.0517255833424501 + ], + "finger_b": [ + 0.35917475497650697, + 0.16173457236340658, + 1.0517255833424501 + ], + "finger_midpoint": [ + 0.36514564538378186, + 0.14941854797309906, + 1.0517255833424501 + ], + "object_minus_finger_midpoint": [ + 0.005970890407274887, + 0.012316024390307517, + 0.0 + ], + "finger_gap": 0.027374147587703006, + "fingertip_max_gap": 0.09184454710073478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013687073793851515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517255833424501, + "object_top_z": 1.102555831899735, + "finger_top_clearance": 0.05083024855728491, + "fingertip_min_top_clearance": 0.015249074567185505, + "object_projection_between_fingers": 0.8096920274705385, + "object_to_finger_line_xy": 0.010745559349710696, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842227355036739, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.672241570374631, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3717780989038417, + 0.15893132635610602, + 1.2411565714690587 + ], + "held_position": [ + 0.3774590433405074, + 0.16342009083061954, + 1.2404448402498964 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007275211167276686, + "max_held_gripper_dist": 0.007279312249629683, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007117312191622371, + "max_held_gripper_z_dist": 0.0007977315708873611, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08815240155907558, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3774590433405074, + 0.13773420841062597, + 1.2404448402498964 + ], + "held_grasp_finger_b": [ + 0.36773740057175336, + 0.16342009083061954, + 1.2404448402498964 + ], + "held_grasp_midpoint": [ + 0.37259822195613035, + 0.15057714962062274, + 1.2404448402498964 + ], + "held_grasp_object_position": [ + 0.3774590433405074, + 0.16342009083061954, + 1.2404448402498964 + ], + "held_grasp_finger_gap": 0.027464065500522713, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024808819040124518, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08079581142992562, + -0.9964340191846243, + 0.024316296324805253 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003820452072685754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653037253409945, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33322778471204106, + 0.15797084221223243, + 0.7611065001725635 + ], + "target_position": [ + 0.34652754040803757, + 0.15915125576473338, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013352036463705433, + "xy_threshold": 0.08, + "gripper_dist": 0.20644909461383723, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065001725635, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571365479972507, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567461469174774, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17707228175910528, + "release_required_pad_clearance": 0.05283730734587387, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7187293160310455, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 139, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f345c7782478016b4f696bc3fa73e9cb738557395a4ebd914e93211ae6f4d5f", + "visual_seed": 6579051666544844947, + "episode_index": 139, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_141_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_141_success.json new file mode 100644 index 0000000000000000000000000000000000000000..32c4206efcb1f2af3ed5a259b41fabb6f27e48ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_141_success.json @@ -0,0 +1,684 @@ +{ + "episode": 141, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37789330574439445, + 0.1618666659418795, + 1.0538581479856328 + ], + "current_z": 1.0538581479856328, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19275163997086686, + "gripper_z": 1.0542323046883693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37251683890686216, + 0.1567800463462617, + 1.0542323046883693 + ], + "object_minus_gripper": [ + 0.00537646683753229, + 0.0050866195956178195, + -0.000374156702736439 + ], + "object_to_gripper_xy": 0.007401357616384149, + "object_to_gripper_z": -0.000374156702736439, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37789330574439445, + 0.1373319375362205, + 1.0538581479856328 + ], + "finger_b": [ + 0.36556831004871004, + 0.1618666659418795, + 1.0538581479856328 + ], + "finger_midpoint": [ + 0.3717308078965522, + 0.14959930173905, + 1.0538581479856328 + ], + "object_minus_finger_midpoint": [ + 0.00616249784784223, + 0.012267364202829506, + 0.0 + ], + "finger_gap": 0.027456482237134646, + "fingertip_max_gap": 0.09210275924246833, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013728241118567335, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0538581479856328, + "object_top_z": 1.1046425925121, + "finger_top_clearance": 0.05078444452646713, + "fingertip_min_top_clearance": 0.01523533335794014, + "object_projection_between_fingers": 0.7984959569254705, + "object_to_finger_line_xy": 0.01101344372461352, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855137962123417, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.793141103935672, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3787427423832276, + 0.15869010251272506, + 1.241892870141719 + ], + "held_position": [ + 0.38457456190928657, + 0.16322310201805967, + 1.2412812148793377 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007411634479646535, + "max_held_gripper_dist": 0.007414826189158295, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006116552623811611, + "max_held_gripper_z_dist": 0.0006992351337762326, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08877711842109862, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38457456190928657, + 0.13742040698762942, + 1.2412812148793377 + ], + "held_grasp_finger_b": [ + 0.3748508467713792, + 0.16322310201805967, + 1.2412812148793377 + ], + "held_grasp_midpoint": [ + 0.3797127043403329, + 0.15032175450284455, + 1.2412812148793377 + ], + "held_grasp_object_position": [ + 0.38457456190928657, + 0.16322310201805967, + 1.2412812148793377 + ], + "held_grasp_finger_gap": 0.027574076719204203, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482315502420984, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08932325030198163, + -0.9956986599670671, + 0.02460763083428618 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003704124453903699, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036440118716861675, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34483683655620195, + 0.1610635610225489, + 0.7611119091558011 + ], + "target_position": [ + 0.35318211018030876, + 0.15982041440205186, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008437357725097709, + "xy_threshold": 0.08, + "gripper_dist": 0.21157206839486595, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611119091558011, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582131788723995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08872453778144794, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18218850489646815, + "release_required_pad_clearance": 0.05436226889072397, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.7465052595452186, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 141, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "41ac7544f28d28fed1ed38ac97784a4b9f3827d89bf242b838acdc666dcb4f85", + "visual_seed": 7050906474351341011, + "episode_index": 141, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_142_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_142_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ccecbea2854e20ad4ee9bffeb2a76c124e39ac0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_142_success.json @@ -0,0 +1,684 @@ +{ + "episode": 142, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37824152417226165, + 0.15972821044432733, + 1.054700430303276 + ], + "current_z": 1.054700430303276, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1935939818931549, + "gripper_z": 1.0551217289316688, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37294315795522426, + 0.1546641902071722, + 1.0551217289316688 + ], + "object_minus_gripper": [ + 0.005298366217037387, + 0.005064020237155131, + -0.0004212986283926856 + ], + "object_to_gripper_xy": 0.0073291872354415795, + "object_to_gripper_z": -0.0004212986283926856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37824152417226165, + 0.13527649017934387, + 1.054700430303276 + ], + "finger_b": [ + 0.3659148196509789, + 0.15972821044432733, + 1.054700430303276 + ], + "finger_midpoint": [ + 0.3720781719116203, + 0.14750235031183562, + 1.054700430303276 + ], + "object_minus_finger_midpoint": [ + 0.006163352260641353, + 0.012225860132491717, + 0.0 + ], + "finger_gap": 0.027383101874550585, + "fingertip_max_gap": 0.09247357005698634, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013691550937275268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.054700430303276, + "object_top_z": 1.1055412967319982, + "finger_top_clearance": 0.0508408664287221, + "fingertip_min_top_clearance": 0.015252259928616662, + "object_projection_between_fingers": 0.7973583619948786, + "object_to_finger_line_xy": 0.011007121549791912, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04873678502849317, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.974172859674793, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37917860217684163, + 0.15634232767346518, + 1.2449037452938736 + ], + "held_position": [ + 0.38494841412406455, + 0.1608387017471741, + 1.2442752252344875 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007341876271232638, + "max_held_gripper_dist": 0.007345011971150515, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006285200593860729, + "max_held_gripper_z_dist": 0.000714387355528201, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08880242692066057, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38494841412406455, + 0.13506959094210608, + 1.2442752252344875 + ], + "held_grasp_finger_b": [ + 0.3752534256037479, + 0.1608387017471741, + 1.2442752252344875 + ], + "held_grasp_midpoint": [ + 0.38010091986390626, + 0.1479541463446401, + 1.2442752252344875 + ], + "held_grasp_object_position": [ + 0.38494841412406455, + 0.1608387017471741, + 1.2442752252344875 + ], + "held_grasp_finger_gap": 0.027532523932486556, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024801571530981607, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0885045701662054, + -0.995751173443363, + 0.025427183207368365 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003703136734098215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03646141351284734, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33412576067615474, + 0.1583900612876377, + 0.7611085125801345 + ], + "target_position": [ + 0.35359742581017034, + 0.15588951154369146, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019631568763427656, + "xy_threshold": 0.08, + "gripper_dist": 0.2037475413476814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085125801345, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570942223428503, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09161922281239153, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17622525234057498, + "release_required_pad_clearance": 0.05580961140619577, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.811530228885346, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 142, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "231af1e3f600c3ea029534ca873322d028b359004509f3087ee90d155c9a9781", + "visual_seed": 8175350780520851706, + "episode_index": 142, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_144_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_144_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f90202a228eedebaa0e28ea53681334bea9e554 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_144_success.json @@ -0,0 +1,684 @@ +{ + "episode": 144, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3799642631690235, + 0.16194912327643052, + 1.053250877217392 + ], + "current_z": 1.053250877217392, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.19214413078404702, + "gripper_z": 1.0540052440914698, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3747056165189222, + 0.15693048128754683, + 1.0540052440914698 + ], + "object_minus_gripper": [ + 0.005258646650101284, + 0.0050186419888836875, + -0.0007543668740777054 + ], + "object_to_gripper_xy": 0.007269121817881983, + "object_to_gripper_z": -0.0007543668740777054, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3799642631690235, + 0.1374977406246966, + 1.053250877217392 + ], + "finger_b": [ + 0.3677517628665117, + 0.16194912327643052, + 1.053250877217392 + ], + "finger_midpoint": [ + 0.37385801301776755, + 0.14972343195056356, + 1.053250877217392 + ], + "object_minus_finger_midpoint": [ + 0.006106250151255932, + 0.012225691325866955, + 0.0 + ], + "finger_gap": 0.027331580218135303, + "fingertip_max_gap": 0.10080971990293766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013665790109067663, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053250877217392, + "object_top_z": 1.1085050846687414, + "finger_top_clearance": 0.055254207451349346, + "fingertip_min_top_clearance": 0.01657626223540482, + "object_projection_between_fingers": 0.8003452296266036, + "object_to_finger_line_xy": 0.01092554896745393, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05290485995146883, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.536451611758339, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.380686342517669, + 0.15930805306689017, + 1.2449270831258807 + ], + "held_position": [ + 0.386353416338896, + 0.16383724845416148, + 1.2440024330375599 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00731329709072102, + "max_held_gripper_dist": 0.0073184191791653, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009246500883208775, + "max_held_gripper_z_dist": 0.0010159100021298606, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0881490920322658, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.386353416338896, + 0.13823519456545041, + 1.2440024330375599 + ], + "held_grasp_finger_b": [ + 0.3764050405580036, + 0.16383724845416148, + 1.2440024330375599 + ], + "held_grasp_midpoint": [ + 0.38137922844844985, + 0.15103622150980595, + 1.2440024330375599 + ], + "held_grasp_object_position": [ + 0.386353416338896, + 0.16383724845416148, + 1.2440024330375599 + ], + "held_grasp_finger_gap": 0.027466986438237306, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024834677194036515, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0653474508740202, + -0.9954192855945788, + 0.06978650679498144 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004225027625957783, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036652810475458646, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34413619601748585, + 0.15796926159384195, + 0.7611074344648436 + ], + "target_position": [ + 0.3554522666201762, + 0.15849458612952963, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011328257577971483, + "xy_threshold": 0.08, + "gripper_dist": 0.20772928911560706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074344648436, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540391345975822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574999438030804, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17895598951942443, + "release_required_pad_clearance": 0.052874997190154024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7883195455474966, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 144, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6674ff8a02492a09ae16791bab11056ec0eefdae94aa8c2f01dab0433466205c", + "visual_seed": 8507629700190215701, + "episode_index": 144, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_151_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_151_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c2cd488ef9af004f62646d3fc60ca2a46bb4d7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_151_success.json @@ -0,0 +1,684 @@ +{ + "episode": 151, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37502982561069154, + 0.1549898465102821, + 1.0193030574248167 + ], + "current_z": 1.0193030574248167, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.15819637059611624, + "gripper_z": 1.054737653865381, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36847933316407955, + 0.14909726589013095, + 1.054737653865381 + ], + "object_minus_gripper": [ + 0.0065504924466119885, + 0.005892580620151161, + -0.03543459644056424 + ], + "object_to_gripper_xy": 0.008810871560640398, + "object_to_gripper_z": -0.03543459644056424, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37502982561069154, + 0.12898251777187003, + 1.0411573530969926 + ], + "finger_b": [ + 0.36216653245606306, + 0.1549898465102821, + 1.0412561441026806 + ], + "finger_midpoint": [ + 0.3685981790333773, + 0.14198618214107606, + 1.0412067485998366 + ], + "object_minus_finger_midpoint": [ + 0.0064316465773142095, + 0.013003664369206053, + -0.02190369117501989 + ], + "finger_gap": 0.029014741400752674, + "fingertip_max_gap": 0.09969403219465486, + "finger_z_skew": 9.87910056879926e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014507286607854573, + "object_to_finger_midpoint_z": 0.02190369117501989, + "finger_midpoint_minus_object_z": 0.02190369117501989, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0193030574248167, + "object_top_z": 1.0723557451029577, + "finger_top_clearance": 0.031148996503121085, + "fingertip_min_top_clearance": 0.015915806303442307, + "object_projection_between_fingers": 0.8034504919701871, + "object_to_finger_line_xy": 0.011530064262667186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052347016097327434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.532633191955738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3782021384332733, + 0.13894501571246937, + 1.2122613731208118 + ], + "held_position": [ + 0.3840925051329208, + 0.14083771940997217, + 1.176162210122996 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 6, + "effective_shake_count": 6, + "min_shake_count": 3, + "held_gripper_dist": 0.03662551455318723, + "max_held_gripper_dist": 0.0366602423596292, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03609916299781579, + "max_held_gripper_z_dist": 0.03614508089832347, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09135172201259223, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3840925051329208, + 0.11375588842147835, + 1.1990577547412586 + ], + "held_grasp_finger_b": [ + 0.38237996505406563, + 0.15763170558970524, + 1.1965139926376693 + ], + "held_grasp_midpoint": [ + 0.38323623509349325, + 0.1356937970055918, + 1.197785873689464 + ], + "held_grasp_object_position": [ + 0.3840925051329208, + 0.14083771940997217, + 1.176162210122996 + ], + "held_grasp_finger_gap": 0.04398284724004366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04182067005718215, + "held_grasp_world_z_skew": 0.0025437621035893088, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.27130356380197385, + -0.9589968796624107, + 0.08197170893734163 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021133913324395754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04278240676576565, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3392024932059312, + 0.15228112990620657, + 0.7611145435866226 + ], + "target_position": [ + 0.34707134104692433, + 0.15519789168831996, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00839203584586597, + "xy_threshold": 0.08, + "gripper_dist": 0.21122665378873787, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611145435866226, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540826352353854, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08928670103896412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18174333675620782, + "release_required_pad_clearance": 0.05464335051948206, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.288159228369275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 151, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "99e7b6acb4c3d697ac16a07f96396444b74b2e41b44c58af9ee05b88de3d7198", + "visual_seed": 8644127632746809523, + "episode_index": 151, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_152_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_152_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af40dd801ca5318f70c4ebe9e67abba9540dd797 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_152_success.json @@ -0,0 +1,684 @@ +{ + "episode": 152, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.380077953250008, + 0.15777053386039303, + 1.0198388569452281 + ], + "current_z": 1.0198388569452281, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.1587321105118833, + "gripper_z": 1.0530515997489251, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3730447462215746, + 0.1517776056789168, + 1.0530515997489251 + ], + "object_minus_gripper": [ + 0.007033207028433408, + 0.005992928181476231, + -0.033212742803697015 + ], + "object_to_gripper_xy": 0.009240194223777826, + "object_to_gripper_z": -0.033212742803697015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.380077953250008, + 0.13182712466905186, + 1.0394707056253187 + ], + "finger_b": [ + 0.3665246874902786, + 0.15777053386039303, + 1.039571113367306 + ], + "finger_midpoint": [ + 0.3733013203701433, + 0.14479882926472243, + 1.0395209094963125 + ], + "object_minus_finger_midpoint": [ + 0.006776632879864686, + 0.012971704595670597, + -0.01968205255108435 + ], + "finger_gap": 0.02927048983084958, + "fingertip_max_gap": 0.09416175290274328, + "finger_z_skew": 0.00010040774198727398, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014635158806989585, + "object_to_finger_midpoint_z": 0.01968205255108435, + "finger_midpoint_minus_object_z": 0.01968205255108435, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0198388569452281, + "object_top_z": 1.070541725846971, + "finger_top_clearance": 0.031020816350658453, + "fingertip_min_top_clearance": 0.01521086067052284, + "object_projection_between_fingers": 0.7855959234307471, + "object_to_finger_line_xy": 0.01201278114302813, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049580876451371644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.134005382851221, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38276437138509745, + 0.14216094085541892, + 1.2127594973039848 + ], + "held_position": [ + 0.38937525999045913, + 0.14414663299686734, + 1.1788860011156541 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.034569648037750755, + "max_held_gripper_dist": 0.034598652730230106, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03387349618833069, + "max_held_gripper_z_dist": 0.033922481505085145, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0918101914159134, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38937525999045913, + 0.1170573012133999, + 1.1995141472647235 + ], + "held_grasp_finger_b": [ + 0.3867118983335544, + 0.16043701261734897, + 1.1971107668587713 + ], + "held_grasp_midpoint": [ + 0.38804357916200677, + 0.13874715691537443, + 1.1983124570617474 + ], + "held_grasp_object_position": [ + 0.38937525999045913, + 0.14414663299686734, + 1.1788860011156541 + ], + "held_grasp_finger_gap": 0.04352779679906961, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04074124047305568, + "held_grasp_world_z_skew": 0.002403380405952227, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.2940225240561593, + -0.9538476220551706, + 0.06103662218162109 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.019054002730282956, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04299270323909092, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3481039062992596, + 0.16342200700080997, + 0.7611063814703432 + ], + "target_position": [ + 0.3517757360745722, + 0.15858100112050114, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006075991427911741, + "xy_threshold": 0.08, + "gripper_dist": 0.21192176468231816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063814703432, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570796107267379, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08638417187239826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18310054815458318, + "release_required_pad_clearance": 0.05319208593619913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4071994914341268, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 152, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "58a64c2ec8ea4049806a3bf9f5e8664b58353753855964b091f01fc55be8804a", + "visual_seed": 8196608782759122984, + "episode_index": 152, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_153_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_153_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08a2f7b30288a9479d4dc732539cff7fe2a67390 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_153_success.json @@ -0,0 +1,684 @@ +{ + "episode": 153, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3740632140812412, + 0.16558806367372866, + 1.0546806354117457 + ], + "current_z": 1.0546806354117457, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19357418700162454, + "gripper_z": 1.0551326093995395, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3686140350699909, + 0.16042814024794166, + 1.0551326093995395 + ], + "object_minus_gripper": [ + 0.005449179011250305, + 0.005159923425787, + -0.0004519739877937301 + ], + "object_to_gripper_xy": 0.00750455605993028, + "object_to_gripper_z": -0.0004519739877937301, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3740632140812412, + 0.1410457741681847, + 1.0546806354117457 + ], + "finger_b": [ + 0.36158235873609296, + 0.16558806367372866, + 1.0546806354117457 + ], + "finger_midpoint": [ + 0.36782278640866706, + 0.15331691892095667, + 1.0546806354117457 + ], + "object_minus_finger_midpoint": [ + 0.006240427672574156, + 0.012271144752771995, + 0.0 + ], + "finger_gap": 0.027533538172934642, + "fingertip_max_gap": 0.09250438140749376, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013766769086467347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0546806354117457, + "object_top_z": 1.1056502431352544, + "finger_top_clearance": 0.05096960772350867, + "fingertip_min_top_clearance": 0.0152908823170526, + "object_projection_between_fingers": 0.7945223206658389, + "object_to_finger_line_xy": 0.011124932917577017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875219070374688, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9399398623274051, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3748290040612463, + 0.1623231600148452, + 1.2446826085988245 + ], + "held_position": [ + 0.38075203566424687, + 0.1669044688270512, + 1.2440191729524237 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0075173692645668965, + "max_held_gripper_dist": 0.007523046175689646, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006634356464008118, + "max_held_gripper_z_dist": 0.0007539879191955645, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08842928492528529, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38075203566424687, + 0.14107674044207458, + 1.2440191729524237 + ], + "held_grasp_finger_b": [ + 0.3708692084378084, + 0.1669044688270512, + 1.2440191729524237 + ], + "held_grasp_midpoint": [ + 0.37581062205102767, + 0.15399060463456288, + 1.2440191729524237 + ], + "held_grasp_object_position": [ + 0.38075203566424687, + 0.1669044688270512, + 1.2440191729524237 + ], + "held_grasp_finger_gap": 0.02765396585511309, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024823104614794023, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09008647500661804, + -0.9955739544512237, + 0.026775515667026073 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003774379529213106, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03641838869476878, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3398611241714067, + 0.16355838291316532, + 0.7611065311431691 + ], + "target_position": [ + 0.3492709825169776, + 0.163330803747448, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009412609965380426, + "xy_threshold": 0.08, + "gripper_dist": 0.2105197645434292, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065311431691, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526505324350821, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09162829375722668, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1820876142835773, + "release_required_pad_clearance": 0.055814146878613344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.827608820717196, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 153, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8323b1106e54307b7848c14ffd62f3862047fdcf1fe7b5a7d9bc852ef0926c57", + "visual_seed": 3333220654869596482, + "episode_index": 153, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_155_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_155_success.json new file mode 100644 index 0000000000000000000000000000000000000000..510c2cba9a910c27d1446f9347879305f5f06934 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_155_success.json @@ -0,0 +1,684 @@ +{ + "episode": 155, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3740245643319511, + 0.1634574690242939, + 1.053548321665168 + ], + "current_z": 1.053548321665168, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19244181365040192, + "gripper_z": 1.054001396323385, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3686632864015642, + 0.15833833534138575, + 1.054001396323385 + ], + "object_minus_gripper": [ + 0.005361277930386876, + 0.005119133682908145, + -0.0004530746582169787 + ], + "object_to_gripper_xy": 0.007412747851528345, + "object_to_gripper_z": -0.0004530746582169787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3740245643319511, + 0.13897476165426365, + 1.053548321665168 + ], + "finger_b": [ + 0.36159951009247404, + 0.1634574690242939, + 1.053548321665168 + ], + "finger_midpoint": [ + 0.36781203721221256, + 0.15121611533927876, + 1.053548321665168 + ], + "object_minus_finger_midpoint": [ + 0.00621252711973852, + 0.012241353685015138, + 0.0 + ], + "finger_gap": 0.027455144017478398, + "fingertip_max_gap": 0.09147746626923312, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013727572008739211, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053548321665168, + "object_top_z": 1.104121344786785, + "finger_top_clearance": 0.050573023121617044, + "fingertip_min_top_clearance": 0.015171906936485145, + "object_projection_between_fingers": 0.7951909542217502, + "object_to_finger_line_xy": 0.011079853262041235, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823873313461656, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6120494763998581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37492005261077216, + 0.16005279948112427, + 1.2432362174039802 + ], + "held_position": [ + 0.38076975866741347, + 0.16457872922170194, + 1.242559704315107 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007427029751197181, + "max_held_gripper_dist": 0.007430586842814622, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006765130888730653, + "max_held_gripper_z_dist": 0.0007641563560403242, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08872454725911895, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38076975866741347, + 0.13874465939350306, + 1.242559704315107 + ], + "held_grasp_finger_b": [ + 0.3710705182060094, + 0.16457872922170194, + 1.242559704315107 + ], + "held_grasp_midpoint": [ + 0.37592013843671146, + 0.1516616943076025, + 1.242559704315107 + ], + "held_grasp_object_position": [ + 0.38076975866741347, + 0.16457872922170194, + 1.242559704315107 + ], + "held_grasp_finger_gap": 0.027594826134918735, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024729719139945254, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09979846449842766, + -0.9947208711476185, + 0.023888386029176534 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035502509135013544, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03638742119527329, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3425150122863706, + 0.15980396520539694, + 0.7611131951674625 + ], + "target_position": [ + 0.34929932317419604, + 0.15967602722044488, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006785517102672456, + "xy_threshold": 0.08, + "gripper_dist": 0.20989333822298767, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611131951674625, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754360547300161, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592379153718459, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809714822786687, + "release_required_pad_clearance": 0.052961895768592296, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9361489756341695, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 155, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "382494799ebec0452c2b1e336911f0a76819b35d9fef11918c05426ae3c14225", + "visual_seed": 7639293686321336811, + "episode_index": 155, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_156_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_156_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc7cd96451160a6887b6ab01a97d5a91786a731 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_156_success.json @@ -0,0 +1,684 @@ +{ + "episode": 156, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3705998347394277, + 0.16248630131836025, + 1.0528697776526599 + ], + "current_z": 1.0528697776526599, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.19176309082395948, + "gripper_z": 1.05359510378745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3651846758560042, + 0.15736973715278987, + 1.05359510378745 + ], + "object_minus_gripper": [ + 0.0054151588834234765, + 0.005116564165570381, + -0.0007253261347901496 + ], + "object_to_gripper_xy": 0.007450045274568411, + "object_to_gripper_z": -0.0007253261347901496, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3705998347394277, + 0.13794134374586287, + 1.0528697776526599 + ], + "finger_b": [ + 0.35820968789035595, + 0.16248630131836025, + 1.0528697776526599 + ], + "finger_midpoint": [ + 0.36440476131489186, + 0.15021382253211157, + 1.0528697776526599 + ], + "object_minus_finger_midpoint": [ + 0.006195073424535846, + 0.01227247878624868, + 0.0 + ], + "finger_gap": 0.027494921006928887, + "fingertip_max_gap": 0.09196926871180847, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013747460503464419, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528697776526599, + "object_top_z": 1.103561465027631, + "finger_top_clearance": 0.050691687374971206, + "fingertip_min_top_clearance": 0.01520750621249136, + "object_projection_between_fingers": 0.796928977850708, + "object_to_finger_line_xy": 0.01106079296066496, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048484634355904235, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7584343358023952, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3712950397674056, + 0.15920314617672449, + 1.2439544645261809 + ], + "held_position": [ + 0.37716869159938515, + 0.16375338598955508, + 1.2430323662364042 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007486970913099275, + "max_held_gripper_dist": 0.00749143989562219, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009220982897766294, + "max_held_gripper_z_dist": 0.001008717029137074, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08849075166878148, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37716869159938515, + 0.13795495384197948, + 1.2430323662364042 + ], + "held_grasp_finger_b": [ + 0.36731514313887, + 0.16375338598955508, + 1.2430323662364042 + ], + "held_grasp_midpoint": [ + 0.3722419173691276, + 0.15085416991576728, + 1.2430323662364042 + ], + "held_grasp_object_position": [ + 0.37716869159938515, + 0.16375338598955508, + 1.2430323662364042 + ], + "held_grasp_finger_gap": 0.027616145975439498, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024802512723992778, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08973700918891342, + -0.995670610748775, + 0.024234357284443786 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003762816196923524, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036434765739354016, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3348005544814149, + 0.1586167745920376, + 0.7611064928100459 + ], + "target_position": [ + 0.34584974039522587, + 0.15863099558807967, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011049195065464614, + "xy_threshold": 0.08, + "gripper_dist": 0.20927743741490115, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064928100459, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519046730921354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09089001859240768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809255965702949, + "release_required_pad_clearance": 0.05544500929620384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.02323851243205, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 156, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "95c98164b44073171bc2e9e48be211e592659890d1c0c6323e9d2cd306b38fbb", + "visual_seed": 6545635388172615182, + "episode_index": 156, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..edee3baa1d1e2c8a6677fd3425369fbb2bcb25fe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_15_success.json @@ -0,0 +1,684 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37643698431796024, + 0.1652505781080395, + 1.0508344484054593 + ], + "current_z": 1.0508344484054593, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18972799999533807, + "gripper_z": 1.0518534802441397, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37072138762700724, + 0.1600342105631773, + 1.0518534802441397 + ], + "object_minus_gripper": [ + 0.0057155966909530065, + 0.0052163675448622104, + -0.001019031838680462 + ], + "object_to_gripper_xy": 0.0077381222461734706, + "object_to_gripper_z": -0.001019031838680462, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37643698431796024, + 0.14042000101366414, + 1.0508344484054593 + ], + "finger_b": [ + 0.36400546544230533, + 0.1652505781080395, + 1.0508344484054593 + ], + "finger_midpoint": [ + 0.37022122488013276, + 0.15283528956085182, + 1.0508344484054593 + ], + "object_minus_finger_midpoint": [ + 0.006215759437827484, + 0.01241528854718768, + 0.0 + ], + "finger_gap": 0.027768691369877023, + "fingertip_max_gap": 0.09387535789477511, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013884345684938525, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508344484054593, + "object_top_z": 1.1016466431841763, + "finger_top_clearance": 0.05081219477871701, + "fingertip_min_top_clearance": 0.015243658433615102, + "object_projection_between_fingers": 0.7995816140779958, + "object_to_finger_line_xy": 0.011116180583755714, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049437678947387556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.001287953571384, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 221, + "max_stable_success_frames": 221, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3764808922499072, + 0.16257648075277592, + 1.2414624717209692 + ], + "held_position": [ + 0.3825586335029715, + 0.16732581296407206, + 1.2402586210870288 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007806686335526302, + "max_held_gripper_dist": 0.007813347449433754, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001203850633940462, + "max_held_gripper_z_dist": 0.0013037461026434993, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08797071166752743, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3825586335029715, + 0.14154218541945288, + 1.2402586210870288 + ], + "held_grasp_finger_b": [ + 0.3721442203568475, + 0.16732581296407206, + 1.2402586210870288 + ], + "held_grasp_midpoint": [ + 0.37735142692990953, + 0.15443399919176248, + 1.2402586210870288 + ], + "held_grasp_object_position": [ + 0.3825586335029715, + 0.16732581296407206, + 1.2402586210870288 + ], + "held_grasp_finger_gap": 0.027807471128058456, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025308200793850037, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.042854466913563996, + -0.9988704992296372, + 0.020523655480680802 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004657602820464223, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036619845549575286, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3426143788765805, + 0.16590649556984643, + 0.7611092315326615 + ], + "target_position": [ + 0.35151035777742434, + 0.16201928161154716, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00970818587388267, + "xy_threshold": 0.08, + "gripper_dist": 0.20846930639950348, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611092315326615, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544620777338795, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08773119881158802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18045317351786694, + "release_required_pad_clearance": 0.05386559940579401, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.730019138740608, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1f0b2c3ba3cf5c80022b18bbe492abf84a749d50882f65b46cffae76938ad3c", + "visual_seed": 3816848601832227259, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_160_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_160_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e5338de03fe16d4e59685f562e518f1eb09ef7da --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_160_success.json @@ -0,0 +1,684 @@ +{ + "episode": 160, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3784748625120675, + 0.1583426214397235, + 1.054603593615909 + ], + "current_z": 1.054603593615909, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19349708560114287, + "gripper_z": 1.0551185846265752, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37300341319962904, + 0.15324264881522093, + 1.0551185846265752 + ], + "object_minus_gripper": [ + 0.005471449312438481, + 0.005099972624502569, + -0.0005149910106660993 + ], + "object_to_gripper_xy": 0.007479737852977145, + "object_to_gripper_z": -0.0005149910106660993, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3784748625120675, + 0.133680999155873, + 1.054603593615909 + ], + "finger_b": [ + 0.36621232086511174, + 0.1583426214397235, + 1.054603593615909 + ], + "finger_midpoint": [ + 0.37234359168858966, + 0.14601181029779825, + 1.054603593615909 + ], + "object_minus_finger_midpoint": [ + 0.0061312708234778635, + 0.012330811141925246, + 0.0 + ], + "finger_gap": 0.027542068573631798, + "fingertip_max_gap": 0.0920087899612543, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013771034286815885, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.054603593615909, + "object_top_z": 1.1052970049583761, + "finger_top_clearance": 0.050693411342467076, + "fingertip_min_top_clearance": 0.015208023402740089, + "object_projection_between_fingers": 0.8017706849921952, + "object_to_finger_line_xy": 0.010980081961844183, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048504394980627155, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7013101680530786, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3791467453371018, + 0.1552275257423703, + 1.2434191357141966 + ], + "held_position": [ + 0.385033990701536, + 0.15982061976070724, + 1.2426811687576316 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007503383628158449, + "max_held_gripper_dist": 0.007508104309263057, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007379669565650282, + "max_held_gripper_z_dist": 0.0008268536853357489, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.088350663404522, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.385033990701536, + 0.13402131720669674, + 1.2426811687576316 + ], + "held_grasp_finger_b": [ + 0.37514103627012074, + 0.15982061976070724, + 1.2426811687576316 + ], + "held_grasp_midpoint": [ + 0.38008751348582837, + 0.146920968483702, + 1.2426811687576316 + ], + "held_grasp_object_position": [ + 0.385033990701536, + 0.15982061976070724, + 1.2426811687576316 + ], + "held_grasp_finger_gap": 0.027631043405116486, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024908613175794007, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08089002965307895, + -0.9964941687585002, + 0.02135824742412007 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038968703021508995, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03646570210488432, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3378119107348824, + 0.15895325648102204, + 0.7611064734638039 + ], + "target_position": [ + 0.3536971866515115, + 0.15580531275487017, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016194182308793947, + "xy_threshold": 0.08, + "gripper_dist": 0.20557011211651396, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064734638039, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575513596453975, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675729226382366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17771543925909047, + "release_required_pad_clearance": 0.05337864613191183, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7729392860147193, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 160, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f51ae9b28d376080b3ee07e73b49618f0e7e6d21a67e5a46b1c62493781090fa", + "visual_seed": 911391754690009676, + "episode_index": 160, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_162_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_162_success.json new file mode 100644 index 0000000000000000000000000000000000000000..024225b41ef56baddab2ca89df14ed52f0183a9c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_162_success.json @@ -0,0 +1,684 @@ +{ + "episode": 162, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3777523553862263, + 0.1614008877905867, + 1.0536168306737834 + ], + "current_z": 1.0536168306737834, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.19251044186830701, + "gripper_z": 1.0540611052225515, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37236177350415445, + 0.1563413600920011, + 1.0540611052225515 + ], + "object_minus_gripper": [ + 0.005390581882071865, + 0.005059527698585586, + -0.0004442745487680533 + ], + "object_to_gripper_xy": 0.00739305035557558, + "object_to_gripper_z": -0.0004442745487680533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3777523553862263, + 0.13679317000101937, + 1.0536168306737834 + ], + "finger_b": [ + 0.3655519465071, + 0.1614008877905867, + 1.0536168306737834 + ], + "finger_midpoint": [ + 0.37165215094666315, + 0.14909702889580304, + 1.0536168306737834 + ], + "object_minus_finger_midpoint": [ + 0.006100204439563162, + 0.012303858894783665, + 0.0 + ], + "finger_gap": 0.027466156477178472, + "fingertip_max_gap": 0.09237356155484602, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013733078238589236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0536168306737834, + "object_top_z": 1.1045131265009986, + "finger_top_clearance": 0.05089629582721522, + "fingertip_min_top_clearance": 0.015268888748164566, + "object_projection_between_fingers": 0.8026882304584962, + "object_to_finger_line_xy": 0.010930696432328522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048686780777423014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.834635786566138, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37850043431827585, + 0.15827268526207267, + 1.2418952029845545 + ], + "held_position": [ + 0.38431015237991095, + 0.16282356984184354, + 1.2412171581765254 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074110133703684964, + "max_held_gripper_dist": 0.0074166799588168, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006780448080290213, + "max_held_gripper_z_dist": 0.0007653702242520488, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08829585024169415, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38431015237991095, + 0.13704823011369754, + 1.2412171581765254 + ], + "held_grasp_finger_b": [ + 0.37453367410849187, + 0.16282356984184354, + 1.2412171581765254 + ], + "held_grasp_midpoint": [ + 0.3794219132442014, + 0.14993589997777054, + 1.2412171581765254 + ], + "held_grasp_object_position": [ + 0.38431015237991095, + 0.16282356984184354, + 1.2412171581765254 + ], + "held_grasp_finger_gap": 0.027567148301789773, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02488406631366245, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0815659921713619, + -0.9963591065986607, + 0.02480966785389005 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038345248302968623, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03648078876311378, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3416513485036168, + 0.15877995732618666, + 0.761106511409133 + ], + "target_position": [ + 0.353051105940348, + 0.15914721928802458, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011405671876961994, + "xy_threshold": 0.08, + "gripper_dist": 0.20756163362544922, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106511409133, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523155018355357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08966524226809729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17910117657659086, + "release_required_pad_clearance": 0.054832621134048645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.722474679594943, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 162, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c401e61b60a71329399be4205cf5bf1b8ece6672b9e3033c11a5682ae37448bc", + "visual_seed": 921165416144188858, + "episode_index": 162, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_163_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_163_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40ac8e4e620ecaf8270e882561d64bbf0532e68c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_163_success.json @@ -0,0 +1,684 @@ +{ + "episode": 163, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3751128063808554, + 0.16662386251020012, + 1.0522563104211362 + ], + "current_z": 1.0522563104211362, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19114962359243592, + "gripper_z": 1.0527759910879984, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36967198373154175, + 0.16155758110385982, + 1.0527759910879984 + ], + "object_minus_gripper": [ + 0.00544082264931367, + 0.0050662814063403006, + -0.0005196806668621434 + ], + "object_to_gripper_xy": 0.007434363347961551, + "object_to_gripper_z": -0.0005196806668621434, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3751128063808554, + 0.14197375408135815, + 1.0522563104211362 + ], + "finger_b": [ + 0.36290791670525474, + 0.16662386251020012, + 1.0522563104211362 + ], + "finger_midpoint": [ + 0.3690103615430551, + 0.15429880829577913, + 1.0522563104211362 + ], + "object_minus_finger_midpoint": [ + 0.006102444837800314, + 0.012325054214420983, + 0.0 + ], + "finger_gap": 0.027506129817683366, + "fingertip_max_gap": 0.09214125549146415, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013753064908841671, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522563104211362, + "object_top_z": 1.1030084059876977, + "finger_top_clearance": 0.05075209556656146, + "fingertip_min_top_clearance": 0.015225628669968471, + "object_projection_between_fingers": 0.8031167637859136, + "object_to_finger_line_xy": 0.010937629388784358, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04857062774573208, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7650440555599289, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37569571198883983, + 0.16395362636484911, + 1.244455283566942 + ], + "held_position": [ + 0.38153805215202496, + 0.16852810093936488, + 1.2437633539800736 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074523501506867686, + "max_held_gripper_dist": 0.007456125696819551, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006919295868683673, + "max_held_gripper_z_dist": 0.0007850274708014471, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882844503045947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38153805215202496, + 0.14280481243314194, + 1.2437633539800736 + ], + "held_grasp_finger_b": [ + 0.3715283361559356, + 0.16852810093936488, + 1.2437633539800736 + ], + "held_grasp_midpoint": [ + 0.3765331941539803, + 0.1556664566862534, + 1.2437633539800736 + ], + "held_grasp_object_position": [ + 0.38153805215202496, + 0.16852810093936488, + 1.2437633539800736 + ], + "held_grasp_finger_gap": 0.027602209800969703, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024872151538074143, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07673707478528814, + -0.9967725493901254, + 0.023577661794740412 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004014948021918977, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651605797608659, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3366526485033284, + 0.16415775632225532, + 0.7611063149635415 + ], + "target_position": [ + 0.3504061596296318, + 0.16382410104184333, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013757557710127856, + "xy_threshold": 0.08, + "gripper_dist": 0.20494648096099535, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063149635415, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562431741113355, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09018145343205507, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1762472679466379, + "release_required_pad_clearance": 0.055090726716027535, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.265985922014684, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 163, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "21ca4d63e34c3481099d898e752a8b766ae01ee91992111b4987e83705fbfa3e", + "visual_seed": 2563643469927088162, + "episode_index": 163, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_164_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_164_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd4e58b600bb9ad88fb0999e481a4fc381680373 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_164_success.json @@ -0,0 +1,684 @@ +{ + "episode": 164, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3724151766425695, + 0.15925434083020182, + 1.0516814829952366 + ], + "current_z": 1.0516814829952366, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1905750345851155, + "gripper_z": 1.0522586930933233, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3670602737402924, + 0.15427051243345907, + 1.0522586930933233 + ], + "object_minus_gripper": [ + 0.005354902902277137, + 0.0049838283967427455, + -0.0005772100980867556 + ], + "object_to_gripper_xy": 0.007315294292165932, + "object_to_gripper_z": -0.0005772100980867556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3724151766425695, + 0.13460985965501454, + 1.0516814829952366 + ], + "finger_b": [ + 0.3604053572818103, + 0.15925434083020182, + 1.0516814829952366 + ], + "finger_midpoint": [ + 0.3664102669621899, + 0.14693210024260817, + 1.0516814829952366 + ], + "object_minus_finger_midpoint": [ + 0.006004909680379589, + 0.012322240587593652, + 0.0 + ], + "finger_gap": 0.027415072742420863, + "fingertip_max_gap": 0.09271475001936488, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013707536371210432, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0516814829952366, + "object_top_z": 1.1026459267032807, + "finger_top_clearance": 0.050964443708044094, + "fingertip_min_top_clearance": 0.015289333112413227, + "object_projection_between_fingers": 0.8080915289654963, + "object_to_finger_line_xy": 0.01079609636401405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048857375009682444, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.89783020757067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37291619724434477, + 0.15676450559334548, + 1.241822153768113 + ], + "held_position": [ + 0.37863111929150967, + 0.16130366782188238, + 1.2410495296808288 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007339024166903865, + "max_held_gripper_dist": 0.007343214428351025, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007726240872840684, + "max_held_gripper_z_dist": 0.0008589066509194776, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08848318747762757, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37863111929150967, + 0.13565706625107915, + 1.2410495296808288 + ], + "held_grasp_finger_b": [ + 0.3687176019744913, + 0.16130366782188238, + 1.2410495296808288 + ], + "held_grasp_midpoint": [ + 0.3736743606330005, + 0.14848036703648076, + 1.2410495296808288 + ], + "held_grasp_object_position": [ + 0.37863111929150967, + 0.16130366782188238, + 1.2410495296808288 + ], + "held_grasp_finger_gap": 0.027495926929753597, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490930424705063, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06771223976723978, + -0.9974253562576829, + 0.023615911583893194 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004088613546264831, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036594331485063115, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34828351844491956, + 0.1570236746405892, + 0.7611063834990994 + ], + "target_position": [ + 0.3478146580251012, + 0.15491954670825892, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002155732926149422, + "xy_threshold": 0.08, + "gripper_dist": 0.21451353389780153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063834990994, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584851572054495, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850950654232872, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18440282562260715, + "release_required_pad_clearance": 0.0525475327116436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1631293753171999, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 164, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2e5d5f878da7cc20099c661522183a5842026a3b0939230946f7fc7daec0e418", + "visual_seed": 969508520149353722, + "episode_index": 164, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_169_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_169_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ba2f5660fdb96a2ddac4477bccc6af8c66342262 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_169_success.json @@ -0,0 +1,684 @@ +{ + "episode": 169, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37552066487952296, + 0.16021387019664243, + 1.0542527938750084 + ], + "current_z": 1.0542527938750084, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.19314634546488696, + "gripper_z": 1.0547277658087668, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37017591927507826, + 0.1551367630404126, + 1.0547277658087668 + ], + "object_minus_gripper": [ + 0.005344745604444701, + 0.005077107156229832, + -0.00047497193375845015 + ], + "object_to_gripper_xy": 0.007371792363602703, + "object_to_gripper_z": -0.00047497193375845015, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37552066487952296, + 0.1357186285846878, + 1.0542527938750084 + ], + "finger_b": [ + 0.363191423994845, + 0.16021387019664243, + 1.0542527938750084 + ], + "finger_midpoint": [ + 0.36935604443718395, + 0.1479662493906651, + 1.0542527938750084 + ], + "object_minus_finger_midpoint": [ + 0.006164620442339008, + 0.012247620805977327, + 0.0 + ], + "finger_gap": 0.027423111464975086, + "fingertip_max_gap": 0.09243549390859021, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371155573248757, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0542527938750084, + "object_top_z": 1.105112028188873, + "finger_top_clearance": 0.05085923431386474, + "fingertip_min_top_clearance": 0.015257770294159423, + "object_projection_between_fingers": 0.7978660710083512, + "object_to_finger_line_xy": 0.01101289088759682, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871774695429511, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8985930560671396, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37623642974770843, + 0.1570979353123675, + 1.244603640671761 + ], + "held_position": [ + 0.3820223836508263, + 0.1616417624910135, + 1.2439256016803117 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007388055554226211, + "max_held_gripper_dist": 0.007392035455611221, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000678038991449359, + "max_held_gripper_z_dist": 0.000766287926893483, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08803998341704228, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3820223836508263, + 0.13591551758275827, + 1.2439256016803117 + ], + "held_grasp_finger_b": [ + 0.37216245292813555, + 0.1616417624910135, + 1.2439256016803117 + ], + "held_grasp_midpoint": [ + 0.3770924182894809, + 0.1487786400368859, + 1.2439256016803117 + ], + "held_grasp_object_position": [ + 0.3820223836508263, + 0.1616417624910135, + 1.2439256016803117 + ], + "held_grasp_finger_gap": 0.027551005624764213, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024805485814915082, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0834981895786737, + -0.99621115600151, + 0.024318408566739384 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038518342936269523, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036494220797921695, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33161284850117523, + 0.15653110597169842, + 0.761106467895897 + ], + "target_position": [ + 0.35086995338469096, + 0.1578249419153104, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01930052071690574, + "xy_threshold": 0.08, + "gripper_dist": 0.2019791234541919, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106467895897, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586426026697404, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08909555945480323, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.173002399018143, + "release_required_pad_clearance": 0.054547779727401616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.129381335188369, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 169, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44b81a8f26cf554aec034aa58299ba1ad38b137886d8211fc1bbc5267dfe51c5", + "visual_seed": 6028130039883451680, + "episode_index": 169, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_172_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_172_success.json new file mode 100644 index 0000000000000000000000000000000000000000..de53edc2ad425c4d5066bd0ca546fc24922ebac8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_172_success.json @@ -0,0 +1,684 @@ +{ + "episode": 172, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37879060725724933, + 0.15881478839180702, + 1.0541754813495194 + ], + "current_z": 1.0541754813495194, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19306903293939826, + "gripper_z": 1.054576192544893, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37356961768956976, + 0.15377405939918626, + 1.054576192544893 + ], + "object_minus_gripper": [ + 0.005220989567679579, + 0.005040728992620758, + -0.00040071119537365973 + ], + "object_to_gripper_xy": 0.007257250226006161, + "object_to_gripper_z": -0.00040071119537365973, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37879060725724933, + 0.13444081195492857, + 1.0541754813495194 + ], + "finger_b": [ + 0.3664677921619736, + 0.15881478839180702, + 1.0541754813495194 + ], + "finger_midpoint": [ + 0.3726291997096115, + 0.1466278001733678, + 1.0541754813495194 + ], + "object_minus_finger_midpoint": [ + 0.006161407547637832, + 0.01218698821843922, + 0.0 + ], + "finger_gap": 0.02731194792060538, + "fingertip_max_gap": 0.09259137121630776, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01365597396030268, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0541754813495194, + "object_top_z": 1.1050409724166905, + "finger_top_clearance": 0.05086549106717109, + "fingertip_min_top_clearance": 0.015259647320151325, + "object_projection_between_fingers": 0.7964296550584321, + "object_to_finger_line_xy": 0.010997238484833872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879568560815388, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0638303052246905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37985781651412787, + 0.15548197525340648, + 1.243421223990464 + ], + "held_position": [ + 0.38556335121562896, + 0.15994270022105173, + 1.2427989829360384 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007269001127859284, + "max_held_gripper_dist": 0.007272439628667585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000622241054425654, + "max_held_gripper_z_dist": 0.0007059443132071408, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08869129704002836, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38556335121562896, + 0.1341884788361093, + 1.2427989829360384 + ], + "held_grasp_finger_b": [ + 0.3759851104561439, + 0.15994270022105173, + 1.2427989829360384 + ], + "held_grasp_midpoint": [ + 0.38077423083588646, + 0.1470655895285805, + 1.2427989829360384 + ], + "held_grasp_object_position": [ + 0.38556335121562896, + 0.15994270022105173, + 1.2427989829360384 + ], + "held_grasp_finger_gap": 0.027477674850527052, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0247754368528263, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0902927879459597, + -0.995575930305887, + 0.02599575812538823 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036228701720870285, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036467685581890376, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.341453860497683, + 0.15389303153421213, + 0.7611064352279806 + ], + "target_position": [ + 0.3542125902312059, + 0.15590824853415983, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012916899162336097, + "xy_threshold": 0.08, + "gripper_dist": 0.20812143986752257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064352279806, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530248411166042, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09178665779949734, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17941378683056375, + "release_required_pad_clearance": 0.05589332889974867, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.002473285627477, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 172, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e80e83b4d37aac976a35a8e976fd056561a0f5c18373b991997d5fad09e7905", + "visual_seed": 2623013209937047681, + "episode_index": 172, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_175_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_175_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e4797776e6e0fee7335ca85eb52ceba23c301f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_175_success.json @@ -0,0 +1,684 @@ +{ + "episode": 175, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37109709555951803, + 0.16030316474294737, + 1.0530828602994085 + ], + "current_z": 1.0530828602994085, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1919763522846425, + "gripper_z": 1.0536724023580808, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36573998397257934, + 0.15533074543944825, + 1.0536724023580808 + ], + "object_minus_gripper": [ + 0.00535711158693869, + 0.00497241930349912, + -0.0005895420586723432 + ], + "object_to_gripper_xy": 0.007309144839495483, + "object_to_gripper_z": -0.0005895420586723432, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37109709555951803, + 0.13561674797191878, + 1.0530828602994085 + ], + "finger_b": [ + 0.35915156197583964, + 0.16030316474294737, + 1.0530828602994085 + ], + "finger_midpoint": [ + 0.36512432876767886, + 0.1479599563574331, + 1.0530828602994085 + ], + "object_minus_finger_midpoint": [ + 0.005972766791839168, + 0.012343208385514282, + 0.0 + ], + "finger_gap": 0.027424714138741903, + "fingertip_max_gap": 0.09184916642412963, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013712357069370927, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0530828602994085, + "object_top_z": 1.1038727149706324, + "finger_top_clearance": 0.05078985467122399, + "fingertip_min_top_clearance": 0.015236956401367196, + "object_projection_between_fingers": 0.8102739834713356, + "object_to_finger_line_xy": 0.010752798337555684, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842458321206482, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6518456000998585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3718007128023778, + 0.15724988863720646, + 1.2446749757525442 + ], + "held_position": [ + 0.3775397125086115, + 0.1617488663948625, + 1.2439036374434278 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073329312883147054, + "max_held_gripper_dist": 0.007337288389916077, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007713383091163539, + "max_held_gripper_z_dist": 0.0008586540353832106, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08845021982403664, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3775397125086115, + 0.1360230110019044, + 1.2439036374434278 + ], + "held_grasp_finger_b": [ + 0.3677762228613115, + 0.1617488663948625, + 1.2439036374434278 + ], + "held_grasp_midpoint": [ + 0.3726579676849615, + 0.14888593869838346, + 1.2439036374434278 + ], + "held_grasp_object_position": [ + 0.3775397125086115, + 0.1617488663948625, + 1.2439036374434278 + ], + "held_grasp_finger_gap": 0.027516274562380823, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484848331195543, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0805231533790465, + -0.9964555073009016, + 0.024340167205617262 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038432950511499636, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036509821439733074, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3401257724734366, + 0.15383710780297224, + 0.7611070562433304 + ], + "target_position": [ + 0.3464438412986556, + 0.15691467209556567, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007027758935482189, + "xy_threshold": 0.08, + "gripper_dist": 0.2133943318754872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070562433304, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558380903995217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08806246969344565, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18333559540110841, + "release_required_pad_clearance": 0.05403123484672283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.07343007756064, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 200, + "max_placed_release_frames": 200 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 175, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a7677dcd40038f1f4b4a3d7ca60d5195c188afb72f25126958959649b18f6611", + "visual_seed": 2293675350821267661, + "episode_index": 175, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_177_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_177_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bf1924b0f1ae066b76f9f406cef6bf27b587d1fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_177_success.json @@ -0,0 +1,684 @@ +{ + "episode": 177, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37620855316358304, + 0.16161101177958975, + 1.0530999619578507 + ], + "current_z": 1.0530999619578507, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19199345394308454, + "gripper_z": 1.0540640636051173, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37095361993685105, + 0.15664524560086243, + 1.0540640636051173 + ], + "object_minus_gripper": [ + 0.005254933226731984, + 0.004965766178727321, + -0.0009641016472665687 + ], + "object_to_gripper_xy": 0.007230017770324217, + "object_to_gripper_z": -0.0009641016472665687, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37620855316358304, + 0.1370766068059336, + 1.0530999619578507 + ], + "finger_b": [ + 0.3641720521856618, + 0.16161101177958975, + 1.0530999619578507 + ], + "finger_midpoint": [ + 0.3701903026746224, + 0.14934380929276167, + 1.0530999619578507 + ], + "object_minus_finger_midpoint": [ + 0.0060182504889606525, + 0.012267202486828083, + 0.0 + ], + "finger_gap": 0.027327904844734505, + "fingertip_max_gap": 0.10006604340523875, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013663952422367264, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0530999619578507, + "object_top_z": 1.1082028067139196, + "finger_top_clearance": 0.05510284475606886, + "fingertip_min_top_clearance": 0.016530853426820657, + "object_projection_between_fingers": 0.8060062057587006, + "object_to_finger_line_xy": 0.010806111596770565, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05253302170261938, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4634399310299413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3769688959807829, + 0.15904287801179776, + 1.244915082633902 + ], + "held_position": [ + 0.3826110784234471, + 0.16353289481496694, + 1.2437815834061512 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007299266682918296, + "max_held_gripper_dist": 0.0073055561166958105, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.001133499227750745, + "max_held_gripper_z_dist": 0.0012205034539791715, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08825414841710422, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3826110784234471, + 0.13791098888747602, + 1.2437815834061512 + ], + "held_grasp_finger_b": [ + 0.3727735914610191, + 0.16353289481496694, + 1.2437815834061512 + ], + "held_grasp_midpoint": [ + 0.3776923349422331, + 0.15072194185122148, + 1.2437815834061512 + ], + "held_grasp_object_position": [ + 0.3826110784234471, + 0.16353289481496694, + 1.2437815834061512 + ], + "held_grasp_finger_gap": 0.027445549968858972, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02483180907226706, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06770590182180383, + -0.9951587938413533, + 0.07123823340537949 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004144498006833612, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663828960751011, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33839394116007515, + 0.1582248610488885, + 0.7611100060595141 + ], + "target_position": [ + 0.35168371633506024, + 0.1596791957303046, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013369114165389549, + "xy_threshold": 0.08, + "gripper_dist": 0.2071387315291863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611100060595141, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588071462351346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865938215376547, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1778726981504701, + "release_required_pad_clearance": 0.05329691076882735, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6027367234052448, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 177, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7869850a2053924d52b074b8b3b29811579aee5ddcb9f937053bf2eb899b56ae", + "visual_seed": 4409075967376707793, + "episode_index": 177, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_179_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_179_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f4df7137913dd87303743004113e57adb582ad8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_179_success.json @@ -0,0 +1,684 @@ +{ + "episode": 179, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37269211324854606, + 0.16368855505521895, + 1.0516745573111836 + ], + "current_z": 1.0516745573111836, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.19056781087783836, + "gripper_z": 1.0521933305860385, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3674160975562818, + 0.15872691391001453, + 1.0521933305860385 + ], + "object_minus_gripper": [ + 0.005276015692264269, + 0.004961641145204421, + -0.0005187732748548335 + ], + "object_to_gripper_xy": 0.007242528870415654, + "object_to_gripper_z": -0.0005187732748548335, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37269211324854606, + 0.13911093258132534, + 1.0516745573111836 + ], + "finger_b": [ + 0.36070046993606325, + 0.16368855505521895, + 1.0516745573111836 + ], + "finger_midpoint": [ + 0.36669629159230466, + 0.15139974381827215, + 1.0516745573111836 + ], + "object_minus_finger_midpoint": [ + 0.005995821656241407, + 0.012288811236946806, + 0.0 + ], + "finger_gap": 0.027347011460177036, + "fingertip_max_gap": 0.09238445874289672, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013673505730088518, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0516745573111836, + "object_top_z": 1.102477360848742, + "finger_top_clearance": 0.05080280353755828, + "fingertip_min_top_clearance": 0.015240841061267484, + "object_projection_between_fingers": 0.8077184302795763, + "object_to_finger_line_xy": 0.010777268390185044, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04869222937144836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8303506460652672, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37334811410601787, + 0.1612124528300919, + 1.2428245471831267 + ], + "held_position": [ + 0.37900015288343863, + 0.16571817947646533, + 1.2421341033530702 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007261117519760361, + "max_held_gripper_dist": 0.00726507161772651, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006904438300565641, + "max_held_gripper_z_dist": 0.0007794117797395028, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08811713811339844, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37900015288343863, + 0.14009749207695754, + 1.2421341033530702 + ], + "held_grasp_finger_b": [ + 0.36913768893656046, + 0.16571817947646533, + 1.2421341033530702 + ], + "held_grasp_midpoint": [ + 0.37406892090999955, + 0.15290783577671144, + 1.2421341033530702 + ], + "held_grasp_object_position": [ + 0.37900015288343863, + 0.16571817947646533, + 1.2421341033530702 + ], + "held_grasp_finger_gap": 0.027453375346699522, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484565212618337, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0713071236975859, + -0.9971986958982694, + 0.022584397463034533 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004015932743595425, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036594160070380355, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33028164885589567, + 0.1712436344059181, + 0.7611117199115848 + ], + "target_position": [ + 0.3481630595518087, + 0.1616519081141792, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02029152684574398, + "xy_threshold": 0.08, + "gripper_dist": 0.202623387369472, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611117199115848, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548431956475433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08829198604725018, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17685951470264044, + "release_required_pad_clearance": 0.05414599302362509, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2820369935025773, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 179, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d5c1134001bd01f96930606ba97bc142ee756e852205aac6c40aadba833f3ae", + "visual_seed": 6997778918688977335, + "episode_index": 179, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_180_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_180_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d43bf2ea6b796837d5e1245c934b70213477ecb6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_180_success.json @@ -0,0 +1,684 @@ +{ + "episode": 180, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37617786576822515, + 0.16037978699378683, + 1.0546634852603773 + ], + "current_z": 1.0546634852603773, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.19355673882703228, + "gripper_z": 1.0552002791382418, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37087089541169105, + 0.1553006988174539, + 1.0552002791382418 + ], + "object_minus_gripper": [ + 0.005306970356534102, + 0.00507908817633293, + -0.0005367938778644277 + ], + "object_to_gripper_xy": 0.007345819972480721, + "object_to_gripper_z": -0.0005367938778644277, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37617786576822515, + 0.13594162082608152, + 1.0546634852603773 + ], + "finger_b": [ + 0.3638051664366342, + 0.16037978699378683, + 1.0546634852603773 + ], + "finger_midpoint": [ + 0.36999151610242964, + 0.1481607039099342, + 1.0546634852603773 + ], + "object_minus_finger_midpoint": [ + 0.00618634966579551, + 0.012219083083852639, + 0.0 + ], + "finger_gap": 0.027391744274330682, + "fingertip_max_gap": 0.09246999187720437, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013695872137165341, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0546634852603773, + "object_top_z": 1.105390679852838, + "finger_top_clearance": 0.050727194592460556, + "fingertip_min_top_clearance": 0.015218158377738133, + "object_projection_between_fingers": 0.7959721084355168, + "object_to_finger_line_xy": 0.011038584442825324, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048734995938602185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0526235364935146, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37707858943844774, + 0.1570536038343582, + 1.2442329621363641 + ], + "held_position": [ + 0.3828557197582951, + 0.1615617887341297, + 1.2434764411871733 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007366905033295315, + "max_held_gripper_dist": 0.0073707679029944625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007565209491908753, + "max_held_gripper_z_dist": 0.0008426748643575177, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08851332277580803, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3828557197582951, + 0.13579672148983646, + 1.2434764411871733 + ], + "held_grasp_finger_b": [ + 0.373143782577358, + 0.1615617887341297, + 1.2434764411871733 + ], + "held_grasp_midpoint": [ + 0.3779997511678265, + 0.1486792551119831, + 1.2434764411871733 + ], + "held_grasp_object_position": [ + 0.3828557197582951, + 0.1615617887341297, + 1.2434764411871733 + ], + "held_grasp_finger_gap": 0.027534712889540392, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024829831014106817, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08577345286609034, + -0.9960330068930234, + 0.023688899574931588 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037459496893186227, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036472308177014114, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3335742011803115, + 0.16534955500359735, + 0.7611187277107567 + ], + "target_position": [ + 0.35152385499497496, + 0.15641972190110912, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020048241601311502, + "xy_threshold": 0.08, + "gripper_dist": 0.20453977216868482, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611187277107567, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562009794017059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0856572387985096, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780504791882558, + "release_required_pad_clearance": 0.0528286193992548, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.646677375501843, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 180, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "84976633c50123bd281ebea5b71f164f3a0b957973521178eee2078b0fe98d17", + "visual_seed": 7852023800748950716, + "episode_index": 180, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_185_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_185_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e350ac09ddbfd3dbceb04b72b15a722cc3dc1e2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_185_success.json @@ -0,0 +1,684 @@ +{ + "episode": 185, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3759963319150552, + 0.16165593457662877, + 1.0524948811753507 + ], + "current_z": 1.0524948811753507, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19138843276522965, + "gripper_z": 1.0529672827899055, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37055188033263087, + 0.15658133984550748, + 1.0529672827899055 + ], + "object_minus_gripper": [ + 0.005444451582424348, + 0.00507459473112129, + -0.0004724016145547516 + ], + "object_to_gripper_xy": 0.0074426853163684775, + "object_to_gripper_z": -0.0004724016145547516, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3759963319150552, + 0.1370113808860813, + 1.0524948811753507 + ], + "finger_b": [ + 0.36377048751783286, + 0.16165593457662877, + 1.0524948811753507 + ], + "finger_midpoint": [ + 0.36988340971644407, + 0.14933365773135504, + 1.0524948811753507 + ], + "object_minus_finger_midpoint": [ + 0.006112922198611148, + 0.012322276845273733, + 0.0 + ], + "finger_gap": 0.027510457972039833, + "fingertip_max_gap": 0.09216835387625996, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013755228986019902, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524948811753507, + "object_top_z": 1.1034225880722301, + "finger_top_clearance": 0.05092770689687942, + "fingertip_min_top_clearance": 0.01527831206906386, + "object_projection_between_fingers": 0.80250227938549, + "object_to_finger_line_xy": 0.010952216025114921, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858417693812998, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7222079860773887, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37658567205296245, + 0.15877467354518748, + 1.2411971619872562 + ], + "held_position": [ + 0.3824359473045703, + 0.16334847436227168, + 1.2404967135373974 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007458954515536676, + "max_held_gripper_dist": 0.007462800520605423, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000700448449858726, + "max_held_gripper_z_dist": 0.0007891748591024594, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08816361101425399, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3824359473045703, + 0.13758363552489072, + 1.2404967135373974 + ], + "held_grasp_finger_b": [ + 0.37255740216365957, + 0.16334847436227168, + 1.2404967135373974 + ], + "held_grasp_midpoint": [ + 0.37749667473411497, + 0.1504660549435812, + 1.2404967135373974 + ], + "held_grasp_object_position": [ + 0.3824359473045703, + 0.16334847436227168, + 1.2404967135373974 + ], + "held_grasp_finger_gap": 0.02759370534047983, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024844079396877477, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08335243118729464, + -0.9962212576981511, + 0.02440446527751449 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038615347755608016, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03647480961756797, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33597519575326884, + 0.1655949648509164, + 0.7611065203218174 + ], + "target_position": [ + 0.3512668870503042, + 0.15644152031851405, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017821935066978357, + "xy_threshold": 0.08, + "gripper_dist": 0.2056256690723898, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065203218174, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519805722014465, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08851995653952831, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18007802071705606, + "release_required_pad_clearance": 0.054259978269764156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.538913359167169, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 185, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32a2b9019bd8c9aa145bc955c7c2599b23fc1a524cbe021ce2df3936d3d3570b", + "visual_seed": 9177851536129573136, + "episode_index": 185, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_186_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_186_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1a881060d9c222d415b564754c5a2ac6f58f029 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_186_success.json @@ -0,0 +1,684 @@ +{ + "episode": 186, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37936830102307867, + 0.16214604554047102, + 1.0527028109010481 + ], + "current_z": 1.0527028109010481, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.19159612407234805, + "gripper_z": 1.0530344065950001, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3740654663887335, + 0.15714013759145112, + 1.0530344065950001 + ], + "object_minus_gripper": [ + 0.005302834634345166, + 0.005005907949019894, + -0.0003315956939520248 + ], + "object_to_gripper_xy": 0.007292404922470446, + "object_to_gripper_z": -0.0003315956939520248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37936830102307867, + 0.13759209465405725, + 1.0527028109010481 + ], + "finger_b": [ + 0.36725444160176574, + 0.16214604554047102, + 1.0527028109010481 + ], + "finger_midpoint": [ + 0.3733113713124222, + 0.14986907009726413, + 1.0527028109010481 + ], + "object_minus_finger_midpoint": [ + 0.006056929710656467, + 0.012276975443206883, + 0.0 + ], + "finger_gap": 0.027379592659711932, + "fingertip_max_gap": 0.09219151875047635, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013689796329855966, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0527028109010481, + "object_top_z": 1.1036155768760791, + "finger_top_clearance": 0.05091276597503103, + "fingertip_min_top_clearance": 0.015273829792509307, + "object_projection_between_fingers": 0.8042457978115076, + "object_to_finger_line_xy": 0.010863679126735717, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048595759375238176, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7864756650591329, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3801763737625986, + 0.15923666958128524, + 1.2417068778623253 + ], + "held_position": [ + 0.38589293315466594, + 0.16374272272347812, + 1.2411626293277602 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007299299464378464, + "max_held_gripper_dist": 0.007302735790509336, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005442485345650283, + "max_held_gripper_z_dist": 0.0006335840980096208, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882591289658736, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38589293315466594, + 0.13803071904719302, + 1.2411626293277602 + ], + "held_grasp_finger_b": [ + 0.3761566757888521, + 0.16374272272347812, + 1.2411626293277602 + ], + "held_grasp_midpoint": [ + 0.381024804471759, + 0.15088672088533556, + 1.2411626293277602 + ], + "held_grasp_object_position": [ + 0.38589293315466594, + 0.16374272272347812, + 1.2411626293277602 + ], + "held_grasp_finger_gap": 0.02749366909931562, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024799046847184578, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08366173787031146, + -0.9961728141158182, + 0.025306877189627985 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037899426438537834, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03650617443492617, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34371415239976577, + 0.15683807335898217, + 0.7611123149417455 + ], + "target_position": [ + 0.35477948910783647, + 0.15816787067891144, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011144955691929324, + "xy_threshold": 0.08, + "gripper_dist": 0.20797092053091257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611123149417455, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527712099066516, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0884794491479559, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17923749059156702, + "release_required_pad_clearance": 0.05423972457397795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4968561551276944, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 186, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b358fc471dd17db8ce945a39fafe1c764cee5c3d00bbfd07211d15e64131d3b9", + "visual_seed": 7701838346662014403, + "episode_index": 186, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_189_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_189_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6338cc5a9b596eada46f36f3cc6c09e1853d7a08 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_189_success.json @@ -0,0 +1,684 @@ +{ + "episode": 189, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3780088956758327, + 0.16572795040871782, + 1.0547972729493633 + ], + "current_z": 1.0547972729493633, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1936906457253078, + "gripper_z": 1.0551498717289491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37270224554758535, + 0.16068735869886908, + 1.0551498717289491 + ], + "object_minus_gripper": [ + 0.0053066501282473255, + 0.005040591709848746, + -0.0003525987795858221 + ], + "object_to_gripper_xy": 0.007319023184074721, + "object_to_gripper_z": -0.0003525987795858221, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3780088956758327, + 0.14123045261988332, + 1.0547972729493633 + ], + "finger_b": [ + 0.36576556548046324, + 0.16572795040871782, + 1.0547972729493633 + ], + "finger_midpoint": [ + 0.371887230578148, + 0.15347920151430056, + 1.0547972729493633 + ], + "object_minus_finger_midpoint": [ + 0.006121665097684692, + 0.012248748894417266, + 0.0 + ], + "finger_gap": 0.027386612280214516, + "fingertip_max_gap": 0.09232924439643117, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013693306140107258, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0547972729493633, + "object_top_z": 1.105625617018068, + "finger_top_clearance": 0.050828344068704734, + "fingertip_min_top_clearance": 0.015248503220611387, + "object_projection_between_fingers": 0.8001415578782322, + "object_to_finger_line_xy": 0.010951736246900433, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04866462219821559, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8837410727073466, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.379007379572578, + 0.1624242992309708, + 1.2467155565196015 + ], + "held_position": [ + 0.3847746347898792, + 0.166912052657516, + 1.2461731489813883 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007327712432708222, + "max_held_gripper_dist": 0.007330388211817691, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005424075382132187, + "max_held_gripper_z_dist": 0.0006333328049219489, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08876241139262182, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3847746347898792, + 0.14114537968486376, + 1.2461731489813883 + ], + "held_grasp_finger_b": [ + 0.37506992920382726, + 0.166912052657516, + 1.2461731489813883 + ], + "held_grasp_midpoint": [ + 0.37992228199685324, + 0.15402871617118988, + 1.2461731489813883 + ], + "held_grasp_object_position": [ + 0.3847746347898792, + 0.166912052657516, + 1.2461731489813883 + ], + "held_grasp_finger_gap": 0.027533665694773644, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02480234214882389, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08816626321801957, + -0.9957812482507745, + 0.025424705746586507 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037125429066972924, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036463451368529874, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33760373829378204, + 0.1641020466389888, + 0.7611064990261642 + ], + "target_position": [ + 0.3533652022202026, + 0.16193668069109582, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01590951145674033, + "xy_threshold": 0.08, + "gripper_dist": 0.2030763510272124, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064990261642, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591848323187532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09080290847916288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17471846868211827, + "release_required_pad_clearance": 0.05540145423958144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.9296901711954675, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 189, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37f208e7444a6f4532fdfb0f07680ddecc1a7e230406210c79e6417f4c293f49", + "visual_seed": 3152430401988206644, + "episode_index": 189, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_191_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_191_success.json new file mode 100644 index 0000000000000000000000000000000000000000..78890b1cb84a3c613d2017a5f45cde0990950148 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_191_success.json @@ -0,0 +1,684 @@ +{ + "episode": 191, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37645103075355246, + 0.16252891974050163, + 1.0523562841737903 + ], + "current_z": 1.0523562841737903, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1912497165543796, + "gripper_z": 1.0529613994152711, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3711031371783158, + 0.1574785732383846, + 1.0529613994152711 + ], + "object_minus_gripper": [ + 0.005347893575236684, + 0.005050346502117026, + -0.0006051152414807692 + ], + "object_to_gripper_xy": 0.007355675732623311, + "object_to_gripper_z": -0.0006051152414807692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37645103075355246, + 0.13797377061676705, + 1.0523562841737903 + ], + "finger_b": [ + 0.364229736442109, + 0.16252891974050163, + 1.0523562841737903 + ], + "finger_midpoint": [ + 0.3703403835978307, + 0.15025134517863434, + 1.0523562841737903 + ], + "object_minus_finger_midpoint": [ + 0.006110647155721738, + 0.012277574561867288, + 0.0 + ], + "finger_gap": 0.027428368218611977, + "fingertip_max_gap": 0.09486574561703484, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013714184109305989, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0523562841737903, + "object_top_z": 1.1048291389588403, + "finger_top_clearance": 0.05247285478504993, + "fingertip_min_top_clearance": 0.01574185643551496, + "object_projection_between_fingers": 0.8014661962322694, + "object_to_finger_line_xy": 0.010941070278431973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04993287280851742, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7730963810083156, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3771961168663334, + 0.159532681416141, + 1.2421438317576083 + ], + "held_position": [ + 0.38297031924568886, + 0.16406018577999237, + 1.24132567823164 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007383026755640387, + "max_held_gripper_dist": 0.007387356732487337, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008181535259683681, + "max_held_gripper_z_dist": 0.0009063133883751018, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08830008105085377, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38297031924568886, + 0.13831441282794393, + 1.24132567823164 + ], + "held_grasp_finger_b": [ + 0.37319015163222524, + 0.16406018577999237, + 1.24132567823164 + ], + "held_grasp_midpoint": [ + 0.3780802354389571, + 0.15118729930396815, + 1.24132567823164 + ], + "held_grasp_object_position": [ + 0.38297031924568886, + 0.16406018577999237, + 1.24132567823164 + ], + "held_grasp_finger_gap": 0.027540815228418197, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024804350374893386, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0844119261544224, + -0.995499851917234, + 0.04306589782723213 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003827672132985417, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036492512096282806, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3411136049538605, + 0.1588398994898734, + 0.7611091468649462 + ], + "target_position": [ + 0.35180055818843303, + 0.16044369055238183, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010806623673012869, + "xy_threshold": 0.08, + "gripper_dist": 0.20845268738356326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611091468649462, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566209777600051, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086749100660227, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17931487523578926, + "release_required_pad_clearance": 0.0533745503301135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.754733048555586, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 191, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc6e33969a0b3c14f3c4d50abb5176e6228838c768bb3a0e10327ab71b4366e0", + "visual_seed": 6009105445516642689, + "episode_index": 191, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_192_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_192_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c611a2d2825a49e7803b06c383ca22a30c7e9d1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_192_success.json @@ -0,0 +1,684 @@ +{ + "episode": 192, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37102159016464875, + 0.15778811194173578, + 1.0541890936447924 + ], + "current_z": 1.0541890936447924, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19308264523467134, + "gripper_z": 1.0547934518022866, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36559115402300435, + 0.15276526351251557, + 1.0547934518022866 + ], + "object_minus_gripper": [ + 0.005430436141644401, + 0.005022848429220211, + -0.0006043581574941559 + ], + "object_to_gripper_xy": 0.007397205082421175, + "object_to_gripper_z": -0.0006043581574941559, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37102159016464875, + 0.13308778399042012, + 1.0541890936447924 + ], + "finger_b": [ + 0.35895317255343634, + 0.15778811194173578, + 1.0541890936447924 + ], + "finger_midpoint": [ + 0.3649873813590425, + 0.14543794796607795, + 1.0541890936447924 + ], + "object_minus_finger_midpoint": [ + 0.006034208805606234, + 0.01235016397565783, + 0.0 + ], + "finger_gap": 0.02749096041503766, + "fingertip_max_gap": 0.09193862889032198, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013745480207518842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0541890936447924, + "object_top_z": 1.1050615324476531, + "finger_top_clearance": 0.05087243880286074, + "fingertip_min_top_clearance": 0.015261731640858188, + "object_projection_between_fingers": 0.8072826412396696, + "object_to_finger_line_xy": 0.010843341532997926, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04846931444516099, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6662409131147807, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3715996917496783, + 0.15486350871675272, + 1.2439579458919967 + ], + "held_position": [ + 0.3774083389108759, + 0.15941422601581945, + 1.2431443563243283 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074237010826092055, + "max_held_gripper_dist": 0.0074278692464904246, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008135895676684157, + "max_held_gripper_z_dist": 0.0008980297918392832, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08825265691655079, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3774083389108759, + 0.13367358528794954, + 1.2431443563243283 + ], + "held_grasp_finger_b": [ + 0.36754721059732226, + 0.15941422601581945, + 1.2431443563243283 + ], + "held_grasp_midpoint": [ + 0.37247777475409904, + 0.1465439056518845, + 1.2431443563243283 + ], + "held_grasp_object_position": [ + 0.3774083389108759, + 0.15941422601581945, + 1.2431443563243283 + ], + "held_grasp_finger_gap": 0.027564876867086568, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024828867982080095, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08274752456009904, + -0.9962786944782599, + 0.0241165940354372 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038615605765321723, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03648983212173895, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3307137226090149, + 0.15364300026030445, + 0.7611080132487156 + ], + "target_position": [ + 0.3462972482282901, + 0.1553035163249113, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01567174477610661, + "xy_threshold": 0.08, + "gripper_dist": 0.20417942795565916, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080132487156, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558637739186294, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08617146413998626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17520653032330918, + "release_required_pad_clearance": 0.05308573206999313, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.199409183081223, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 192, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f816b4fb513c96d8410aff64f1cd54b197d60c28cd12850a52f42c9081874e59", + "visual_seed": 4075557288722176088, + "episode_index": 192, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_195_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_195_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e3458dcc1181df99836ee69c6b518d7347ebaed5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_195_success.json @@ -0,0 +1,684 @@ +{ + "episode": 195, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.375242148573263, + 0.16410088565001366, + 1.0522735902717848 + ], + "current_z": 1.0522735902717848, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.19116690344308473, + "gripper_z": 1.0527476029052951, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3698294687775024, + 0.15899625154843605, + 1.0527476029052951 + ], + "object_minus_gripper": [ + 0.0054126797957606, + 0.005104634101577604, + -0.0004740126335103234 + ], + "object_to_gripper_xy": 0.007440053217714508, + "object_to_gripper_z": -0.0004740126335103234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.375242148573263, + 0.13953065169586315, + 1.0522735902717848 + ], + "finger_b": [ + 0.3629088874225507, + 0.16410088565001366, + 1.0522735902717848 + ], + "finger_midpoint": [ + 0.36907551799790683, + 0.1518157686729384, + 1.0522735902717848 + ], + "object_minus_finger_midpoint": [ + 0.006166630575356158, + 0.012285116977075267, + 0.0 + ], + "finger_gap": 0.02749192112554814, + "fingertip_max_gap": 0.0924119793488982, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013745960562774082, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522735902717848, + "object_top_z": 1.103252737285648, + "finger_top_clearance": 0.05097914701386319, + "fingertip_min_top_clearance": 0.01529374410415899, + "object_projection_between_fingers": 0.7987454644190859, + "object_to_finger_line_xy": 0.011022551334509372, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487059896744491, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8714816992169306, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37593374399499446, + 0.16089876236323103, + 1.2411196369798263 + ], + "held_position": [ + 0.38179235462360644, + 0.16545483623929078, + 1.240418295783904 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007454730520608845, + "max_held_gripper_dist": 0.0074604625994741346, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007013411959222449, + "max_held_gripper_z_dist": 0.0007905267598116161, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08831716787172245, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38179235462360644, + 0.13965435898996428, + 1.240418295783904 + ], + "held_grasp_finger_b": [ + 0.3719934807778378, + 0.16545483623929078, + 1.240418295783904 + ], + "held_grasp_midpoint": [ + 0.3768929177007221, + 0.15255459761462753, + 1.240418295783904 + ], + "held_grasp_object_position": [ + 0.38179235462360644, + 0.16545483623929078, + 1.240418295783904 + ], + "held_grasp_finger_gap": 0.027598596974090967, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0248325909189399, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0877181005525639, + -0.9958005532985095, + 0.02620673359716852 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003764687068714057, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03644441600932009, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34027284358553356, + 0.16200448716932073, + 0.7611064216489866 + ], + "target_position": [ + 0.3505110169062987, + 0.15988311941933844, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010455639343277496, + "xy_threshold": 0.08, + "gripper_dist": 0.20766585334608786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064216489866, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514304390597736, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08772689441119007, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17981748285574978, + "release_required_pad_clearance": 0.053863447205595036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7363282016137025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 195, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2b34adb4fd80a2db2ab553af9424f1ea1ec2bf2aa63f8bd45b0cdb9ea25ddcab", + "visual_seed": 2877555970343805714, + "episode_index": 195, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_197_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_197_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a1563c577f3eac0859b7af836ed710e4452bfe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_197_success.json @@ -0,0 +1,684 @@ +{ + "episode": 197, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37868587858160063, + 0.1584439430138906, + 1.017890293670934 + ], + "current_z": 1.017890293670934, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.15678372605152324, + "gripper_z": 1.053059545325322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37235830178507834, + 0.15250176485791037, + 1.053059545325322 + ], + "object_minus_gripper": [ + 0.006327576796522294, + 0.005942178155980221, + -0.035169251654388 + ], + "object_to_gripper_xy": 0.008680305832935602, + "object_to_gripper_z": -0.035169251654388, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37868587858160063, + 0.13271854388609058, + 1.0394816236057354 + ], + "finger_b": [ + 0.3657343164789826, + 0.1584439430138906, + 1.0395836505017355 + ], + "finger_midpoint": [ + 0.3722100975302916, + 0.14558124344999057, + 1.0395326370537354 + ], + "object_minus_finger_midpoint": [ + 0.006475781051309026, + 0.012862699563900015, + -0.021642343382801466 + ], + "finger_gap": 0.028801901511360195, + "fingertip_max_gap": 0.10001853088028975, + "finger_z_skew": 0.00010202689600014025, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014400860401227653, + "object_to_finger_midpoint_z": 0.021642343382801466, + "finger_midpoint_minus_object_z": 0.021642343382801466, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.017890293670934, + "object_top_z": 1.0707720391987532, + "finger_top_clearance": 0.031239402145017747, + "fingertip_min_top_clearance": 0.015864523658345748, + "object_projection_between_fingers": 0.7977877635730563, + "object_to_finger_line_xy": 0.01156820131351091, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05250926544014488, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.278509457028333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 194, + "max_stable_success_frames": 194, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.380346490402698, + 0.14850452103161205, + 1.2112226297320425 + ], + "held_position": [ + 0.386491235066301, + 0.15202690267265864, + 1.1756148157248003 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.036305391855486355, + "max_held_gripper_dist": 0.0363379558848299, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03560781400724222, + "max_held_gripper_z_dist": 0.03565545817131177, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08998978999523115, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.386491235066301, + 0.1251761856582272, + 1.1977638458725541 + ], + "held_grasp_finger_b": [ + 0.38022728668819644, + 0.1596730233587093, + 1.1965595873617292 + ], + "held_grasp_midpoint": [ + 0.3833592608772487, + 0.14242460450846825, + 1.1971617166171415 + ], + "held_grasp_object_position": [ + 0.386491235066301, + 0.15202690267265864, + 1.1756148157248003 + ], + "held_grasp_finger_gap": 0.035081606279899126, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03330827047186302, + "held_grasp_world_z_skew": 0.0012042585108249515, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.13859863288445567, + -0.9887469666786134, + 0.05630146398097535 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021027371795869033, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03857879748178435, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3407921420463663, + 0.1599696889176974, + 0.7611064997430759 + ], + "target_position": [ + 0.35208134994748974, + 0.15725231002996776, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011611647732094967, + "xy_threshold": 0.08, + "gripper_dist": 0.20927607614071408, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064997430759, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520737338918781, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08983847105634295, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18158491365611318, + "release_required_pad_clearance": 0.054919235528171476, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.904480085269293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 197, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9766db1434f5e368d2d0a50184f63cbec84d46311f714259105ffe4ee1c15f18", + "visual_seed": 9111725258364604390, + "episode_index": 197, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_198_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_198_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ad571f5a2b2bbe586ed7f6c301d7e84734bc0afd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_198_success.json @@ -0,0 +1,684 @@ +{ + "episode": 198, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37949750299842017, + 0.16150671835137057, + 1.0538678862905018 + ], + "current_z": 1.0538678862905018, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.19276125906644603, + "gripper_z": 1.0543083430958198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3741614794111105, + 0.15645006449332927, + 1.0543083430958198 + ], + "object_minus_gripper": [ + 0.005336023587309668, + 0.005056653858041299, + -0.00044045680531801246 + ], + "object_to_gripper_xy": 0.0073513873496347, + "object_to_gripper_z": -0.00044045680531801246, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37949750299842017, + 0.13698126440944242, + 1.0538678862905018 + ], + "finger_b": [ + 0.36724669211105554, + 0.16150671835137057, + 1.0538678862905018 + ], + "finger_midpoint": [ + 0.3733720975547379, + 0.1492439913804065, + 1.0538678862905018 + ], + "object_minus_finger_midpoint": [ + 0.006125405443682286, + 0.01226272697096406, + 0.0 + ], + "finger_gap": 0.027414964133764805, + "fingertip_max_gap": 0.09250079972448697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013707482066882378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0538678862905018, + "object_top_z": 1.1047222202127442, + "finger_top_clearance": 0.05085433392224248, + "fingertip_min_top_clearance": 0.015256300176672743, + "object_projection_between_fingers": 0.8003109239372926, + "object_to_finger_line_xy": 0.010959587497664656, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048750399862243485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9274161884088925, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38036230493948653, + 0.15848777505683453, + 1.2445761813892076 + ], + "held_position": [ + 0.38613770696136834, + 0.16301724878210253, + 1.243943871282799 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073669000816432954, + "max_held_gripper_dist": 0.007373528816615188, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006323101064085179, + "max_held_gripper_z_dist": 0.0007202422123280261, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08836274982260009, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38613770696136834, + 0.13728296908139803, + 1.243943871282799 + ], + "held_grasp_finger_b": [ + 0.376313275090717, + 0.16301724878210253, + 1.243943871282799 + ], + "held_grasp_midpoint": [ + 0.38122549102604264, + 0.1501501089317503, + 1.243943871282799 + ], + "held_grasp_object_position": [ + 0.38613770696136834, + 0.16301724878210253, + 1.243943871282799 + ], + "held_grasp_finger_gap": 0.027545827511533602, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024835824703881147, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08186298889719884, + -0.9963396045752798, + 0.02461388639756823 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003855824361643034, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036498080361006074, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34455627787909077, + 0.15920783884896972, + 0.7611248419099809 + ], + "target_position": [ + 0.3548541706434763, + 0.15716114247061994, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010499312427579911, + "xy_threshold": 0.08, + "gripper_dist": 0.20765503926215725, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611248419099809, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533834760946316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09267415873917399, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17941726414109888, + "release_required_pad_clearance": 0.056337079369587, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.899571050963487, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 198, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8cd8a0b54cd788d5380ab6fd46eadcd6f5fd0bc2c1fc891fde926fb729b70951", + "visual_seed": 8473127779378717437, + "episode_index": 198, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_199_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_199_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25a725e351d5c4aac14d4d088afdb6af67d69470 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_199_success.json @@ -0,0 +1,684 @@ +{ + "episode": 199, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3779109404178417, + 0.1574769805821351, + 1.053143851453699 + ], + "current_z": 1.053143851453699, + "required_z": 0.8611066868287005, + "initial_z": 0.7611066868287005, + "lift_margin": 0.19203716462499854, + "gripper_z": 1.0536129413159911, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37254859428204173, + 0.15238806858901366, + 1.0536129413159911 + ], + "object_minus_gripper": [ + 0.005362346135799945, + 0.005088911993121448, + -0.0004690898622921047 + ], + "object_to_gripper_xy": 0.007392684313147958, + "object_to_gripper_z": -0.0004690898622921047, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3779109404178417, + 0.13295594094945662, + 1.053143851453699 + ], + "finger_b": [ + 0.3655823811623585, + 0.1574769805821351, + 1.053143851453699 + ], + "finger_midpoint": [ + 0.3717466607901001, + 0.14521646076579586, + 1.053143851453699 + ], + "object_minus_finger_midpoint": [ + 0.006164279627741576, + 0.012260519816339244, + 0.0 + ], + "finger_gap": 0.027445851380187652, + "fingertip_max_gap": 0.09273579348589236, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013722925690093826, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053143851453699, + "object_top_z": 1.1041285257838442, + "finger_top_clearance": 0.0509846743301452, + "fingertip_min_top_clearance": 0.015295402299043559, + "object_projection_between_fingers": 0.7982231958457325, + "object_to_finger_line_xy": 0.01101474630645838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048867896742946185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0347863900765146, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3787331879307332, + 0.15414049988158612, + 1.2446017086002814 + ], + "held_position": [ + 0.38455594531167137, + 0.15867944704534043, + 1.2439390950293454 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007412530041558811, + "max_held_gripper_dist": 0.007416410660715997, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006626135709359993, + "max_held_gripper_z_dist": 0.0007478323439622514, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08858412482265296, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38455594531167137, + 0.13289890070334798, + 1.2439390950293454 + ], + "held_grasp_finger_b": [ + 0.3747413538150939, + 0.15867944704534043, + 1.2439390950293454 + ], + "held_grasp_midpoint": [ + 0.3796486495633826, + 0.1457891738743442, + 1.2439390950293454 + ], + "held_grasp_object_position": [ + 0.38455594531167137, + 0.15867944704534043, + 1.2439390950293454 + ], + "held_grasp_finger_gap": 0.027585553754389477, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02484456262573389, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08493922528748149, + -0.996030343319006, + 0.026624860476361145 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003810661810368881, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03646432495899572, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3411491957423675, + 0.14683753936673657, + 0.7611064056089821 + ], + "target_position": [ + 0.35321931179508764, + 0.15446643602280907, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014278927330691412, + "xy_threshold": 0.08, + "gripper_dist": 0.20622679037804964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064056089821, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576558627695285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09080617941332379, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17551436149894067, + "release_required_pad_clearance": 0.0554030897066619, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.933782404881774, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 199, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e807bd56b27546b934b4706022199cc53f807c20fa74dad5f11edabae7d88f9f", + "visual_seed": 1506782711191293643, + "episode_index": 199, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8851c5706a44e7e13e4a8f66bb9dc0c385f58c08 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_19_success.json @@ -0,0 +1,684 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3704133391003155, + 0.1595862580447013, + 1.0517628639298917 + ], + "current_z": 1.0517628639298917, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.19065617710119165, + "gripper_z": 1.0523645520271439, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3651280706986341, + 0.15461702789172876, + 1.0523645520271439 + ], + "object_minus_gripper": [ + 0.0052852684016813645, + 0.0049692301529725424, + -0.0006016880972521399 + ], + "object_to_gripper_xy": 0.007254468305191154, + "object_to_gripper_z": -0.0006016880972521399, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3704133391003155, + 0.13500118008452727, + 1.0517628639298917 + ], + "finger_b": [ + 0.35840904922415273, + 0.1595862580447013, + 1.0517628639298917 + ], + "finger_midpoint": [ + 0.3644111941622341, + 0.1472937190646143, + 1.0517628639298917 + ], + "object_minus_finger_midpoint": [ + 0.006002144938081377, + 0.012292538980087003, + 0.0 + ], + "finger_gap": 0.027359258647462994, + "fingertip_max_gap": 0.09211836265832193, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013679629323731485, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517628639298917, + "object_top_z": 1.1025299323771398, + "finger_top_clearance": 0.0507670684472481, + "fingertip_min_top_clearance": 0.015230120534174428, + "object_projection_between_fingers": 0.807485122238782, + "object_to_finger_line_xy": 0.010787076004683913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855918132916097, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7370351094363639, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3711264519608247, + 0.15670331252476694, + 1.2422073643846594 + ], + "held_position": [ + 0.37680487431206694, + 0.16118732774961306, + 1.2414072321182816 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007279497549930066, + "max_held_gripper_dist": 0.007284077729255301, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008001322663777621, + "max_held_gripper_z_dist": 0.0008846240108439929, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0880985894862297, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37680487431206694, + 0.1354990204493518, + 1.2414072321182816 + ], + "held_grasp_finger_b": [ + 0.3670890078736593, + 0.16118732774961306, + 1.2414072321182816 + ], + "held_grasp_midpoint": [ + 0.3719469410928631, + 0.14834317409948244, + 1.2414072321182816 + ], + "held_grasp_object_position": [ + 0.37680487431206694, + 0.16118732774961306, + 1.2414072321182816 + ], + "held_grasp_finger_gap": 0.027464289406457107, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024837003952851582, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07869511356854658, + -0.9966244512100854, + 0.023383377656573612 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038441972003177612, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653715688088195, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3340939780920271, + 0.15973884074140923, + 0.7611125447549 + ], + "target_position": [ + 0.34582848440833497, + 0.15732037819097835, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01198113515470489, + "xy_threshold": 0.08, + "gripper_dist": 0.2080392700535025, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611125447549, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582503432326702, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09249117011767204, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792531324401074, + "release_required_pad_clearance": 0.05624558505883602, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.757956935434757, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "256d8b77b87fdd00d27d0017a4f207a1b87d4dca9a992df17896d7260608c2c6", + "visual_seed": 6201102179603829887, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ac6342ee63ac0f3af3e4d1318921ea9459f02c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3795044040090953, + 0.1632762978970478, + 1.052528057163694 + ], + "current_z": 1.052528057163694, + "required_z": 0.8611068060379896, + "initial_z": 0.7611068060379896, + "lift_margin": 0.1914212511257043, + "gripper_z": 1.0529327933239887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37412668703287166, + 0.15821573623407584, + 1.0529327933239887 + ], + "object_minus_gripper": [ + 0.005377716976223634, + 0.005060561662971974, + -0.0004047361602947941 + ], + "object_to_gripper_xy": 0.007384383807813997, + "object_to_gripper_z": -0.0004047361602947941, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3795044040090953, + 0.13868299132659773, + 1.052528057163694 + ], + "finger_b": [ + 0.3672978984498528, + 0.1632762978970478, + 1.052528057163694 + ], + "finger_midpoint": [ + 0.37340115122947404, + 0.15097964461182278, + 1.052528057163694 + ], + "object_minus_finger_midpoint": [ + 0.00610325277962126, + 0.012296653285225029, + 0.0 + ], + "finger_gap": 0.02745595574799686, + "fingertip_max_gap": 0.09228094708691056, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01372797787399842, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052528057163694, + "object_top_z": 1.103398708809543, + "finger_top_clearance": 0.05087065164584903, + "fingertip_min_top_clearance": 0.015261195493754742, + "object_projection_between_fingers": 0.8023441948414387, + "object_to_finger_line_xy": 0.010933814729587658, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048640473543455284, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8113002349498218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3802898181886143, + 0.16021560747019417, + 1.2433629694864634 + ], + "held_position": [ + 0.38609434988915786, + 0.16475401020637642, + 1.2427652823226847 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007392355348882223, + "max_held_gripper_dist": 0.007398637946738049, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005976871637787262, + "max_held_gripper_z_dist": 0.0006874313618581152, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08838359707724923, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38609434988915786, + 0.138993681938276, + 1.2427652823226847 + ], + "held_grasp_finger_b": [ + 0.3762665145608341, + 0.16475401020637642, + 1.2427652823226847 + ], + "held_grasp_midpoint": [ + 0.381180432224996, + 0.1518738460723262, + 1.2427652823226847 + ], + "held_grasp_object_position": [ + 0.38609434988915786, + 0.16475401020637642, + 1.2427652823226847 + ], + "held_grasp_finger_gap": 0.027571377544855148, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024841037800302484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08354506470234707, + -0.9961870311439021, + 0.02513207402064043 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038347899700213817, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036478664031554996, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.344259256546901, + 0.16414427207642712, + 0.7611073251596139 + ], + "target_position": [ + 0.3548298679514122, + 0.16030345698579343, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011246763357767512, + "xy_threshold": 0.08, + "gripper_dist": 0.20789213341306045, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611073251596139, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573839951029644, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09014913618105373, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17963818151988184, + "release_required_pad_clearance": 0.05507456809052687, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.228083764358525, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7ea9f9e16f045fed24714ca1358e7cfd5b4e90ea5af907f7f790dd9d1c56f148", + "visual_seed": 2191460089595204339, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_200_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_200_success.json new file mode 100644 index 0000000000000000000000000000000000000000..543f43a10a78b5af09fad567aa600158b7e0dfd1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_200_success.json @@ -0,0 +1,684 @@ +{ + "episode": 200, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37333946290609704, + 0.16460085909988553, + 1.0174136567318115 + ], + "current_z": 1.0174136567318115, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1563072083216902, + "gripper_z": 1.052160011313595, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3674170824952828, + 0.15942819872993735, + 1.052160011313595 + ], + "object_minus_gripper": [ + 0.005922380410814221, + 0.005172660369948179, + -0.034746354581783434 + ], + "object_to_gripper_xy": 0.007863269360337877, + "object_to_gripper_z": -0.034746354581783434, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37333946290609704, + 0.1396128970457985, + 1.0385842715088516 + ], + "finger_b": [ + 0.3608580878901354, + 0.16460085909988553, + 1.03868364181475 + ], + "finger_midpoint": [ + 0.3670987753981162, + 0.152106878072842, + 1.0386339566618008 + ], + "object_minus_finger_midpoint": [ + 0.006240687507980847, + 0.012493981027043521, + -0.021220299929989306 + ], + "finger_gap": 0.027931932342092975, + "fingertip_max_gap": 0.10102304629841388, + "finger_z_skew": 9.937030589846074e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013965877791116164, + "object_to_finger_midpoint_z": 0.021220299929989306, + "finger_midpoint_minus_object_z": 0.021220299929989306, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0174136567318115, + "object_top_z": 1.0709899292865452, + "finger_top_clearance": 0.032355972624744433, + "fingertip_min_top_clearance": 0.016072881766420105, + "object_projection_between_fingers": 0.8003228366956948, + "object_to_finger_line_xy": 0.011165933496857317, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05301152314920694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.904984610956404, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 193, + "max_stable_success_frames": 193, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37505265115716646, + 0.1562717910631292, + 1.210301132589622 + ], + "held_position": [ + 0.3807293684844858, + 0.159354493715027, + 1.1751893722693623 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03570103483152376, + "max_held_gripper_dist": 0.03573991770830853, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035111760320259755, + "max_held_gripper_z_dist": 0.035171732710084225, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08911744689959072, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3807293684844858, + 0.13325531711504698, + 1.1968470229066364 + ], + "held_grasp_finger_b": [ + 0.3742893306982593, + 0.16632303739850962, + 1.1957457334114716 + ], + "held_grasp_midpoint": [ + 0.37750934959137256, + 0.14978917725677832, + 1.196296378159054 + ], + "held_grasp_object_position": [ + 0.3807293684844858, + 0.159354493715027, + 1.1751893722693623 + ], + "held_grasp_finger_gap": 0.03370698814764546, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03216013306892901, + "held_grasp_world_z_skew": 0.0011012894951647478, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10986533757134563, + -0.9917516366247068, + 0.06601741325249055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020522557231297398, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03848663342477315, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33690014189779965, + 0.16248002616557922, + 0.7611087954687061 + ], + "target_position": [ + 0.34732924925034964, + 0.16187063594841994, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010446896027422764, + "xy_threshold": 0.08, + "gripper_dist": 0.2088628651596605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611087954687061, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522266089405899, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09062165295208317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18052152696851984, + "release_required_pad_clearance": 0.05531082647604159, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.724631568345726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 200, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a684dd876d176da8487ac1aad92223cfc8cd0358048ef0c932cd0927d791f84f", + "visual_seed": 993410337343188289, + "episode_index": 200, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_201_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_201_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6cc2f7b0135d70212604e5ddb23e45ec8b8ba24c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_201_success.json @@ -0,0 +1,684 @@ +{ + "episode": 201, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3807361920541525, + 0.1609147066419101, + 1.0183173615274446 + ], + "current_z": 1.0183173615274446, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.15721091311732316, + "gripper_z": 1.054045610767215, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37529803227884284, + 0.1551703463603653, + 1.054045610767215 + ], + "object_minus_gripper": [ + 0.005438159775309648, + 0.005744360281544791, + -0.03572824923977036 + ], + "object_to_gripper_xy": 0.007910199541477146, + "object_to_gripper_z": -0.03572824923977036, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3807361920541525, + 0.1352045162654237, + 1.0404647980242117 + ], + "finger_b": [ + 0.3688037928587032, + 0.1609147066419101, + 1.040565023816895 + ], + "finger_midpoint": [ + 0.37476999245642784, + 0.14805961145366692, + 1.0405149109205534 + ], + "object_minus_finger_midpoint": [ + 0.005966199597724653, + 0.012855095188243182, + -0.022197549393108806 + ], + "finger_gap": 0.028344418938553877, + "fingertip_max_gap": 0.10216954935126274, + "finger_z_skew": 0.00010022579268342824, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014172120869463498, + "object_to_finger_midpoint_z": 0.022197549393108806, + "finger_midpoint_minus_object_z": 0.022197549393108806, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0183173615274446, + "object_top_z": 1.0716288413319097, + "finger_top_clearance": 0.03111393041135635, + "fingertip_min_top_clearance": 0.015993443941339548, + "object_projection_between_fingers": 0.8227746422511284, + "object_to_finger_line_xy": 0.010823512507018586, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05358477467563137, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.6559123314076505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 200, + "max_stable_success_frames": 200, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3848076537264105, + 0.14573193149989574, + 1.2112131444478789 + ], + "held_position": [ + 0.3897518226592023, + 0.14799317545759672, + 1.1749258829949873 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0366922794934129, + "max_held_gripper_dist": 0.03672054530010756, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03628726145289152, + "max_held_gripper_z_dist": 0.03632424982814619, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09040154405508748, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3897518226592023, + 0.12070228008821378, + 1.1979654965518087 + ], + "held_grasp_finger_b": [ + 0.38854048250288253, + 0.1636719404972412, + 1.1956245889264019 + ], + "held_grasp_midpoint": [ + 0.3891461525810424, + 0.1421871102927275, + 1.1967950427391054 + ], + "held_grasp_object_position": [ + 0.3897518226592023, + 0.14799317545759672, + 1.1749258829949873 + ], + "held_grasp_finger_gap": 0.043050422868447416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04141067735394437, + "held_grasp_world_z_skew": 0.0023409076254068406, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.24561625303949275, + -0.9668090179433085, + 0.07037740451547814 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021424977515481117, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.042419036793031835, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34491529380444624, + 0.16178971647491916, + 0.7611064977532143 + ], + "target_position": [ + 0.35408343014890437, + 0.16139248966607522, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009176737610296934, + "xy_threshold": 0.08, + "gripper_dist": 0.20793525058152443, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064977532143, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523042964377476, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08912797632528478, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17971629524990376, + "release_required_pad_clearance": 0.05456398816264239, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.163366114898655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 201, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "674c5cbff0b1304d3576162c977d523e18deb8c502de5d0b0873d973bb63133d", + "visual_seed": 3486852601756054040, + "episode_index": 201, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_203_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_203_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f97a52344bbcbe1c7f8116bb1b6bf5f21d55e21d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_203_success.json @@ -0,0 +1,684 @@ +{ + "episode": 203, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3714826150205497, + 0.1604418530658288, + 1.054356078414762 + ], + "current_z": 1.054356078414762, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19324957039999613, + "gripper_z": 1.0549550763272515, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3663567949283405, + 0.15553419849070316, + 1.0549550763272515 + ], + "object_minus_gripper": [ + 0.005125820092209188, + 0.004907654575125653, + -0.0005989979124894074 + ], + "object_to_gripper_xy": 0.007096414943226415, + "object_to_gripper_z": -0.0005989979124894074, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3714826150205497, + 0.1360107570461919, + 1.054356078414762 + ], + "finger_b": [ + 0.3595142260000506, + 0.1604418530658288, + 1.054356078414762 + ], + "finger_midpoint": [ + 0.3654984205103001, + 0.14822630505601037, + 1.054356078414762 + ], + "object_minus_finger_midpoint": [ + 0.005984194510249563, + 0.012215548009818444, + 0.0 + ], + "finger_gap": 0.027205161063054224, + "fingertip_max_gap": 0.09273615413247624, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01360258053152711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.054356078414762, + "object_top_z": 1.1052024943472154, + "finger_top_clearance": 0.050846415932453315, + "fingertip_min_top_clearance": 0.015253924779735993, + "object_projection_between_fingers": 0.806460866958281, + "object_to_finger_line_xy": 0.010747992290230319, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04886807706623812, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.064301904211851, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3724399475459157, + 0.157515469868597, + 1.243697384833304 + ], + "held_position": [ + 0.37797489002589685, + 0.16192412888822047, + 1.2428857469746255 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007122542988402912, + "max_held_gripper_dist": 0.007127265329208386, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008116378586784379, + "max_held_gripper_z_dist": 0.0008919821216051282, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08825788010998739, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37797489002589685, + 0.1362990539169449, + 1.2428857469746255 + ], + "held_grasp_finger_b": [ + 0.36843615969195137, + 0.16192412888822047, + 1.2428857469746255 + ], + "held_grasp_midpoint": [ + 0.3732055248589241, + 0.14911159140258268, + 1.2428857469746255 + ], + "held_grasp_object_position": [ + 0.37797489002589685, + 0.16192412888822047, + 1.2428857469746255 + ], + "held_grasp_finger_gap": 0.027342857269627558, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482229057132256, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07565203213626992, + -0.9968327871711158, + 0.024518655230618358 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037997793409534513, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03658748045067093, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33545064614969866, + 0.1552567783420047, + 0.761110058919037 + ], + "target_position": [ + 0.3470419837321176, + 0.1577097514462116, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011848045577206392, + "xy_threshold": 0.08, + "gripper_dist": 0.2066787830046294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110058919037, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553036780221808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08984363503534058, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17724186055173588, + "release_required_pad_clearance": 0.05492181751767029, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.896645397063567, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 203, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c9ab1ab124cbce56a264c3c4e70f70d484ae3439d6dc6aa462b8413900b49bf", + "visual_seed": 2878549570527027836, + "episode_index": 203, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_204_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_204_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6ea3c47c4849f04c5d52f150707b9c2fe4b553 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_204_success.json @@ -0,0 +1,684 @@ +{ + "episode": 204, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3798423094096603, + 0.16524880436467632, + 1.055399979544886 + ], + "current_z": 1.055399979544886, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.19429347153012033, + "gripper_z": 1.0557031817868527, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3744818333059825, + 0.16020596936493034, + 1.0557031817868527 + ], + "object_minus_gripper": [ + 0.0053604761036777915, + 0.0050428349997459765, + -0.00030320224196667134 + ], + "object_to_gripper_xy": 0.007359679944995139, + "object_to_gripper_z": -0.00030320224196667134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3798423094096603, + 0.14066870010574117, + 1.055399979544886 + ], + "finger_b": [ + 0.36765896008108956, + 0.16524880436467632, + 1.055399979544886 + ], + "finger_midpoint": [ + 0.37375063474537495, + 0.15295875223520874, + 1.055399979544886 + ], + "object_minus_finger_midpoint": [ + 0.00609167466428534, + 0.012290052129467571, + 0.0 + ], + "finger_gap": 0.027433839072249923, + "fingertip_max_gap": 0.09285111738132043, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371691953612495, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.055399979544886, + "object_top_z": 1.1064287035091818, + "finger_top_clearance": 0.0510287239642957, + "fingertip_min_top_clearance": 0.015308617189288708, + "object_projection_between_fingers": 0.802775792305093, + "object_to_finger_line_xy": 0.010916007633150268, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892555869066022, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0391286557010253, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 226, + "max_stable_success_frames": 226, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38065317834457524, + 0.16245955966744952, + 1.245769456385701 + ], + "held_position": [ + 0.38642273550403483, + 0.16701028967473636, + 1.2452679507851516 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007365354117954862, + "max_held_gripper_dist": 0.007368318590829233, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005015056005492902, + "max_held_gripper_z_dist": 0.0005950553396774083, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08822045701276188, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38642273550403483, + 0.14130418299129177, + 1.2452679507851516 + ], + "held_grasp_finger_b": [ + 0.3765346612815328, + 0.16701028967473636, + 1.2452679507851516 + ], + "held_grasp_midpoint": [ + 0.3814786983927838, + 0.15415723633301406, + 1.2452679507851516 + ], + "held_grasp_object_position": [ + 0.38642273550403483, + 0.16701028967473636, + 1.2452679507851516 + ], + "held_grasp_finger_gap": 0.027542293525600656, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024889956847898766, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07446745778620506, + -0.9968952869145997, + 0.02558094326481775 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003987146143077913, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653893189639465, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34508002070036087, + 0.16475721995590792, + 0.7611158006199187 + ], + "target_position": [ + 0.35519661752182574, + 0.16312329889729735, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010247693851488942, + "xy_threshold": 0.08, + "gripper_dist": 0.208012014439991, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611158006199187, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568163651658759, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09403463358185248, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17922275124429868, + "release_required_pad_clearance": 0.05701731679092624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.515597150259515, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 204, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d3bbbd0e5b844252d8701ba8717c990179398651e946e8c812891934bd096654", + "visual_seed": 6872402401398195724, + "episode_index": 204, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_207_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_207_success.json new file mode 100644 index 0000000000000000000000000000000000000000..369f93df62163e81713adbbecfd19e667bc8feed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_207_success.json @@ -0,0 +1,684 @@ +{ + "episode": 207, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3734369014319157, + 0.16149859115590887, + 1.0541031604477196 + ], + "current_z": 1.0541031604477196, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1929966524329536, + "gripper_z": 1.0544753517810546, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3681563278556718, + 0.1565498645174206, + 1.0544753517810546 + ], + "object_minus_gripper": [ + 0.0052805735762438966, + 0.004948726638488277, + -0.00037219133333499244 + ], + "object_to_gripper_xy": 0.007237012687332304, + "object_to_gripper_z": -0.00037219133333499244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3734369014319157, + 0.13691320577296373, + 1.0541031604477196 + ], + "finger_b": [ + 0.3614617615134554, + 0.16149859115590887, + 1.0541031604477196 + ], + "finger_midpoint": [ + 0.36744933147268555, + 0.1492058984644363, + 1.0541031604477196 + ], + "object_minus_finger_midpoint": [ + 0.005987569959230166, + 0.012292692691472568, + 0.0 + ], + "finger_gap": 0.02734675758649706, + "fingertip_max_gap": 0.09278195491914396, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367337879324853, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0541031604477196, + "object_top_z": 1.105129463373123, + "finger_top_clearance": 0.051026302925403444, + "fingertip_min_top_clearance": 0.015307890877621032, + "object_projection_between_fingers": 0.8082437574518563, + "object_to_finger_line_xy": 0.010765935558495917, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889097745957198, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9850119124238204, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3742102955367188, + 0.1587021945428252, + 1.2431173987537192 + ], + "held_position": [ + 0.3798751961314705, + 0.16318228998844914, + 1.2425247784630835 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007246623541980907, + "max_held_gripper_dist": 0.007250090681909374, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005926202906356703, + "max_held_gripper_z_dist": 0.0006790608123861119, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0881471849663662, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3798751961314705, + 0.13750759174721586, + 1.2425247784630835 + ], + "held_grasp_finger_b": [ + 0.37018254025937525, + 0.16318228998844914, + 1.2425247784630835 + ], + "held_grasp_midpoint": [ + 0.3750288681954229, + 0.1503449408678325, + 1.2425247784630835 + ], + "held_grasp_object_position": [ + 0.3798751961314705, + 0.16318228998844914, + 1.2425247784630835 + ], + "held_grasp_finger_gap": 0.027443354525882042, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024893600077373172, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07271566206765986, + -0.9970285814380406, + 0.025425189983758312 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003914030636885167, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03656864214247507, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.335810790895766, + 0.16980348645498156, + 0.7611099000622084 + ], + "target_position": [ + 0.34886631960719144, + 0.16004313326828612, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016300654105399888, + "xy_threshold": 0.08, + "gripper_dist": 0.20619079758322834, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611099000622084, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514484131951105, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580563209220786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1804455941176531, + "release_required_pad_clearance": 0.05290281604610393, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8298561366855737, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 207, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0572e8f95b4d3c8c1711544f400df565fe19255855287ec9086b794d2401e2ef", + "visual_seed": 5375444828339492294, + "episode_index": 207, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_208_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_208_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9400add8fee75fefd97d4e7bc29f152351117880 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_208_success.json @@ -0,0 +1,684 @@ +{ + "episode": 208, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3714263989099005, + 0.1633476274449103, + 1.018047488085382 + ], + "current_z": 1.018047488085382, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.15694103967526085, + "gripper_z": 1.0537664503920263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3660225441051115, + 0.15765235492985447, + 1.0537664503920263 + ], + "object_minus_gripper": [ + 0.005403854804788999, + 0.0056952725150558325, + -0.035718962306644286 + ], + "object_to_gripper_xy": 0.007850972918816593, + "object_to_gripper_z": -0.035718962306644286, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3714263989099005, + 0.13788565370808456, + 1.040190197898209 + ], + "finger_b": [ + 0.35939350442287626, + 0.1633476274449103, + 1.0402902382639363 + ], + "finger_midpoint": [ + 0.36540995166638834, + 0.15061664057649743, + 1.0402402180810726 + ], + "object_minus_finger_midpoint": [ + 0.006016447243512135, + 0.012730986868412869, + -0.022192729995690552 + ], + "finger_gap": 0.028162256024428088, + "fingertip_max_gap": 0.10190849114439218, + "finger_z_skew": 0.00010004036572719421, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014081039168955737, + "object_to_finger_midpoint_z": 0.022192729995690552, + "finger_midpoint_minus_object_z": 0.022192729995690552, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.018047488085382, + "object_top_z": 1.0712201548330766, + "finger_top_clearance": 0.030979936752004056, + "fingertip_min_top_clearance": 0.015951800024308366, + "object_projection_between_fingers": 0.8174378202067921, + "object_to_finger_line_xy": 0.010879212809878393, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.053454245572196094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.699738042678128, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 193, + "max_stable_success_frames": 193, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3737463061722524, + 0.15425587553201872, + 1.2080607485933574 + ], + "held_position": [ + 0.3789411459513764, + 0.15804515078390205, + 1.1719668130981544 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.036662203245265826, + "max_held_gripper_dist": 0.03669130155429287, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03609393549520301, + "max_held_gripper_z_dist": 0.03612911317506007, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08893703884063714, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3789411459513764, + 0.13123627250508377, + 1.194498558830864 + ], + "held_grasp_finger_b": [ + 0.3730447190667603, + 0.1642865258124644, + 1.1936174661201346 + ], + "held_grasp_midpoint": [ + 0.37599293250906834, + 0.14776139915877406, + 1.1940580124754994 + ], + "held_grasp_object_position": [ + 0.3789411459513764, + 0.15804515078390205, + 1.1719668130981544 + ], + "held_grasp_finger_gap": 0.03358367785178609, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03213675159145243, + "held_grasp_world_z_skew": 0.0008810927107294475, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.11719424027045924, + -0.9920411700201821, + 0.04604157938665887 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.02165017763676141, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03815571773130118, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.4103083860454652, + 0.17021047593969596, + 0.7414671036352718 + ], + "target_position": [ + 0.3458704809979097, + 0.16114522768456682, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.06507243911860769, + "xy_threshold": 0.08, + "gripper_dist": 0.2744965293923694, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7414671036352718, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570277478177485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.11383825084899056, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.2424931924857102, + "release_required_pad_clearance": 0.06691912542449528, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5868421342561174, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 479, + "max_placed_release_frames": 479 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 208, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "51e40a52170427fb0c62459ae3914353c4a53b3c655f24d652ec588be9fe2b40", + "visual_seed": 3993633786537390696, + "episode_index": 208, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_209_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_209_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb6a516f35ef6d890f493fd459b3880898ab45d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_209_success.json @@ -0,0 +1,684 @@ +{ + "episode": 209, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37586688830037013, + 0.1607590621206402, + 1.0168274445107783 + ], + "current_z": 1.0168274445107783, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.15572099610065704, + "gripper_z": 1.0515949848578556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3710535356588091, + 0.15573405653004252, + 1.0515949848578556 + ], + "object_minus_gripper": [ + 0.0048133526415610195, + 0.005025005590597681, + -0.0347675403470773 + ], + "object_to_gripper_xy": 0.006958379469212669, + "object_to_gripper_z": -0.0347675403470773, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37586688830037013, + 0.1359162045857994, + 1.0380169106204296 + ], + "finger_b": [ + 0.36443296065724184, + 0.1607590621206402, + 1.0381173222531375 + ], + "finger_midpoint": [ + 0.370149924478806, + 0.1483376333532198, + 1.0380671164367836 + ], + "object_minus_finger_midpoint": [ + 0.005716963821564114, + 0.01242142876742039, + -0.021239671926005288 + ], + "finger_gap": 0.02734798629407059, + "fingertip_max_gap": 0.1029882369790939, + "finger_z_skew": 0.00010041163270790854, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367390097818365, + "object_to_finger_midpoint_z": 0.021239671926005288, + "finger_midpoint_minus_object_z": 0.021239671926005288, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0168274445107783, + "object_top_z": 1.0704073132555565, + "finger_top_clearance": 0.03234019681877287, + "fingertip_min_top_clearance": 0.016073960623433445, + "object_projection_between_fingers": 0.8251981491835317, + "object_to_finger_line_xy": 0.01038662763300359, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05399411848954695, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.284971863087109, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 195, + "max_stable_success_frames": 195, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37957290284347006, + 0.1499215703423699, + 1.208857031485983 + ], + "held_position": [ + 0.3839021991530213, + 0.15247332058055743, + 1.1736537557102984 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.035560158339817426, + "max_held_gripper_dist": 0.03558337933601888, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035203275775684606, + "max_held_gripper_z_dist": 0.035229801975902975, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08965557126633444, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3839021991530213, + 0.12596693747993076, + 1.1954394791259149 + ], + "held_grasp_finger_b": [ + 0.3807930431482821, + 0.16344487756006643, + 1.1939024836192305 + ], + "held_grasp_midpoint": [ + 0.3823476211506517, + 0.1447059075199986, + 1.1946709813725727 + ], + "held_grasp_object_position": [ + 0.3839021991530213, + 0.15247332058055743, + 1.1736537557102984 + ], + "held_grasp_finger_gap": 0.03763808176434624, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03664206516032114, + "held_grasp_world_z_skew": 0.001536995506684402, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.1455272312595095, + -0.9869327208197818, + 0.06917824468143209 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.02042361227289111, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04037416775265515, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3449645459093112, + 0.16046104887390308, + 0.7611155323405414 + ], + "target_position": [ + 0.35046474224705715, + 0.16017750030669287, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0055075002990214155, + "xy_threshold": 0.08, + "gripper_dist": 0.21056249771759672, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611155323405414, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553666286228848, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08813049857261322, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18122853527373367, + "release_required_pad_clearance": 0.05406524928630661, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1009540091392234, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 209, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd880a5253865eeb0e22cc524dab0c56b3a7b103ddbe1e0ef190a7fb558e3e9f", + "visual_seed": 4775866498931888535, + "episode_index": 209, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_211_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_211_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c036e0132fcad12ba7146141aac56de16f32923c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_211_success.json @@ -0,0 +1,684 @@ +{ + "episode": 211, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3787353381022056, + 0.16141142916011106, + 1.0533945718508724 + ], + "current_z": 1.0533945718508724, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1922878850221721, + "gripper_z": 1.0536367245824865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37366447707652306, + 0.15648661129569907, + 1.0536367245824865 + ], + "object_minus_gripper": [ + 0.005070861025682549, + 0.0049248178644119844, + -0.00024215273161409812 + ], + "object_to_gripper_xy": 0.007068766691539458, + "object_to_gripper_z": -0.00024215273161409812, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3787353381022056, + 0.13707682521586492, + 1.0533945718508724 + ], + "finger_b": [ + 0.36666896788483083, + 0.16141142916011106, + 1.0533945718508724 + ], + "finger_midpoint": [ + 0.3727021529935182, + 0.149244127187988, + 1.0533945718508724 + ], + "object_minus_finger_midpoint": [ + 0.006033185108687389, + 0.012167301972123068, + 0.0 + ], + "finger_gap": 0.02716192628194968, + "fingertip_max_gap": 0.09482849775742322, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01358096314097484, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0533945718508724, + "object_top_z": 1.1058221742947087, + "finger_top_clearance": 0.052427602443836374, + "fingertip_min_top_clearance": 0.015728280733150912, + "object_projection_between_fingers": 0.8026522588498542, + "object_to_finger_line_xy": 0.010810365113154467, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04991424887871161, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6732615652794118, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37983603623402845, + 0.15845182925900447, + 1.243061823205404 + ], + "held_position": [ + 0.3853543698207285, + 0.16285767776761467, + 1.2426184707106451 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007075313992292756, + "max_held_gripper_dist": 0.007078569093511625, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0004433524947589085, + "max_held_gripper_z_dist": 0.0005294247280012154, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08831930114654116, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3853543698207285, + 0.13722752109930988, + 1.2426184707106451 + ], + "held_grasp_finger_b": [ + 0.3758343269858205, + 0.16285767776761467, + 1.2426184707106451 + ], + "held_grasp_midpoint": [ + 0.3805943484032745, + 0.15004259943346226, + 1.2426184707106451 + ], + "held_grasp_object_position": [ + 0.3853543698207285, + 0.16285767776761467, + 1.2426184707106451 + ], + "held_grasp_finger_gap": 0.027341107263977666, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024642237748942357, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09038230514931941, + -0.9950263471084896, + 0.04187609671197779 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036235965798216206, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03653868777908463, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3396696369815756, + 0.16024672977146306, + 0.7611063481036295 + ], + "target_position": [ + 0.3543449833481036, + 0.1573258117902013, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014963206635972956, + "xy_threshold": 0.08, + "gripper_dist": 0.20310240689970505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063481036295, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539824854375622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581206566697756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17567373437461523, + "release_required_pad_clearance": 0.052906032833488784, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8513324183086153, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 211, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09d6702b71ab47c22be4d3a7768c0b1a71cb45fdf6d398dadcd4c9d6f87af9ba", + "visual_seed": 6727700174317044533, + "episode_index": 211, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_215_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_215_success.json new file mode 100644 index 0000000000000000000000000000000000000000..07642515085e3aef7a0c1be45e2083943d11c2dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_215_success.json @@ -0,0 +1,684 @@ +{ + "episode": 215, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3792549270066391, + 0.16500488514205003, + 1.0531184974493812 + ], + "current_z": 1.0531184974493812, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.19201204903925995, + "gripper_z": 1.0534619406127372, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37390143714936086, + 0.15997782882618714, + 1.0534619406127372 + ], + "object_minus_gripper": [ + 0.0053534898572782375, + 0.005027056315862893, + -0.00034344316335599423 + ], + "object_to_gripper_xy": 0.007343783007063728, + "object_to_gripper_z": -0.00034344316335599423, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3792549270066391, + 0.14041392100038477, + 1.0531184974493812 + ], + "finger_b": [ + 0.36711072132001066, + 0.16500488514205003, + 1.0531184974493812 + ], + "finger_midpoint": [ + 0.3731828241633249, + 0.1527094030712174, + 1.0531184974493812 + ], + "object_minus_finger_midpoint": [ + 0.00607210284331422, + 0.012295482070832642, + 0.0 + ], + "finger_gap": 0.027426214634466147, + "fingertip_max_gap": 0.09265738313279001, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013713107317233086, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0531184974493812, + "object_top_z": 1.1042257725606617, + "finger_top_clearance": 0.05110727511128044, + "fingertip_min_top_clearance": 0.01533218253338413, + "object_projection_between_fingers": 0.8039321043506383, + "object_to_finger_line_xy": 0.010888769396327625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04882869156639501, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.897592053790272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3801127171068177, + 0.16204568903529581, + 1.2445945509743768 + ], + "held_position": [ + 0.3858897654605956, + 0.16656179002001026, + 1.2440725754812436 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007351320575342797, + "max_held_gripper_dist": 0.007357441997477965, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005219754931331533, + "max_held_gripper_z_dist": 0.0006136792626665333, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08805873477751883, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3858897654605956, + 0.14082186044278783, + 1.2440725754812436 + ], + "held_grasp_finger_b": [ + 0.3760734341514677, + 0.16656179002001026, + 1.2440725754812436 + ], + "held_grasp_midpoint": [ + 0.38098159980603163, + 0.15369182523139904, + 1.2440725754812436 + ], + "held_grasp_object_position": [ + 0.3858897654605956, + 0.16656179002001026, + 1.2440725754812436 + ], + "held_grasp_finger_gap": 0.02754821836364259, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024822654073578036, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0833247710332518, + -0.9961409395225125, + 0.02757192665488617 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038356855011254707, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649097947458642, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33913746737008543, + 0.1624979610982898, + 0.7611064749668419 + ], + "target_position": [ + 0.35459893623704336, + 0.16093132451932976, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015540636077537008, + "xy_threshold": 0.08, + "gripper_dist": 0.2066344889169623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064749668419, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529761081825205, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09260815260473308, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1788719003435785, + "release_required_pad_clearance": 0.05630407630236654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.91886288049527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 215, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "431334a5343b83ab695b96c0e03e83e6336d3d85a63810f2c57e905fcd53c7de", + "visual_seed": 4997050873514590070, + "episode_index": 215, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_217_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_217_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3548528b8c7b689eda9bc889b5e532134f7439 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_217_success.json @@ -0,0 +1,684 @@ +{ + "episode": 217, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3738553953003341, + 0.1525810280547694, + 1.016654534783447 + ], + "current_z": 1.016654534783447, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.15554808637332584, + "gripper_z": 1.0516925012425387, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36793954003622054, + 0.14744379242864414, + 1.0516925012425387 + ], + "object_minus_gripper": [ + 0.00591585526411359, + 0.005137235626125253, + -0.03503796645909163 + ], + "object_to_gripper_xy": 0.007835083495679608, + "object_to_gripper_z": -0.03503796645909163, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3738553953003341, + 0.12751263182617026, + 1.038111738367982 + ], + "finger_b": [ + 0.3613827913585277, + 0.1525810280547694, + 1.0382121550159602 + ], + "finger_midpoint": [ + 0.3676190933294309, + 0.14004682994046982, + 1.0381619466919711 + ], + "object_minus_finger_midpoint": [ + 0.006236301970903246, + 0.012534198114299566, + -0.02150741190852412 + ], + "finger_gap": 0.028000007536898984, + "fingertip_max_gap": 0.10092882406181045, + "finger_z_skew": 0.00010041664797810768, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013999913736905756, + "object_to_finger_midpoint_z": 0.02150741190852412, + "finger_midpoint_minus_object_z": 0.02150741190852412, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.016654534783447, + "object_top_z": 1.0699823028624216, + "finger_top_clearance": 0.031820356170450426, + "fingertip_min_top_clearance": 0.015998330423692347, + "object_projection_between_fingers": 0.8015717267967032, + "object_to_finger_line_xy": 0.01116678943497178, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052964412030905225, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.971215424261802, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 198, + "max_stable_success_frames": 198, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37747179005941656, + 0.13750405608383837, + 1.2100475756531675 + ], + "held_position": [ + 0.3826696327352982, + 0.13887805290914126, + 1.174438386165849 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 6, + "effective_shake_count": 6, + "min_shake_count": 3, + "held_gripper_dist": 0.03601277289661147, + "max_held_gripper_dist": 0.03604328078076661, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035609189487318504, + "max_held_gripper_z_dist": 0.03565485824634074, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09022707378618539, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3826696327352982, + 0.11231380007694941, + 1.1968525550693638 + ], + "held_grasp_finger_b": [ + 0.3816516366972776, + 0.15619989275871957, + 1.1942885309897409 + ], + "held_grasp_midpoint": [ + 0.3821606347162879, + 0.13425684641783447, + 1.1955705430295525 + ], + "held_grasp_object_position": [ + 0.3826696327352982, + 0.13887805290914126, + 1.174438386165849 + ], + "held_grasp_finger_gap": 0.04397271502064925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04217092668757946, + "held_grasp_world_z_skew": 0.002564024079622973, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.2592660885789453, + -0.9617938937967501, + 0.08794089588047471 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020658497586839197, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04328525515281827, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33792401270029426, + 0.1544209005389692, + 0.7611114172626436 + ], + "target_position": [ + 0.34654300533860044, + 0.15465481858157065, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008622166302608097, + "xy_threshold": 0.08, + "gripper_dist": 0.20869435913188758, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611114172626436, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571616428308582, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0906647171126194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792875203018792, + "release_required_pad_clearance": 0.055332358556309705, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.762658407437024, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 217, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a17e9bc5b0f8cde89b4b24f6ef334a471154d1aa45f52927eeb2523ec5262d01", + "visual_seed": 505354429208561708, + "episode_index": 217, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_218_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_218_success.json new file mode 100644 index 0000000000000000000000000000000000000000..278d8f6cd799dabc8d90e7d289cd79d213248a73 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_218_success.json @@ -0,0 +1,684 @@ +{ + "episode": 218, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3790855674045841, + 0.15770003043059402, + 1.0531721107370111 + ], + "current_z": 1.0531721107370111, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.19206536430366583, + "gripper_z": 1.0535945055478275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3737768623315739, + 0.1526452691827182, + 1.0535945055478275 + ], + "object_minus_gripper": [ + 0.005308705073010178, + 0.005054761247875822, + -0.0004223948108164066 + ], + "object_to_gripper_xy": 0.007330276995123113, + "object_to_gripper_z": -0.0004223948108164066, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3790855674045841, + 0.13321669523684485, + 1.0531721107370111 + ], + "finger_b": [ + 0.36680636413576523, + 0.15770003043059402, + 1.0531721107370111 + ], + "finger_midpoint": [ + 0.3729459657701747, + 0.14545836283371943, + 1.0531721107370111 + ], + "object_minus_finger_midpoint": [ + 0.006139601634409408, + 0.01224166759687459, + 0.0 + ], + "finger_gap": 0.027390007943161484, + "fingertip_max_gap": 0.0938526512872491, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01369500397158073, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0531721107370111, + "object_top_z": 1.1047836001020919, + "finger_top_clearance": 0.051611489365080754, + "fingertip_min_top_clearance": 0.015483446809524258, + "object_projection_between_fingers": 0.7990185102791462, + "object_to_finger_line_xy": 0.010976113996262388, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04942632564362455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3427975555478042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3799213491746187, + 0.15446198214694493, + 1.242440614356694 + ], + "held_position": [ + 0.3856807362705784, + 0.15897251958562325, + 1.2417977183133133 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073436232902716544, + "max_held_gripper_dist": 0.0073493295324548805, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006428960433806363, + "max_held_gripper_z_dist": 0.0007276149328991899, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08849239148062742, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3856807362705784, + 0.13322083364139758, + 1.2417977183133133 + ], + "held_grasp_finger_b": [ + 0.37596183938449157, + 0.15897251958562325, + 1.2417977183133133 + ], + "held_grasp_midpoint": [ + 0.380821287827535, + 0.14609667661351042, + 1.2417977183133133 + ], + "held_grasp_object_position": [ + 0.3856807362705784, + 0.15897251958562325, + 1.2417977183133133 + ], + "held_grasp_finger_gap": 0.027524648692624915, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024837839822960315, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08340270256127794, + -0.9959900157498436, + 0.03237093962339255 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003792340114426618, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649074789240087, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3462114497687895, + 0.15674623151524406, + 0.7611103120851238 + ], + "target_position": [ + 0.3544567689413716, + 0.156063437162017, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008273541949283234, + "xy_threshold": 0.08, + "gripper_dist": 0.20980736703309605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611103120851238, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553776712280293, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08895012533857226, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18089889966306522, + "release_required_pad_clearance": 0.05447506266928613, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.963768796024413, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 218, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "49be58637f8c85020955c93d1db171491ce4bdf446693344054f22a5f3d0bc2f", + "visual_seed": 3276682514663631273, + "episode_index": 218, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c00a51211abe0d26065a859c36f7ec995525268 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3726192682525271, + 0.157319425725845, + 1.0546200126462324 + ], + "current_z": 1.0546200126462324, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19351350463146644, + "gripper_z": 1.0552868275126155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3673255297283273, + 0.15224982325954417, + 1.0552868275126155 + ], + "object_minus_gripper": [ + 0.005293738524199787, + 0.005069602466300838, + -0.000666814866383092 + ], + "object_to_gripper_xy": 0.007329702362914914, + "object_to_gripper_z": -0.000666814866383092, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3726192682525271, + 0.13288672738237445, + 1.0546200126462324 + ], + "finger_b": [ + 0.36026368664333813, + 0.157319425725845, + 1.0546200126462324 + ], + "finger_midpoint": [ + 0.36644147744793265, + 0.14510307655410973, + 1.0546200126462324 + ], + "object_minus_finger_midpoint": [ + 0.006177790804594463, + 0.01221634917173528, + 0.0 + ], + "finger_gap": 0.027379137043456247, + "fingertip_max_gap": 0.09291358386992857, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01368956852172811, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0546200126462324, + "object_top_z": 1.105689088184909, + "finger_top_clearance": 0.05106907553867668, + "fingertip_min_top_clearance": 0.015320722661603036, + "object_projection_between_fingers": 0.7963488457143477, + "object_to_finger_line_xy": 0.01102592086216239, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048956791934964286, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1481886134368855, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3734619215290157, + 0.1541125561993303, + 1.245676258908869 + ], + "held_position": [ + 0.37921944342628555, + 0.1586182334047791, + 1.244816548974248 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007361337286725083, + "max_held_gripper_dist": 0.007365429302478053, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008597099346210335, + "max_held_gripper_z_dist": 0.0009421997457996767, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08850278689525637, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37921944342628555, + 0.1328854253545589, + 1.244816548974248 + ], + "held_grasp_finger_b": [ + 0.3694443038587438, + 0.1586182334047791, + 1.244816548974248 + ], + "held_grasp_midpoint": [ + 0.3743318736425147, + 0.14575182937966902, + 1.244816548974248 + ], + "held_grasp_object_position": [ + 0.37921944342628555, + 0.1586182334047791, + 1.244816548974248 + ], + "held_grasp_finger_gap": 0.027526909810481753, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024789245330426174, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08577988993754794, + -0.9959175724871887, + 0.028106926077524633 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037837653609594573, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03648711700865408, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33884227620090224, + 0.15503766064488286, + 0.7611204394330808 + ], + "target_position": [ + 0.34798928715201927, + 0.1550053100133424, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009147068158881071, + "xy_threshold": 0.08, + "gripper_dist": 0.20691984916141362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611204394330808, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549571673136188, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08596218942515114, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1780729586388785, + "release_required_pad_clearance": 0.052981094712575574, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9310909400308834, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 217, + "max_placed_release_frames": 217 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff64425a85ad923b23f7559c717cf378620f1c7f8fef0d9b8b1fad4f5711e328", + "visual_seed": 6503209113729868533, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_221_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_221_success.json new file mode 100644 index 0000000000000000000000000000000000000000..25bbc02f3ed249b07eb8a3e90f85e7edb027b4a3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_221_success.json @@ -0,0 +1,684 @@ +{ + "episode": 221, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37443778737475536, + 0.16202049959639495, + 1.051466333242276 + ], + "current_z": 1.051466333242276, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.19035970601822028, + "gripper_z": 1.0520403148743316, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3691751629319073, + 0.15700712798814043, + 1.0520403148743316 + ], + "object_minus_gripper": [ + 0.005262624442848085, + 0.005013371608254519, + -0.0005739816320555757 + ], + "object_to_gripper_xy": 0.007268363702300169, + "object_to_gripper_z": -0.0005739816320555757, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37443778737475536, + 0.13753721935007213, + 1.051466333242276 + ], + "finger_b": [ + 0.36225340737597467, + 0.16202049959639495, + 1.051466333242276 + ], + "finger_midpoint": [ + 0.368345597375365, + 0.14977885947323355, + 1.051466333242276 + ], + "object_minus_finger_midpoint": [ + 0.006092189999390374, + 0.012241640123161396, + 0.0 + ], + "finger_gap": 0.02734757992171644, + "fingertip_max_gap": 0.09324837311771514, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367378996085822, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051466333242276, + "object_top_z": 1.1028710387132903, + "finger_top_clearance": 0.05140470547101428, + "fingertip_min_top_clearance": 0.015421411641304249, + "object_projection_between_fingers": 0.8014960881538512, + "object_to_finger_line_xy": 0.01090822628516938, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912418655885757, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1779517570244349, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37532935959851293, + 0.15893066660872726, + 1.2401398395766747 + ], + "held_position": [ + 0.38103680533236767, + 0.16339935081381238, + 1.2393305687845477 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007293764086167283, + "max_held_gripper_dist": 0.007297994760860425, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008092707921270037, + "max_held_gripper_z_dist": 0.0008945705783420799, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0888435538773669, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38103680533236767, + 0.13764466234509695, + 1.2393305687845477 + ], + "held_grasp_finger_b": [ + 0.37146569725949774, + 0.16339935081381238, + 1.2393305687845477 + ], + "held_grasp_midpoint": [ + 0.37625125129593273, + 0.15052200657945466, + 1.2393305687845477 + ], + "held_grasp_object_position": [ + 0.38103680533236767, + 0.16339935081381238, + 1.2393305687845477 + ], + "held_grasp_finger_gap": 0.027475627160506076, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024808899447919072, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0872279523807959, + -0.9956931778957706, + 0.0314066842451609 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003667149295314532, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036480932186923776, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3406953603965865, + 0.15883653814277304, + 0.761109591363098 + ], + "target_position": [ + 0.3498390669554802, + 0.16031713714572438, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009262804275309764, + "xy_threshold": 0.08, + "gripper_dist": 0.21019865563568352, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761109591363098, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517562751600569, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531409834171187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1814823731815524, + "release_required_pad_clearance": 0.05265704917085594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36036146426534865, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 201, + "max_placed_release_frames": 201 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 221, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "986bca5dc508ca58a130b7dd0161a3f775785f1c454268d40cb32c48eb1b15ff", + "visual_seed": 3076466779972449043, + "episode_index": 221, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a562aef9dedf7f5ad2fd557b15a7cd17c8e76b23 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_22_success.json @@ -0,0 +1,684 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.373996541634667, + 0.1639382394948564, + 1.0530040772799252 + ], + "current_z": 1.0530040772799252, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19189756926515922, + "gripper_z": 1.0537203606418921, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3687313672195664, + 0.15888205595514404, + 1.0537203606418921 + ], + "object_minus_gripper": [ + 0.005265174415100604, + 0.00505618353971235, + -0.0007162833619669406 + ], + "object_to_gripper_xy": 0.007299798189586346, + "object_to_gripper_z": -0.0007162833619669406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.373996541634667, + 0.13952063056372682, + 1.0530040772799252 + ], + "finger_b": [ + 0.3616699785270029, + 0.1639382394948564, + 1.0530040772799252 + ], + "finger_midpoint": [ + 0.36783326008083495, + 0.1517294350292916, + 1.0530040772799252 + ], + "object_minus_finger_midpoint": [ + 0.006163281553832056, + 0.012208804465564799, + 0.0 + ], + "finger_gap": 0.027352582765815817, + "fingertip_max_gap": 0.09612422540883234, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367629138290792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0530040772799252, + "object_top_z": 1.106071673678701, + "finger_top_clearance": 0.053067596398775896, + "fingertip_min_top_clearance": 0.01592027891963275, + "object_projection_between_fingers": 0.7969105678400679, + "object_to_finger_line_xy": 0.011003904092157254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05056211270441617, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.174828061474416, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37491057956892404, + 0.16096268576321043, + 1.2455888347680117 + ], + "held_position": [ + 0.38064092692057544, + 0.16546178554805632, + 1.2446940240044548 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073402633431748085, + "max_held_gripper_dist": 0.0073455642125758525, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000894810763556908, + "max_held_gripper_z_dist": 0.0009836208278808378, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08807108192289861, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38064092692057544, + 0.13974898476845302, + 1.2446940240044548 + ], + "held_grasp_finger_b": [ + 0.3708540544901983, + 0.16546178554805632, + 1.2446940240044548 + ], + "held_grasp_midpoint": [ + 0.3757474907053869, + 0.15260538515825467, + 1.2446940240044548 + ], + "held_grasp_object_position": [ + 0.38064092692057544, + 0.16546178554805632, + 1.2446940240044548 + ], + "held_grasp_finger_gap": 0.027512378957481015, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024718041043291773, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08808216746017622, + -0.9948387263944833, + 0.05037301104083258 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003799483038855503, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036499180612125315, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33658072048400217, + 0.16484983146279333, + 0.7611141762684357 + ], + "target_position": [ + 0.3494062376992851, + 0.16098277383274318, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01339582123476002, + "xy_threshold": 0.08, + "gripper_dist": 0.2060581672600597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611141762684357, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539419604396524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595290836644469, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782923382774528, + "release_required_pad_clearance": 0.052976454183222346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9714946806866948, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9cfe89154ae1660620eb519fe46163725e86158a860592c79baa586b8896fa5", + "visual_seed": 5653860866575814818, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9ce1f73c266c227f8e9744bfcdd1d781bfb2ae9b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3811224928625234, + 0.15934530556647708, + 1.0179825015767237 + ], + "current_z": 1.0179825015767237, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.15687575514337837, + "gripper_z": 1.052938202592734, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3749777737069806, + 0.1536631102198693, + 1.052938202592734 + ], + "object_minus_gripper": [ + 0.0061447191555428216, + 0.005682195346607771, + -0.03495570101601042 + ], + "object_to_gripper_xy": 0.008369284166373244, + "object_to_gripper_z": -0.03495570101601042, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3811224928625234, + 0.13373634288305378, + 1.0393617295648112 + ], + "finger_b": [ + 0.36859313593886833, + 0.15934530556647708, + 1.0394629249797973 + ], + "finger_midpoint": [ + 0.3748578144006959, + 0.14654082422476544, + 1.0394123272723044 + ], + "object_minus_finger_midpoint": [ + 0.006264678461827544, + 0.012804481341711638, + -0.021429825695580718 + ], + "finger_gap": 0.02850989293479239, + "fingertip_max_gap": 0.09959869859651391, + "finger_z_skew": 0.00010119541498609941, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014254856669231276, + "object_to_finger_midpoint_z": 0.021429825695580718, + "finger_midpoint_minus_object_z": 0.021429825695580718, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0179825015767237, + "object_top_z": 1.0711424692910367, + "finger_top_clearance": 0.031730142018732366, + "fingertip_min_top_clearance": 0.01594799031429391, + "object_projection_between_fingers": 0.8068601627097295, + "object_to_finger_line_xy": 0.011254544375663582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052299349298256956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.47678603257417, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 193, + "max_stable_success_frames": 193, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.382067303985869, + 0.1518345334770323, + 1.2105548907190122 + ], + "held_position": [ + 0.3878622727166598, + 0.15568990467566582, + 1.1752379834100983 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03599624274193783, + "max_held_gripper_dist": 0.036046169926675524, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0353169073089139, + "max_held_gripper_z_dist": 0.0353836430715484, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08920507810524125, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3878622727166598, + 0.12928443231247852, + 1.197017700945009 + ], + "held_grasp_finger_b": [ + 0.38041518576143535, + 0.16023494468393193, + 1.1962604554449796 + ], + "held_grasp_midpoint": [ + 0.38413872923904757, + 0.14475968849820522, + 1.1966390781949943 + ], + "held_grasp_object_position": [ + 0.3878622727166598, + 0.15568990467566582, + 1.1752379834100983 + ], + "held_grasp_finger_gap": 0.03184284442259327, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03009917729664284, + "held_grasp_world_z_skew": 0.0007572455000293132, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0950151936299361, + -0.9940544863249687, + 0.05317697995061631 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.020943832027284167, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03736318084957614, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34570180884618573, + 0.1570680087252271, + 0.7611065985642699 + ], + "target_position": [ + 0.3550970616140146, + 0.1582112257111088, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009464550683904893, + "xy_threshold": 0.08, + "gripper_dist": 0.2085573910322666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065985642699, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557076484959928, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08971155727959211, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1791355906458404, + "release_required_pad_clearance": 0.05485577863979606, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.771130013641044, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f7cde8e7e9772f06a01b6ac7b611e8e229797eac349f91069c68d6c4cb5d8506", + "visual_seed": 7187581091919149665, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da82abedcdf96b16dfe39a5ae1f36465732956c5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37166386822142616, + 0.1642395059549384, + 1.0526132022625512 + ], + "current_z": 1.0526132022625512, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.19150663464314033, + "gripper_z": 1.0533768300137127, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36631042977271244, + 0.1591557153044264, + 1.0533768300137127 + ], + "object_minus_gripper": [ + 0.005353438448713721, + 0.005083790650511982, + -0.0007636277511615663 + ], + "object_to_gripper_xy": 0.0073826980571061835, + "object_to_gripper_z": -0.0007636277511615663, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37166386822142616, + 0.13972422213828212, + 1.0526132022625512 + ], + "finger_b": [ + 0.3593455582842827, + 0.1642395059549384, + 1.0526132022625512 + ], + "finger_midpoint": [ + 0.36550471325285444, + 0.15198186404661024, + 1.0526132022625512 + ], + "object_minus_finger_midpoint": [ + 0.006159154968571723, + 0.012257641908328148, + 0.0 + ], + "finger_gap": 0.02743610577904116, + "fingertip_max_gap": 0.09262968959811083, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013718052889520592, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526132022625512, + "object_top_z": 1.103494302634442, + "finger_top_clearance": 0.05088110037189075, + "fingertip_min_top_clearance": 0.015264330111567193, + "object_projection_between_fingers": 0.7984154159447708, + "object_to_finger_line_xy": 0.011006914271386897, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048814844799055415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9989240997928701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37239474086029595, + 0.16134843684829733, + 1.2423298525782736 + ], + "held_position": [ + 0.3781852890633971, + 0.16589522579128438, + 1.2413574869519033 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074262529647093015, + "max_held_gripper_dist": 0.007434856201461085, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.000972365626370264, + "max_held_gripper_z_dist": 0.0010598134014629945, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08804435929323759, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3781852890633971, + 0.14015769736951167, + 1.2413574869519033 + ], + "held_grasp_finger_b": [ + 0.36834286957653734, + 0.16589522579128438, + 1.2413574869519033 + ], + "held_grasp_midpoint": [ + 0.3732640793199672, + 0.153026461580398, + 1.2413574869519033 + ], + "held_grasp_object_position": [ + 0.3781852890633971, + 0.16589522579128438, + 1.2413574869519033 + ], + "held_grasp_finger_gap": 0.0275552824448757, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024846212989727195, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08111591288144408, + -0.9963889854191226, + 0.025083827715515095 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00387501948857159, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036498766733592716, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3281402112543743, + 0.16816134548400777, + 0.7611083348739218 + ], + "target_position": [ + 0.34699487315630156, + 0.15953553094342177, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02073410118439118, + "xy_threshold": 0.08, + "gripper_dist": 0.20222272585674894, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083348739218, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07592011258711669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08811239773593686, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17541256832053354, + "release_required_pad_clearance": 0.05405619886796843, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1199400317534693, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "369d46e185a3de05b82221811dba633866380e60f967a1a7b0511918531c112e", + "visual_seed": 2544987274547526312, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63ae718f951a9f98ade9af5fe27bcd4256dd1eaf --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3778959762368762, + 0.16522025046474495, + 1.0514842275723923 + ], + "current_z": 1.0514842275723923, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1903777791622714, + "gripper_z": 1.0518046283903173, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3726534777811373, + 0.16018349613124078, + 1.0518046283903173 + ], + "object_minus_gripper": [ + 0.005242498455738931, + 0.005036754333504173, + -0.00032040081792494846 + ], + "object_to_gripper_xy": 0.0072699851632928485, + "object_to_gripper_z": -0.00032040081792494846, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3778959762368762, + 0.140810306452953, + 1.0514842275723923 + ], + "finger_b": [ + 0.3656061087097844, + 0.16522025046474495, + 1.0514842275723923 + ], + "finger_midpoint": [ + 0.3717510424733303, + 0.153015278458849, + 1.0514842275723923 + ], + "object_minus_finger_midpoint": [ + 0.006144933763545912, + 0.012204972005895959, + 0.0 + ], + "finger_gap": 0.027329218987967502, + "fingertip_max_gap": 0.09261494703986459, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366460949398374, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514842275723923, + "object_top_z": 1.1023635278511625, + "finger_top_clearance": 0.05087930027877019, + "fingertip_min_top_clearance": 0.015263790083631056, + "object_projection_between_fingers": 0.7977726168837515, + "object_to_finger_line_xy": 0.010977078356345772, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048807473519932296, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0323082384795215, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3787953307122791, + 0.1620363943287304, + 1.2399077504985092 + ], + "held_position": [ + 0.3845054790662093, + 0.16651511997451104, + 1.2393624754896977 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007277506610735524, + "max_held_gripper_dist": 0.00728032830876409, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005452750088115188, + "max_held_gripper_z_dist": 0.00063521726104665, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08835148568586573, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3845054790662093, + 0.14077807618945526, + 1.2393624754896977 + ], + "held_grasp_finger_b": [ + 0.37487316888403305, + 0.16651511997451104, + 1.2393624754896977 + ], + "held_grasp_midpoint": [ + 0.3796893239751212, + 0.15364659808198317, + 1.2393624754896977 + ], + "held_grasp_object_position": [ + 0.3845054790662093, + 0.16651511997451104, + 1.2393624754896977 + ], + "held_grasp_finger_gap": 0.0274804807497892, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02479536672946476, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08681659993357414, + -0.9959034675097317, + 0.025281641126846503 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003695586686985085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036486322285840596, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3407428268888767, + 0.15755742775766687, + 0.7611341888928806 + ], + "target_position": [ + 0.3533314820521125, + 0.161001780425323, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013051352578106752, + "xy_threshold": 0.08, + "gripper_dist": 0.2067812684226845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611341888928806, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755483551362178, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08895742160422025, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1773118551895224, + "release_required_pad_clearance": 0.05447871080211013, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8623826494480484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d91b632dd6233803cdadc5d268efb0be2a841b52fc661318e881d354ed451d46", + "visual_seed": 2669159149831168551, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d607a50df0d611ff225dc808e25c16aea336ab1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37278043825774665, + 0.15842279299990544, + 1.0516894705848663 + ], + "current_z": 1.0516894705848663, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.190582783756166, + "gripper_z": 1.052365860524644, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3674275773419215, + 0.1533772878975933, + 1.052365860524644 + ], + "object_minus_gripper": [ + 0.005352860915825153, + 0.005045505102312137, + -0.0006763899397776996 + ], + "object_to_gripper_xy": 0.007355966402970197, + "object_to_gripper_z": -0.0006763899397776996, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37278043825774665, + 0.13386509364625898, + 1.0516894705848663 + ], + "finger_b": [ + 0.3605666387381005, + 0.15842279299990544, + 1.0516894705848663 + ], + "finger_midpoint": [ + 0.3666735384979236, + 0.14614394332308223, + 1.0516894705848663 + ], + "object_minus_finger_midpoint": [ + 0.006106899759823037, + 0.012278849676823217, + 0.0 + ], + "finger_gap": 0.02742731296080963, + "fingertip_max_gap": 0.09255858964382771, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371365648040479, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0516894705848663, + "object_top_z": 1.102650790440297, + "finger_top_clearance": 0.05096131985543062, + "fingertip_min_top_clearance": 0.015288395956629185, + "object_projection_between_fingers": 0.8016943673546422, + "object_to_finger_line_xy": 0.010935916945191224, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04877929482191386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9258263017300733, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37339365509912814, + 0.15550554020522628, + 1.2403535031315005 + ], + "held_position": [ + 0.37915865620149797, + 0.16003976188867686, + 1.2394522455233823 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007389632552515022, + "max_held_gripper_dist": 0.007394439931160747, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009012576081182111, + "max_held_gripper_z_dist": 0.0009849917585922352, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882001140782488, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37915865620149797, + 0.1343126174006724, + 1.2394522455233823 + ], + "held_grasp_finger_b": [ + 0.3693631278286022, + 0.16003976188867686, + 1.2394522455233823 + ], + "held_grasp_midpoint": [ + 0.3742608920150501, + 0.14717618964467463, + 1.2394522455233823 + ], + "held_grasp_object_position": [ + 0.37915865620149797, + 0.16003976188867686, + 1.2394522455233823 + ], + "held_grasp_finger_gap": 0.02752886375444624, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024854558780164498, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07985280647797639, + -0.9964867738675109, + 0.02525151093917233 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003869008625688669, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651077024850244, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32993095472721046, + 0.15866226005715048, + 0.7611064896871804 + ], + "target_position": [ + 0.3481272379261952, + 0.15697211175516906, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.018274608711005155, + "xy_threshold": 0.08, + "gripper_dist": 0.20541008010612122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064896871804, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580253411205587, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517293493795373, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1772210517539821, + "release_required_pad_clearance": 0.05258646746897687, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23738812823052668, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bec7d4dab9961dbce3b826572bd533cb8ffcaa9e1628cc47c4c37d8ad5de9ade", + "visual_seed": 6448917477670059953, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0fb31cdb2fee9eda9547a4575eb30a8b770d3afa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_34_success.json @@ -0,0 +1,684 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3807319595775587, + 0.15795281074576697, + 1.0183609562954201 + ], + "current_z": 1.0183609562954201, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.15725426946671972, + "gripper_z": 1.051435333550894, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3734343149737238, + 0.15203366339706342, + 1.051435333550894 + ], + "object_minus_gripper": [ + 0.007297644603834863, + 0.005919147348703552, + -0.0330743772554738 + ], + "object_to_gripper_xy": 0.009396378137322081, + "object_to_gripper_z": -0.0330743772554738, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3807319595775587, + 0.13193937397667754, + 1.037853884894755 + ], + "finger_b": [ + 0.3670678006784819, + 0.15795281074576697, + 1.0379529459557013 + ], + "finger_midpoint": [ + 0.3738998801280203, + 0.14494609236122225, + 1.037903415425228 + ], + "object_minus_finger_midpoint": [ + 0.006832079449538397, + 0.01300671838454473, + -0.0195424591298079 + ], + "finger_gap": 0.029383974272593375, + "fingertip_max_gap": 0.09266385830610593, + "finger_z_skew": 9.906106094637046e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014691903645874443, + "object_to_finger_midpoint_z": 0.0195424591298079, + "finger_midpoint_minus_object_z": 0.0195424591298079, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0183609562954201, + "object_top_z": 1.0687803779628764, + "finger_top_clearance": 0.030876962537648378, + "fingertip_min_top_clearance": 0.015125826500236916, + "object_projection_between_fingers": 0.7837532081011119, + "object_to_finger_line_xy": 0.012096857633004486, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883192915305297, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5080726002572757, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 202, + "max_stable_success_frames": 202, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.383346725996339, + 0.14050550647289325, + 1.210193880783157 + ], + "held_position": [ + 0.3900214496841607, + 0.1418385877224757, + 1.1763843701443664 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 6, + "effective_shake_count": 6, + "min_shake_count": 3, + "held_gripper_dist": 0.03448785368156807, + "max_held_gripper_dist": 0.03452333419972061, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03380951063879056, + "max_held_gripper_z_dist": 0.033873234476241576, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09210372582923244, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3900214496841607, + 0.114849752070146, + 1.1970653177547268 + ], + "held_grasp_finger_b": [ + 0.3887750267011831, + 0.161332103021149, + 1.194148192718914 + ], + "held_grasp_midpoint": [ + 0.3893982381926719, + 0.1380909275456475, + 1.1956067552368204 + ], + "held_grasp_object_position": [ + 0.3900214496841607, + 0.1418385877224757, + 1.1763843701443664 + ], + "held_grasp_finger_gap": 0.04659047261682662, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.043292852098337255, + "held_grasp_world_z_skew": 0.002917125035812873, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.34432621651299633, + -0.9361519186329709, + 0.07112694188317557 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.018921504556305126, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0446300532828942, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34145625553869563, + 0.16166806728458943, + 0.7611063762233231 + ], + "target_position": [ + 0.35181431202224944, + 0.15950665752736776, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01058116374767465, + "xy_threshold": 0.08, + "gripper_dist": 0.20907680850595067, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063762233231, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541237286936056, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0864034206376371, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18102138849418842, + "release_required_pad_clearance": 0.053201710318818554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4259853229779025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e2dcecf79f4a68a9affe5849eb5b7046a65c95956bad8d25121cf73f116753d", + "visual_seed": 3176534720880943976, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35bfe854c09553d78bb3543569516f5ead805b1c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37485187583026364, + 0.1526038677166164, + 1.02185248798531 + ], + "current_z": 1.02185248798531, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1607460991798335, + "gripper_z": 1.0549730570761608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3687785054935922, + 0.14715737127780637, + 1.0549730570761608 + ], + "object_minus_gripper": [ + 0.006073370336671435, + 0.005446496438810039, + -0.033120569090850926 + ], + "object_to_gripper_xy": 0.008157827572603563, + "object_to_gripper_z": -0.033120569090850926, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37485187583026364, + 0.1272404292744206, + 1.041392082226129 + ], + "finger_b": [ + 0.36221038001899714, + 0.1526038677166164, + 1.0414933192720708 + ], + "finger_midpoint": [ + 0.3685311279246304, + 0.1399221484955185, + 1.0414427007490998 + ], + "object_minus_finger_midpoint": [ + 0.0063207479056332505, + 0.012681719221097898, + -0.019590212763789916 + ], + "finger_gap": 0.02833940145621984, + "fingertip_max_gap": 0.10046036945037881, + "finger_z_skew": 0.0001012370459418932, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014169610315366158, + "object_to_finger_midpoint_z": 0.019590212763789916, + "finger_midpoint_minus_object_z": 0.019590212763789916, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.02185248798531, + "object_top_z": 1.0749434089673549, + "finger_top_clearance": 0.033500708218255015, + "fingertip_min_top_clearance": 0.015927276294613445, + "object_projection_between_fingers": 0.8010146398355931, + "object_to_finger_line_xy": 0.011314065584380471, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05273018472518941, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 5.004528008768349, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 203, + "max_stable_success_frames": 203, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37839724471272324, + 0.1376952112759001, + 1.2153745105945044 + ], + "held_position": [ + 0.3839769658149483, + 0.13950798777000076, + 1.181671316376725 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.034210009451585095, + "max_held_gripper_dist": 0.03423662384198304, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03370319421777945, + "max_held_gripper_z_dist": 0.03374626961499838, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09097869193306446, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3839769658149483, + 0.11265556485741945, + 1.2021451023318597 + ], + "held_grasp_finger_b": [ + 0.3821896486430644, + 0.1557233859006353, + 1.1997245290871534 + ], + "held_grasp_midpoint": [ + 0.3830833072290063, + 0.13418947537902737, + 1.2009348157095066 + ], + "held_grasp_object_position": [ + 0.3839769658149483, + 0.13950798777000076, + 1.181671316376725 + ], + "held_grasp_finger_gap": 0.04317280262985442, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04134321672102926, + "held_grasp_world_z_skew": 0.0024205732447062367, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.24651548052278088, + -0.965418102860828, + 0.08484105451502932 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.018743488158227347, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.042731025654780194, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3398901564772575, + 0.15396059336379883, + 0.761107322982477 + ], + "target_position": [ + 0.34748891031505785, + 0.1543441265944841, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007608426751078394, + "xy_threshold": 0.08, + "gripper_dist": 0.210181246447852, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107322982477, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530804979141303, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08986051824689432, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18122427340299113, + "release_required_pad_clearance": 0.054930259123447164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.925824477349977, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7ffbea462dff953da94280a6ca61420affdcea3132cb2e18338afc7d3f14ba4", + "visual_seed": 7563376539946458492, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b346983fd2cbefc665e9ae76e75b49b59d2f99e7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3766523592114666, + 0.16089814788306003, + 1.0526574355024283 + ], + "current_z": 1.0526574355024283, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1915509870923071, + "gripper_z": 1.0531788532954027, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37125468575609744, + 0.15582140421077395, + 1.0531788532954027 + ], + "object_minus_gripper": [ + 0.0053976734553691785, + 0.005076743672286083, + -0.0005214177929744324 + ], + "object_to_gripper_xy": 0.007410007088046126, + "object_to_gripper_z": -0.0005214177929744324, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3766523592114666, + 0.1363329664884596, + 1.0526574355024283 + ], + "finger_b": [ + 0.3643678328981997, + 0.16089814788306003, + 1.0526574355024283 + ], + "finger_midpoint": [ + 0.37051009605483315, + 0.1486155571857598, + 1.0526574355024283 + ], + "object_minus_finger_midpoint": [ + 0.006142263156633465, + 0.012282590697300227, + 0.0 + ], + "finger_gap": 0.027465573427310246, + "fingertip_max_gap": 0.09236967185460657, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013732786713655134, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526574355024283, + "object_top_z": 1.1035110897199703, + "finger_top_clearance": 0.050853654217541955, + "fingertip_min_top_clearance": 0.015256096265262552, + "object_projection_between_fingers": 0.7999495703404913, + "object_to_finger_line_xy": 0.010987268044150122, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048684835927303285, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7933848895847474, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3771644839789363, + 0.15804477157008176, + 1.2433351675233015 + ], + "held_position": [ + 0.38297045752477293, + 0.16262435432835928, + 1.242619035752444 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007429317045872985, + "max_held_gripper_dist": 0.007433048523196227, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007161317708574977, + "max_held_gripper_z_dist": 0.0008059748286686208, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08844452957491417, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38297045752477293, + 0.13693126507216424, + 1.242619035752444 + ], + "held_grasp_finger_b": [ + 0.37296964736607024, + 0.16262435432835928, + 1.242619035752444 + ], + "held_grasp_midpoint": [ + 0.3779700524454216, + 0.14977780970026178, + 1.242619035752444 + ], + "held_grasp_object_position": [ + 0.38297045752477293, + 0.16262435432835928, + 1.242619035752444 + ], + "held_grasp_finger_gap": 0.02757083675475258, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024824041979755403, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07831457234774607, + -0.9966590975155257, + 0.023183422903611084 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003990446196658472, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036525019909507565, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33497498429735567, + 0.155781605176231, + 0.7611063805810225 + ], + "target_position": [ + 0.3519983072878259, + 0.15627991958097556, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017030614870985946, + "xy_threshold": 0.08, + "gripper_dist": 0.2019862180279167, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063805810225, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528098022492817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756344151384447, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1742524456486263, + "release_required_pad_clearance": 0.05378172075692224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.572671219894809, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f0212577d1733a4874edd91ec72b66c6d6b746e1541e7c8debdc0fa418c96007", + "visual_seed": 4817260954791565727, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3e977dee7f0823c6e64278abfb98257de22398 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3706679658611842, + 0.15962577197076805, + 1.0532945810472825 + ], + "current_z": 1.0532945810472825, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.19218819224180606, + "gripper_z": 1.0538645697733544, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3655731452787856, + 0.15468516978675972, + 1.0538645697733544 + ], + "object_minus_gripper": [ + 0.005094820582398629, + 0.004940602184008325, + -0.0005699887260719461 + ], + "object_to_gripper_xy": 0.007096953339811425, + "object_to_gripper_z": -0.0005699887260719461, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3706679658611842, + 0.13528916585663178, + 1.0532945810472825 + ], + "finger_b": [ + 0.3585527028332277, + 0.15962577197076805, + 1.0532945810472825 + ], + "finger_midpoint": [ + 0.36461033434720597, + 0.14745746891369993, + 1.0532945810472825 + ], + "object_minus_finger_midpoint": [ + 0.006057631513978257, + 0.01216830305706812, + 0.0 + ], + "finger_gap": 0.027185473977681257, + "fingertip_max_gap": 0.092643792300827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013592736988840616, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0532945810472825, + "object_top_z": 1.1042168134484058, + "finger_top_clearance": 0.05092223240112337, + "fingertip_min_top_clearance": 0.01527666972033701, + "object_projection_between_fingers": 0.8013942234599726, + "object_to_finger_line_xy": 0.010845659138501568, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048821896150413505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0544277954261025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3717947612018082, + 0.1565048850363553, + 1.245363915086989 + ], + "held_position": [ + 0.3773554727444063, + 0.1608889298926514, + 1.2446153605557746 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007120512344501739, + "max_held_gripper_dist": 0.007124287850233619, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007485545312144737, + "max_held_gripper_z_dist": 0.0008295237987565596, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08878170889759374, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3773554727444063, + 0.13521599884382057, + 1.2446153605557746 + ], + "held_grasp_finger_b": [ + 0.3678658067887761, + 0.1608889298926514, + 1.2446153605557746 + ], + "held_grasp_midpoint": [ + 0.3726106397665912, + 0.148052464368236, + 1.2446153605557746 + ], + "held_grasp_object_position": [ + 0.3773554727444063, + 0.1608889298926514, + 1.2446153605557746 + ], + "held_grasp_finger_gap": 0.027370662187595474, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024718052338434538, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08889609830646925, + -0.995665300837782, + 0.02735127809619641 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036026518679780567, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651762962319054, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33664259081250814, + 0.15343842586149992, + 0.7611064212134921 + ], + "target_position": [ + 0.3462132217590783, + 0.1546308197602514, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009644624405606813, + "xy_threshold": 0.08, + "gripper_dist": 0.2080733596948642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064212134921, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532954898135598, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08752612476647374, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1792201340958813, + "release_required_pad_clearance": 0.05376306238323687, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.535280452706986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 214, + "max_placed_release_frames": 214 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9b27601556497977adc7939cdfac567f98f8a015f3d0b99d3aa99d079b7b1fa1", + "visual_seed": 866938095720833544, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee330e0df63c2d092cc5c358d771ddf2a191c7f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37955037326315644, + 0.1651871271890992, + 1.0177940263172038 + ], + "current_z": 1.0177940263172038, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.156687279883859, + "gripper_z": 1.0531031603338703, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3731142513010496, + 0.15917947810442093, + 1.0531031603338703 + ], + "object_minus_gripper": [ + 0.0064361219621068555, + 0.006007649084678268, + -0.035309134016666466 + ], + "object_to_gripper_xy": 0.008804289490682926, + "object_to_gripper_z": -0.035309134016666466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37955037326315644, + 0.13948932281282808, + 1.0395265503434565 + ], + "finger_b": [ + 0.3664097972408858, + 0.1651871271890992, + 1.0396281635633733 + ], + "finger_midpoint": [ + 0.3729800852520211, + 0.15233822500096364, + 1.0395773569534148 + ], + "object_minus_finger_midpoint": [ + 0.00657028801113535, + 0.012848902188135558, + -0.021783330636210962 + ], + "finger_gap": 0.02886281713909152, + "fingertip_max_gap": 0.09973282167067668, + "finger_z_skew": 0.00010161321991675187, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014431319135461721, + "object_to_finger_midpoint_z": 0.021783330636210962, + "finger_midpoint_minus_object_z": 0.021783330636210962, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0177940263172038, + "object_top_z": 1.0706065889778011, + "finger_top_clearance": 0.031029232024386344, + "fingertip_min_top_clearance": 0.015843768798179208, + "object_projection_between_fingers": 0.7927203086709238, + "object_to_finger_line_xy": 0.011699691096915998, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05236641083533834, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.035690644272596, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 193, + "max_stable_success_frames": 193, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3802850812019134, + 0.1575224450269257, + 1.2101273971292938 + ], + "held_position": [ + 0.3866800406665326, + 0.16163518350443443, + 1.1744632183596924 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03646565194328215, + "max_held_gripper_dist": 0.03650106410517712, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.035664178769601484, + "max_held_gripper_z_dist": 0.03575989183211803, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08917524597381113, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3866800406665326, + 0.13489325247945128, + 1.1965882814629167 + ], + "held_grasp_finger_b": [ + 0.37878815737391786, + 0.16619440456880863, + 1.1958053461511402 + ], + "held_grasp_midpoint": [ + 0.38273409902022526, + 0.15054382852412995, + 1.1961968138070285 + ], + "held_grasp_object_position": [ + 0.3866800406665326, + 0.16163518350443443, + 1.1744632183596924 + ], + "held_grasp_finger_gap": 0.032290198694460814, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.03033713934269976, + "held_grasp_world_z_skew": 0.0007829353117765336, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10186063131201245, + -0.993731756074353, + 0.046060924416481686 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021367292780117828, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037295412803861706, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34381483421679315, + 0.1615750733632819, + 0.7611109489733093 + ], + "target_position": [ + 0.3532017128222901, + 0.1618419495206368, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009390671586084849, + "xy_threshold": 0.08, + "gripper_dist": 0.20948287660184103, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611109489733093, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753003229132654, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09015486704278534, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18097590534188548, + "release_required_pad_clearance": 0.055077433521392674, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.215320271056923, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1e4df301e9d8fe1e351a0bc4abe74fc09d67f02b1bab049627c35b23ec51905", + "visual_seed": 6868787528081543026, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..56095ecc1675b12d2da1f45e19939de8e1c37d1b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37960108395126013, + 0.1584437123497997, + 1.0513483371088586 + ], + "current_z": 1.0513483371088586, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.19024194830338215, + "gripper_z": 1.0517954749289178, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.374270967345848, + 0.15341678319352972, + 1.0517954749289178 + ], + "object_minus_gripper": [ + 0.005330116605412105, + 0.0050269291562699825, + -0.0004471378200592291 + ], + "object_to_gripper_xy": 0.007326674536885551, + "object_to_gripper_z": -0.0004471378200592291, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37960108395126013, + 0.13387746370382972, + 1.0513483371088586 + ], + "finger_b": [ + 0.3674508455448501, + 0.1584437123497997, + 1.0513483371088586 + ], + "finger_midpoint": [ + 0.3735259647480551, + 0.1461605880268147, + 1.0513483371088586 + ], + "object_minus_finger_midpoint": [ + 0.006075119203205026, + 0.012283124322985006, + 0.0 + ], + "finger_gap": 0.02740673030239514, + "fingertip_max_gap": 0.09249459543183727, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013703365151197583, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0513483371088586, + "object_top_z": 1.1022068146493171, + "finger_top_clearance": 0.05085847754045858, + "fingertip_min_top_clearance": 0.01525754326213754, + "object_projection_between_fingers": 0.8034581014777543, + "object_to_finger_line_xy": 0.010890966361412267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04874729771591864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8978254848385041, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3803435930398825, + 0.15541538582162728, + 1.2408224473342848 + ], + "held_position": [ + 0.38609165202571105, + 0.15993954243809327, + 1.2401619620535036 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0073446862425161335, + "max_held_gripper_dist": 0.007349866208296853, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00066048528078122, + "max_held_gripper_z_dist": 0.0007462832739937308, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08833088051017209, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38609165202571105, + 0.13420645287234026, + 1.2401619620535036 + ], + "held_grasp_finger_b": [ + 0.3763297397684664, + 0.15993954243809327, + 1.2401619620535036 + ], + "held_grasp_midpoint": [ + 0.3812106958970887, + 0.14707299765521675, + 1.2401619620535036 + ], + "held_grasp_object_position": [ + 0.38609165202571105, + 0.15993954243809327, + 1.2401619620535036 + ], + "held_grasp_finger_gap": 0.027522478622340866, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02487662155091383, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07878233741787435, + -0.9966035267812703, + 0.023974021734167406 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038648284674419864, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036512873029344216, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34353447109161045, + 0.15215719813429712, + 0.7611065248262391 + ], + "target_position": [ + 0.3549768349041193, + 0.15439723174707623, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01165956432308653, + "xy_threshold": 0.08, + "gripper_dist": 0.20749409709014885, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065248262391, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544654365175262, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08925923598737905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17836376423944758, + "release_required_pad_clearance": 0.054629617993689525, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.299533382296002, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22371fdff40384fac3892a5c5e6e93ed478d7226b560c135e34489a726d593cb", + "visual_seed": 7465078138396274059, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2445525ff02df1dd6d1dab316be334942ccd870c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37970703503576525, + 0.15805316910827552, + 1.009037798672051 + ], + "current_z": 1.009037798672051, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.14793117144799506, + "gripper_z": 1.0549870773401198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3756743153351293, + 0.15216830270565213, + 1.0549870773401198 + ], + "object_minus_gripper": [ + 0.004032719700635956, + 0.0058848664026233954, + -0.04594927866806886 + ], + "object_to_gripper_xy": 0.007134036778754577, + "object_to_gripper_z": -0.04594927866806886, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37970703503576525, + 0.13213543790162754, + 1.0414042972080981 + ], + "finger_b": [ + 0.3691903239732905, + 0.15805316910827552, + 1.0415038082429657 + ], + "finger_midpoint": [ + 0.37444867950452787, + 0.14509430350495153, + 1.0414540527255318 + ], + "object_minus_finger_midpoint": [ + 0.00525835553123738, + 0.012958865603323988, + -0.03241625405348092 + ], + "finger_gap": 0.027970339735471462, + "fingertip_max_gap": 0.1042449265533211, + "finger_z_skew": 9.951103486760537e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013985081359002111, + "object_to_finger_midpoint_z": 0.03241625405348092, + "finger_midpoint_minus_object_z": 0.03241625405348092, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.009037798672051, + "object_top_z": 1.0623827086467728, + "finger_top_clearance": 0.020928655921240935, + "fingertip_min_top_clearance": 0.016003472992416574, + "object_projection_between_fingers": 0.8586258852119258, + "object_to_finger_line_xy": 0.009745001959525648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05462246327666055, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 5.293678586793128, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 195, + "max_stable_success_frames": 195, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38554589687183943, + 0.13967541240247672, + 1.202805681597279 + ], + "held_position": [ + 0.3883703676701953, + 0.14125930623842164, + 1.1563091870426523 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04660912315033118, + "max_held_gripper_dist": 0.04664667879901214, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04649649455462668, + "max_held_gripper_z_dist": 0.04653839818027272, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09173868204462302, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3883703676701953, + 0.11365021615975555, + 1.1897956377305055 + ], + "held_grasp_finger_b": [ + 0.3883703676701953, + 0.16233499943319682, + 1.1864749414162445 + ], + "held_grasp_midpoint": [ + 0.3883703676701953, + 0.13799260779647618, + 1.188135289573375 + ], + "held_grasp_object_position": [ + 0.3883703676701953, + 0.14125930623842164, + 1.1563091870426523 + ], + "held_grasp_finger_gap": 0.04879790104495779, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.046265014575608804, + "held_grasp_world_z_skew": 0.003320696314260907, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.31791603052120787, + -0.9454326057486013, + 0.07132030233424523 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.031541414746244605, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04436195959531984, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3526946121236219, + 0.16075148379726992, + 0.7611064675084477 + ], + "target_position": [ + 0.3537287755101346, + 0.16017224074931116, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0011853338848661751, + "xy_threshold": 0.08, + "gripper_dist": 0.21585315358406335, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064675084477, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754740835100314, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0898798660044559, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18646135729958277, + "release_required_pad_clearance": 0.05493993300222795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.947868322513958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 336, + "max_placed_release_frames": 336 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca7fa94aa222db3337be22d8ed79409ea5456507984b87635cb360da448fb2ac", + "visual_seed": 4147427954448191894, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26c3d15bdf540073cab05a35b5811a72f6f305b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3771633195375499, + 0.16665601742036965, + 1.0532092644523057 + ], + "current_z": 1.0532092644523057, + "required_z": 0.8611067464333452, + "initial_z": 0.7611067464333452, + "lift_margin": 0.1921025180189605, + "gripper_z": 1.0535530624496556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3717863554389498, + 0.16156011907217052, + 1.0535530624496556 + ], + "object_minus_gripper": [ + 0.005376964098600112, + 0.005095898348199124, + -0.0003437979973499594 + ], + "object_to_gripper_xy": 0.007408098466733085, + "object_to_gripper_z": -0.0003437979973499594, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3771633195375499, + 0.14213317799701516, + 1.0532092644523057 + ], + "finger_b": [ + 0.36480966566212686, + 0.16665601742036965, + 1.0532092644523057 + ], + "finger_midpoint": [ + 0.3709864925998384, + 0.1543945977086924, + 1.0532092644523057 + ], + "object_minus_finger_midpoint": [ + 0.006176826937711488, + 0.01226141971167724, + 0.0 + ], + "finger_gap": 0.02745874027440777, + "fingertip_max_gap": 0.09203230520948455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013729370137203873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0532092644523057, + "object_top_z": 1.1039670341987935, + "finger_top_clearance": 0.050757769746487824, + "fingertip_min_top_clearance": 0.015227330923946313, + "object_projection_between_fingers": 0.7975910836377288, + "object_to_finger_line_xy": 0.011032795650900784, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851615260474228, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7718507992701722, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3779773315477838, + 0.16336274889859034, + 1.2409602327647111 + ], + "held_position": [ + 0.3838151847364073, + 0.16789956413119586, + 1.2403796438470351 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00741621910396742, + "max_held_gripper_dist": 0.007419558441953638, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0005805889176759838, + "max_held_gripper_z_dist": 0.0006730142217947765, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08835946272011036, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3838151847364073, + 0.1420958362886679, + 1.2403796438470351 + ], + "held_grasp_finger_b": [ + 0.3740816635720761, + 0.16789956413119586, + 1.2403796438470351 + ], + "held_grasp_midpoint": [ + 0.3789484241542417, + 0.15499770020993187, + 1.2403796438470351 + ], + "held_grasp_object_position": [ + 0.3838151847364073, + 0.16789956413119586, + 1.2403796438470351 + ], + "held_grasp_finger_gap": 0.02757850258494351, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024808283853449555, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.09057825967223584, + -0.9955898394904452, + 0.024422333593221213 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003692059874299334, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03643446273582229, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34401394353087655, + 0.1615140290731203, + 0.7611115369841704 + ], + "target_position": [ + 0.3524535055573959, + 0.16370906944037553, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008720344569645598, + "xy_threshold": 0.08, + "gripper_dist": 0.20925436402047098, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611115369841704, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751641911339691, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08500145993908036, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18063862000798236, + "release_required_pad_clearance": 0.05250072996954018, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.06837074843568795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c85fcebce06a5904fbb1c02fc503646d68d341c8fedd27294b289cda2a5a7b3e", + "visual_seed": 20446259476806623, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1ca9f1de02e2f07783df81f351001b45749c6a2a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.377111485352179, + 0.16277339401448537, + 1.0165773936632374 + ], + "current_z": 1.0165773936632374, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.15547106446240577, + "gripper_z": 1.0517875060116186, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3706952112571454, + 0.15740160843027456, + 1.0517875060116186 + ], + "object_minus_gripper": [ + 0.006416274095033592, + 0.005371785584210809, + -0.03521011234838123 + ], + "object_to_gripper_xy": 0.0083680734715545, + "object_to_gripper_z": -0.03521011234838123, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.377111485352179, + 0.13741680783389337, + 1.0382115662696894 + ], + "finger_b": [ + 0.364367099817673, + 0.16277339401448537, + 1.0383108860485597 + ], + "finger_midpoint": [ + 0.370739292584926, + 0.15009510092418937, + 1.0382612261591246 + ], + "object_minus_finger_midpoint": [ + 0.006372192767252982, + 0.012678293090296, + -0.021683832495887234 + ], + "finger_gap": 0.02837931799399677, + "fingertip_max_gap": 0.09915769262868143, + "finger_z_skew": 9.931977887034371e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014189572098780094, + "object_to_finger_midpoint_z": 0.021683832495887234, + "finger_midpoint_minus_object_z": 0.021683832495887234, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0165773936632374, + "object_top_z": 1.0691188192098986, + "finger_top_clearance": 0.030857593050773957, + "fingertip_min_top_clearance": 0.015762427663998355, + "object_projection_between_fingers": 0.798330968558315, + "object_to_finger_line_xy": 0.011387028018701598, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05207884631434072, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.565718107536745, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 192, + "max_stable_success_frames": 192, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3782260441961758, + 0.15413249233549262, + 1.2081130802248998 + ], + "held_position": [ + 0.38432706802503286, + 0.15742480240066997, + 1.1725116504974578 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.036270147448880685, + "max_held_gripper_dist": 0.036313660872040354, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03560142972744207, + "max_held_gripper_z_dist": 0.035679102524941664, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08984060936752888, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38432706802503286, + 0.13111920632356774, + 1.1945913303925462 + ], + "held_grasp_finger_b": [ + 0.3774858507308961, + 0.16415230581054088, + 1.1936335192009302 + ], + "held_grasp_midpoint": [ + 0.38090645937796447, + 0.1476357560670543, + 1.1941124247967383 + ], + "held_grasp_object_position": [ + 0.38432706802503286, + 0.15742480240066997, + 1.1725116504974578 + ], + "held_grasp_finger_gap": 0.033747671298337695, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.032151847363251704, + "held_grasp_world_z_skew": 0.0009578111916159759, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10344893328815653, + -0.9931959179912173, + 0.053480713225665055 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.021165356382653603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.038488726079033496, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3389817162437962, + 0.16617131284195677, + 0.7611065095952032 + ], + "target_position": [ + 0.35065307020112035, + 0.16156111900020348, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012548880047864282, + "xy_threshold": 0.08, + "gripper_dist": 0.2081012375128043, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065095952032, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757396154945653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09027054867116506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17985507899711448, + "release_required_pad_clearance": 0.05513527433558253, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.361028781642428, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b24a1b3e57e11e5002a2e2b9f511eda4f5eaca5bb6b2f6942b04063db8ad66e2", + "visual_seed": 8423887393621204799, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf1c8eb81c10008ed1dd7c60a5f46ee49762253 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_51_success.json @@ -0,0 +1,684 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.38139022284530405, + 0.1596987225964235, + 1.0190334012274231 + ], + "current_z": 1.0190334012274231, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.15792701242194673, + "gripper_z": 1.0543842082767692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37486194789552096, + 0.15383361523342443, + 1.0543842082767692 + ], + "object_minus_gripper": [ + 0.006528274949783086, + 0.0058651073629990835, + -0.03535080704934601 + ], + "object_to_gripper_xy": 0.008775981893752484, + "object_to_gripper_z": -0.03535080704934601, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38139022284530405, + 0.1337945874318963, + 1.0408082022489173 + ], + "finger_b": [ + 0.36863516972235677, + 0.1596987225964235, + 1.0409088197760699 + ], + "finger_midpoint": [ + 0.3750126962838304, + 0.1467466550141599, + 1.0408585110124937 + ], + "object_minus_finger_midpoint": [ + 0.006377526561473668, + 0.01295206758226361, + -0.021825109785070573 + ], + "finger_gap": 0.02887430904243551, + "fingertip_max_gap": 0.09903723064714062, + "finger_z_skew": 0.00010061752715251338, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.014437066866154844, + "object_to_finger_midpoint_z": 0.021825109785070573, + "finger_midpoint_minus_object_z": 0.021825109785070573, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0190334012274231, + "object_top_z": 1.071909407415495, + "finger_top_clearance": 0.031050896403001182, + "fingertip_min_top_clearance": 0.015862801856421492, + "object_projection_between_fingers": 0.8048598581997596, + "object_to_finger_line_xy": 0.01144306607397299, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052018615323570314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.258872203217884, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 194, + "max_stable_success_frames": 194, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3819156946938156, + 0.15234112826502783, + 1.2104906554388521 + ], + "held_position": [ + 0.38740521794211924, + 0.15616438691042803, + 1.174669523884949 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.03644043959621417, + "max_held_gripper_dist": 0.036499684335058624, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.03582113155390321, + "max_held_gripper_z_dist": 0.03588082554876881, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08914390694069874, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38740521794211924, + 0.12984171806441686, + 1.1968908321103235 + ], + "held_grasp_finger_b": [ + 0.38019600072485576, + 0.16055213536192467, + 1.1962833616799764 + ], + "held_grasp_midpoint": [ + 0.3838006093334875, + 0.14519692671317075, + 1.19658709689515 + ], + "held_grasp_object_position": [ + 0.38740521794211924, + 0.15616438691042803, + 1.174669523884949 + ], + "held_grasp_finger_gap": 0.0315510944944308, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.029927163216042066, + "held_grasp_world_z_skew": 0.0006074704303471457, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08939752803235089, + -0.9943487964206034, + 0.05725865033863998 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.02139721310584634, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03723755547476291, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3437029947827827, + 0.15549837557764098, + 0.7611070759429124 + ], + "target_position": [ + 0.35501454014474254, + 0.1564673965816661, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01135297582935491, + "xy_threshold": 0.08, + "gripper_dist": 0.2065910668681454, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070759429124, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566088216339809, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017197569197836, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1774744165361642, + "release_required_pad_clearance": 0.055085987845989184, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.254077718523578, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "955d8d7cc9c085631ae305ee043a7c5739464677da8aba028a26877e992d64ae", + "visual_seed": 8550666128290730603, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63dde43cda27c7df5926bb157619c84ffc3a53c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3757276771767401, + 0.16402369911553846, + 1.0524570880268238 + ], + "current_z": 1.0524570880268238, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1913504608027683, + "gripper_z": 1.0530032135293608, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3702651390660967, + 0.15890812357632134, + 1.0530032135293608 + ], + "object_minus_gripper": [ + 0.0054625381106434, + 0.0051155755392171265, + -0.0005461255025369649 + ], + "object_to_gripper_xy": 0.007483878386750293, + "object_to_gripper_z": -0.0005461255025369649, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3757276771767401, + 0.13939357933345847, + 1.0524570880268238 + ], + "finger_b": [ + 0.36341085804372875, + 0.16402369911553846, + 1.0524570880268238 + ], + "finger_midpoint": [ + 0.36956926761023445, + 0.15170863922449845, + 1.0524570880268238 + ], + "object_minus_finger_midpoint": [ + 0.0061584095665056515, + 0.012315059891040009, + 0.0 + ], + "finger_gap": 0.02753809786522887, + "fingertip_max_gap": 0.09225966774211994, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013769048932614434, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524570880268238, + "object_top_z": 1.1033238813922281, + "finger_top_clearance": 0.05086679336540434, + "fingertip_min_top_clearance": 0.0152600380096213, + "object_projection_between_fingers": 0.7999542864204421, + "object_to_finger_line_xy": 0.011016183182475004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862983387105997, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8199439872101575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3763794259502898, + 0.16088527779765865, + 1.2421613148706578 + ], + "held_position": [ + 0.38227300172495277, + 0.16546159518470419, + 1.2413974068367502 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007500698082374624, + "max_held_gripper_dist": 0.007506477584955976, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007639080339076898, + "max_held_gripper_z_dist": 0.0008541332292724135, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08835293805120047, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38227300172495277, + 0.13965280434084418, + 1.2413974068367502 + ], + "held_grasp_finger_b": [ + 0.3724031913809526, + 0.16546159518470419, + 1.2413974068367502 + ], + "held_grasp_midpoint": [ + 0.3773380965529527, + 0.15255719976277418, + 1.2413974068367502 + ], + "held_grasp_object_position": [ + 0.38227300172495277, + 0.16546159518470419, + 1.2413974068367502 + ], + "held_grasp_finger_gap": 0.027631627549759792, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0248756297723054, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08438353339265955, + -0.9961132777812286, + 0.025253853569445095 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038426784654458966, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03644958571320021, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34105366561532713, + 0.16259395169488508, + 0.7611121994074039 + ], + "target_position": [ + 0.3509569060306016, + 0.1611817488045555, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01000342380018865, + "xy_threshold": 0.08, + "gripper_dist": 0.20882763087374093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611121994074039, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562309820832397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09212427113636366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1798789114285377, + "release_required_pad_clearance": 0.056062135568181834, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.352831410707266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9161b1d21da191e00960ec544e9f3b384b11881fb626858b4deb344db8fabdb7", + "visual_seed": 5849975283870096312, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a132c5d10b58f94c2e993d08a89dfcabfeace695 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3784118143861424, + 0.15934954697088158, + 1.0520695344477815 + ], + "current_z": 1.0520695344477815, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1909631456423051, + "gripper_z": 1.0525293262261426, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3731871069310059, + 0.15433861590014758, + 1.0525293262261426 + ], + "object_minus_gripper": [ + 0.005224707455136535, + 0.005010931070733998, + -0.000459791778361085 + ], + "object_to_gripper_xy": 0.007239267793596716, + "object_to_gripper_z": -0.000459791778361085, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3784118143861424, + 0.13491549566404418, + 1.0520695344477815 + ], + "finger_b": [ + 0.3662162706830606, + 0.15934954697088158, + 1.0520695344477815 + ], + "finger_midpoint": [ + 0.37231404253460154, + 0.14713252131746288, + 1.0520695344477815 + ], + "object_minus_finger_midpoint": [ + 0.006097771851540867, + 0.0122170256534187, + 0.0 + ], + "finger_gap": 0.027308499583077437, + "fingertip_max_gap": 0.094214233892178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013654249791538705, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520695344477815, + "object_top_z": 1.1038274739981802, + "finger_top_clearance": 0.051757939550398646, + "fingertip_min_top_clearance": 0.015527381865119594, + "object_projection_between_fingers": 0.8005625763963945, + "object_to_finger_line_xy": 0.01091186059671088, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049607116946089005, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4141412648236515, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37923648718010317, + 0.15648054265780192, + 1.2432240663825724 + ], + "held_position": [ + 0.3848944579466156, + 0.16097452405480114, + 1.2425781406813097 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007254358827824551, + "max_held_gripper_dist": 0.00725795978535666, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006459257012627617, + "max_held_gripper_z_dist": 0.0007326158412794825, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08813277211598501, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3848944579466156, + 0.13531772022516853, + 1.2425781406813097 + ], + "held_grasp_finger_b": [ + 0.3751172335915992, + 0.16097452405480114, + 1.2425781406813097 + ], + "held_grasp_midpoint": [ + 0.3800058457691074, + 0.14814612213998485, + 1.2425781406813097 + ], + "held_grasp_object_position": [ + 0.3848944579466156, + 0.16097452405480114, + 1.2425781406813097 + ], + "held_grasp_finger_gap": 0.02745661484671001, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024790634513660634, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07894582381578193, + -0.9963246285367556, + 0.033238403588974445 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003884787934244829, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655306178192625, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33411254162533705, + 0.16315444327128684, + 0.7611138987386544 + ], + "target_position": [ + 0.3539032928323662, + 0.1562199215823281, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02097048936942497, + "xy_threshold": 0.08, + "gripper_dist": 0.20239568327187704, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611138987386544, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540071953120392, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09456031546268244, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1764535010125946, + "release_required_pad_clearance": 0.05728015773134122, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.150540354582807, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b10814941ea5868bd3c07935e8ca4132d534c004d6f8e2732c306b25195b92d", + "visual_seed": 8236961417556687362, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5fdd448b179c855873697d67fe80fcfb29aab8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37359823370798967, + 0.1529842074193679, + 1.0083350490513106 + ], + "current_z": 1.0083350490513106, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1472284814318997, + "gripper_z": 1.0543161499748428, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37134829093362404, + 0.14824224419163917, + 1.0543161499748428 + ], + "object_minus_gripper": [ + 0.002249942774365632, + 0.0047419632277287405, + -0.04598110092353225 + ], + "object_to_gripper_xy": 0.00524866247162567, + "object_to_gripper_z": -0.04598110092353225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37359823370798967, + 0.12812517446935126, + 1.040728492668829 + ], + "finger_b": [ + 0.3648788754105112, + 0.1529842074193679, + 1.0408281758838411 + ], + "finger_midpoint": [ + 0.3692385545592505, + 0.14055469094435957, + 1.040778334276335 + ], + "object_minus_finger_midpoint": [ + 0.004359679148739193, + 0.01242951647500834, + -0.03244328522502449 + ], + "finger_gap": 0.026344044204965472, + "fingertip_max_gap": 0.10784241238133782, + "finger_z_skew": 9.96832150121918e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013171927804328985, + "object_to_finger_midpoint_z": 0.03244328522502449, + "finger_midpoint_minus_object_z": 0.03244328522502449, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0083350490513106, + "object_top_z": 1.0630616430151183, + "finger_top_clearance": 0.02228330873878326, + "fingertip_min_top_clearance": 0.016417978189142306, + "object_projection_between_fingers": 0.8904505065841063, + "object_to_finger_line_xy": 0.008227907806660668, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05642120619066891, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 6.562220441183753, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 207, + "max_stable_success_frames": 207, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3816624390315054, + 0.13108134209787306, + 1.20700344716631 + ], + "held_position": [ + 0.3825702836734685, + 0.13149768711182777, + 1.1606274650526522 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.046386735626371606, + "max_held_gripper_dist": 0.04644278838121542, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04637598211365779, + "max_held_gripper_z_dist": 0.04642045948010165, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09217655624905507, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3825702836734685, + 0.10676303038545497, + 1.1944665694442482 + ], + "held_grasp_finger_b": [ + 0.3825702836734685, + 0.15795082835091237, + 1.1896852070735155 + ], + "held_grasp_midpoint": [ + 0.3825702836734685, + 0.13235692936818366, + 1.192075888258882 + ], + "held_grasp_object_position": [ + 0.3825702836734685, + 0.13149768711182777, + 1.1606274650526522 + ], + "held_grasp_finger_gap": 0.05141062231361086, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04663824109906427, + "held_grasp_world_z_skew": 0.004781362370732678, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.42054062465209163, + -0.9019716656627695, + 0.09794231648658089 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.03137559632355754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04741513082059975, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3447841743165318, + 0.15480640726004216, + 0.7611071695129926 + ], + "target_position": [ + 0.34854864700376603, + 0.15637950389459734, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0040799372096371, + "xy_threshold": 0.08, + "gripper_dist": 0.21152329121681424, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071695129926, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565639961645006, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09015311230731325, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18159583068278104, + "release_required_pad_clearance": 0.05507655615365663, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.232874044829926, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 327, + "max_placed_release_frames": 327 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2e9194cfb6f7fcc80313b441cb06c1188617a579ca83d44cdd34dfc93ea9eed3", + "visual_seed": 1972072147914770760, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c99705af059eca058cd3e3d78a66c1f3b8bb557 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37772045257755316, + 0.15713077419732246, + 1.0549983696443919 + ], + "current_z": 1.0549983696443919, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.1938919212342709, + "gripper_z": 1.0554344685359582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3723641663437177, + 0.15205014756435226, + 1.0554344685359582 + ], + "object_minus_gripper": [ + 0.005356286233835439, + 0.005080626632970209, + -0.00043609889156637216 + ], + "object_to_gripper_xy": 0.007382585536410752, + "object_to_gripper_z": -0.00043609889156637216, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37772045257755316, + 0.1326879409851689, + 1.0549983696443919 + ], + "finger_b": [ + 0.3652907322790379, + 0.15713077419732246, + 1.0549983696443919 + ], + "finger_midpoint": [ + 0.3715055924282955, + 0.14490935759124568, + 1.0549983696443919 + ], + "object_minus_finger_midpoint": [ + 0.0062148601492576505, + 0.012221416606076785, + 0.0 + ], + "finger_gap": 0.027421707498558136, + "fingertip_max_gap": 0.09274770550796532, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01371085374927908, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0549983696443919, + "object_top_z": 1.106019582746673, + "finger_top_clearance": 0.05102121310228114, + "fingertip_min_top_clearance": 0.015306363930684307, + "object_projection_between_fingers": 0.7945369531992387, + "object_to_finger_line_xy": 0.011079455214315269, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887385275398266, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.035321915061684, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37897553094504227, + 0.15311130520552368, + 1.2443027922629402 + ], + "held_position": [ + 0.38486526110912234, + 0.15753212004767478, + 1.2436226851962058 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007395611597189244, + "max_held_gripper_dist": 0.007398783859613513, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006801070667343811, + "max_held_gripper_z_dist": 0.0007595245213571911, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0888316555656665, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38486526110912234, + 0.13161161788880188, + 1.2436226851962058 + ], + "held_grasp_finger_b": [ + 0.37545396302716894, + 0.15800913548203221, + 1.2436226851962058 + ], + "held_grasp_midpoint": [ + 0.38015961206814564, + 0.14481037668541705, + 1.2436226851962058 + ], + "held_grasp_object_position": [ + 0.38486526110912234, + 0.15753212004767478, + 1.2436226851962058 + ], + "held_grasp_finger_gap": 0.028025015016450657, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02527814989317398, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10286633150726837, + -0.9942698402942551, + 0.029086122523865 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003393060794997169, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036587351474832594, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3416027672271801, + 0.15616006488760803, + 0.7611063830298793 + ], + "target_position": [ + 0.3529134284996834, + 0.15550267735377493, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011329749193647008, + "xy_threshold": 0.08, + "gripper_dist": 0.2092643277883131, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063830298793, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525555151333563, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09199261855855738, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1809710193675923, + "release_required_pad_clearance": 0.05599630927927869, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.230501557923292, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c83c540b9bc1b55124fd31b50314b82956032843b56bb6be502991b4133df402", + "visual_seed": 8087044673705771077, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..99a721d95b645ade74f35a688852390fbcb0f651 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_65_success.json @@ -0,0 +1,684 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37402162311523274, + 0.16557977106122362, + 1.0514772124032004 + ], + "current_z": 1.0514772124032004, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19037052557450007, + "gripper_z": 1.052025068680002, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36863409188775975, + 0.16051231259468537, + 1.052025068680002 + ], + "object_minus_gripper": [ + 0.005387531227472986, + 0.005067458466538249, + -0.0005478562768015394 + ], + "object_to_gripper_xy": 0.007396257704886084, + "object_to_gripper_z": -0.0005478562768015394, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37402162311523274, + 0.14099624782974957, + 1.0514772124032004 + ], + "finger_b": [ + 0.36177405531600126, + 0.16557977106122362, + 1.0514772124032004 + ], + "finger_midpoint": [ + 0.36789783921561703, + 0.1532880094454866, + 1.0514772124032004 + ], + "object_minus_finger_midpoint": [ + 0.006123783899615709, + 0.012291761615737029, + 0.0 + ], + "finger_gap": 0.02746547890478512, + "fingertip_max_gap": 0.09207038651744001, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013732739452392548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514772124032004, + "object_top_z": 1.1022573456172373, + "finger_top_clearance": 0.05078013321403696, + "fingertip_min_top_clearance": 0.015234039964211087, + "object_projection_between_fingers": 0.8011501112024876, + "object_to_finger_line_xy": 0.010962429184841358, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853519325872001, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.776645844617835, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37474539841589305, + 0.16225848128621312, + 1.2408372187924348 + ], + "held_position": [ + 0.38057288250826876, + 0.16678305221155232, + 1.2400635486758795 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007418212611847105, + "max_held_gripper_dist": 0.007422076802720007, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007736701165552695, + "max_held_gripper_z_dist": 0.0008626203360648788, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08844612015011481, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38057288250826876, + 0.14098019301108064, + 1.2400635486758795 + ], + "held_grasp_finger_b": [ + 0.37085078356267004, + 0.16678305221155232, + 1.2400635486758795 + ], + "held_grasp_midpoint": [ + 0.3757118330354694, + 0.1538816226113165, + 1.2400635486758795 + ], + "held_grasp_object_position": [ + 0.38057288250826876, + 0.16678305221155232, + 1.2400635486758795 + ], + "held_grasp_finger_gap": 0.027573660453907415, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024846768638821373, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08737379012976326, + -0.995867359972463, + 0.024779470128248986 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037293941547763996, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03644740911779084, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3342399600327541, + 0.16114356849283507, + 0.7611077567526648 + ], + "target_position": [ + 0.3493148013197502, + 0.16098052187636525, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015075723001808717, + "xy_threshold": 0.08, + "gripper_dist": 0.20750428115803388, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611077567526648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580639960575876, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09354739166349833, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1786462569485536, + "release_required_pad_clearance": 0.05677369583174917, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.988016306798382, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 241, + "max_placed_release_frames": 241 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4a5f86c49b0b5a5ee8c1a9a4f6d4d7849103f4d9fc310b597af62d4dffbcd5b3", + "visual_seed": 8108181819656032624, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8467c746616bdfb7b9f1844232c4c071b43fecca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37376150620275916, + 0.162355306651511, + 1.0527035514189769 + ], + "current_z": 1.0527035514189769, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.19159686459027647, + "gripper_z": 1.0538353332553498, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36785789952519865, + 0.15700965841537537, + 1.0538353332553498 + ], + "object_minus_gripper": [ + 0.005903606677560513, + 0.0053456482361356195, + -0.0011317818363729693 + ], + "object_to_gripper_xy": 0.007964202839445825, + "object_to_gripper_z": -0.0011317818363729693, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37376150620275916, + 0.13745158654617975, + 1.0527035514189769 + ], + "finger_b": [ + 0.3610739693175671, + 0.162355306651511, + 1.0527035514189769 + ], + "finger_midpoint": [ + 0.3674177377601631, + 0.14990344659884536, + 1.0527035514189769 + ], + "object_minus_finger_midpoint": [ + 0.006343768442596043, + 0.012451860052665631, + 0.0 + ], + "finger_gap": 0.027949398335166156, + "fingertip_max_gap": 0.09415122976619086, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013974699167583092, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0527035514189769, + "object_top_z": 1.103631968533045, + "finger_top_clearance": 0.050928417114068036, + "fingertip_min_top_clearance": 0.01527852513422041, + "object_projection_between_fingers": 0.793932401876245, + "object_to_finger_line_xy": 0.01130496133139788, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049575614883095434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.952156675810253, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3736200829559586, + 0.1595495217675139, + 1.2441263205049 + ], + "held_position": [ + 0.3799050250192815, + 0.16440068273804095, + 1.2428091913352346 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.008047924499575865, + "max_held_gripper_dist": 0.00805396885173362, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0013171291696654208, + "max_held_gripper_z_dist": 0.00141426131071265, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0879593878539518, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3799050250192815, + 0.13853674165812058, + 1.2428091913352346 + ], + "held_grasp_finger_b": [ + 0.36924782421688973, + 0.16440068273804095, + 1.2428091913352346 + ], + "held_grasp_midpoint": [ + 0.3745764246180856, + 0.15146871219808078, + 1.2428091913352346 + ], + "held_grasp_object_position": [ + 0.3799050250192815, + 0.16440068273804095, + 1.2428091913352346 + ], + "held_grasp_finger_gap": 0.02797354781088899, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02534915158438425, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04532264527994685, + -0.9987713796673922, + 0.020039685180214702 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004744229524640981, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03656266174625897, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33971417373017687, + 0.16429402328808326, + 0.7611064156250179 + ], + "target_position": [ + 0.3486442376516404, + 0.15751080072671822, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011214194128801046, + "xy_threshold": 0.08, + "gripper_dist": 0.21033392662995343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064156250179, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518567516175599, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08607179844968009, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18331251551026112, + "release_required_pad_clearance": 0.05303589922484005, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1028586704385543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "220a4d68055e0afe5adeca34147faf3d8af484f7575c4d99ddae42d6cde9a95d", + "visual_seed": 3916965648710272803, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..603d46ae63e3dbc2666b3abbccd85fcbcf365583 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3711307509679012, + 0.16465538461867604, + 1.0535064924187374 + ], + "current_z": 1.0535064924187374, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.19239980559003733, + "gripper_z": 1.0540442393819567, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36589515486182894, + 0.15970456811443579, + 1.0540442393819567 + ], + "object_minus_gripper": [ + 0.005235596106072271, + 0.004950816504240257, + -0.0005377469632192877 + ], + "object_to_gripper_xy": 0.007205695708575047, + "object_to_gripper_z": -0.0005377469632192877, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3711307509679012, + 0.14011876707163476, + 1.0535064924187374 + ], + "finger_b": [ + 0.35912682637647936, + 0.16465538461867604, + 1.0535064924187374 + ], + "finger_midpoint": [ + 0.3651287886721903, + 0.1523870758451554, + 1.0535064924187374 + ], + "object_minus_finger_midpoint": [ + 0.0060019622957109275, + 0.012268308773520642, + 0.0 + ], + "finger_gap": 0.027315559782774296, + "fingertip_max_gap": 0.0920833483849268, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013657779891387148, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0535064924187374, + "object_top_z": 1.1044074214603827, + "finger_top_clearance": 0.05090092904164534, + "fingertip_min_top_clearance": 0.015270278712493634, + "object_projection_between_fingers": 0.8068804205455112, + "object_to_finger_line_xy": 0.010782708064763205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485416741924634, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7821723842497111, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3721012314619382, + 0.1615990602259761, + 1.2430994852556247 + ], + "held_position": [ + 0.37775599796166615, + 0.16603431943095706, + 1.2423387647365032 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007226797637268296, + "max_held_gripper_dist": 0.007230977454312583, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007607205191215716, + "max_held_gripper_z_dist": 0.0008461399863135544, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08881766966613121, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37775599796166615, + 0.14030560556583463, + 1.2423387647365032 + ], + "held_grasp_finger_b": [ + 0.36823524930710694, + 0.16603431943095706, + 1.2423387647365032 + ], + "held_grasp_midpoint": [ + 0.37299562363438654, + 0.15316996249839585, + 1.2423387647365032 + ], + "held_grasp_object_position": [ + 0.37775599796166615, + 0.16603431943095706, + 1.2423387647365032 + ], + "held_grasp_finger_gap": 0.02743376336007574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02478311509314205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08789339643703897, + -0.9957717343867983, + 0.02670962109557439 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036281000974134215, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649188158765146, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3353106844287196, + 0.16233656515780914, + 0.7611063888723609 + ], + "target_position": [ + 0.3465552310069618, + 0.16013734139203997, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011457591933830698, + "xy_threshold": 0.08, + "gripper_dist": 0.20742567196895578, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063888723609, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515843540223742, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08947952983204731, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17958661037321413, + "release_required_pad_clearance": 0.054739764916023656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.528160865081913, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87917028912c99539de3e392e1bbfe092be2cde27637dae478932dcd558ec33d", + "visual_seed": 4411061770508585602, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68b01ded1782750680d4cc0ebb47ecbca6151cda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_6_success.json @@ -0,0 +1,684 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3729147033880326, + 0.16469482066495567, + 1.0541332295192263 + ], + "current_z": 1.0541332295192263, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1930267215044602, + "gripper_z": 1.0547615410351612, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36753016524431914, + 0.15959400602233942, + 1.0547615410351612 + ], + "object_minus_gripper": [ + 0.00538453814371348, + 0.005100814642616247, + -0.0006283115159348984 + ], + "object_to_gripper_xy": 0.007416977891259601, + "object_to_gripper_z": -0.0006283115159348984, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3729147033880326, + 0.14017378083647072, + 1.0541332295192263 + ], + "finger_b": [ + 0.3605458171035516, + 0.16469482066495567, + 1.0541332295192263 + ], + "finger_midpoint": [ + 0.36673026024579214, + 0.15243430075071318, + 1.0541332295192263 + ], + "object_minus_finger_midpoint": [ + 0.006184443142240481, + 0.012260519914242485, + 0.0 + ], + "finger_gap": 0.02746398991750047, + "fingertip_max_gap": 0.09228593752210254, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013731994958750235, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0541332295192263, + "object_top_z": 1.104889924028339, + "finger_top_clearance": 0.05075669450911269, + "fingertip_min_top_clearance": 0.015227008352733806, + "object_projection_between_fingers": 0.7971691869228366, + "object_to_finger_line_xy": 0.011043477445441896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04864296876105127, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8829161432665792, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3736770415820364, + 0.16158940670317268, + 1.2435086810161269 + ], + "held_position": [ + 0.37951075764184355, + 0.1661370089471474, + 1.2426563460296995 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0074457641760227525, + "max_held_gripper_dist": 0.007450032917790765, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008523349864273388, + "max_held_gripper_z_dist": 0.0009422392348874542, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882968417432998, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37951075764184355, + 0.1403598860793573, + 1.2426563460296995 + ], + "held_grasp_finger_b": [ + 0.3697048818116022, + 0.1661370089471474, + 1.2426563460296995 + ], + "held_grasp_midpoint": [ + 0.37460781972672286, + 0.15324844751325234, + 1.2426563460296995 + ], + "held_grasp_object_position": [ + 0.37951075764184355, + 0.1661370089471474, + 1.2426563460296995 + ], + "held_grasp_finger_gap": 0.027579254234646352, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02483888367076485, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08534561731505266, + -0.996068193044725, + 0.02375458713026124 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037978311420424, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036463919708665936, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33074702716443816, + 0.1696874269124066, + 0.7611065761712199 + ], + "target_position": [ + 0.3482054202220694, + 0.1611486720779136, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019434655188048083, + "xy_threshold": 0.08, + "gripper_dist": 0.2047656146862683, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065761712199, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572386494327932, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535870441709568, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1782221527812599, + "release_required_pad_clearance": 0.052679352208547844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41495808674327983, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 242, + "max_placed_release_frames": 242 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aa1b54491a36e78a4a18c6f06d162de6f4e01a44640bf522b1049b66c6d35a69", + "visual_seed": 4062186153342081246, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6772ec640a534e0cd5dc934ddd328f44a7e7f2f5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_71_success.json @@ -0,0 +1,684 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37362837924705994, + 0.16175228318876428, + 1.0540454405689972 + ], + "current_z": 1.0540454405689972, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1929387537402969, + "gripper_z": 1.05475911411376, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.368160357689577, + 0.15664016854009155, + 1.05475911411376 + ], + "object_minus_gripper": [ + 0.005468021557482938, + 0.005112114648672728, + -0.0007136735447628162 + ], + "object_to_gripper_xy": 0.007485517746573875, + "object_to_gripper_z": -0.0007136735447628162, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37362837924705994, + 0.13712211687837517, + 1.0540454405689972 + ], + "finger_b": [ + 0.36130487224428187, + 0.16175228318876428, + 1.0540454405689972 + ], + "finger_midpoint": [ + 0.3674666257456709, + 0.14943720003356972, + 1.0540454405689972 + ], + "object_minus_finger_midpoint": [ + 0.0061617535013890334, + 0.012315083155194556, + 0.0 + ], + "finger_gap": 0.027541131373364943, + "fingertip_max_gap": 0.09226782134660352, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013770565686682472, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0540454405689972, + "object_top_z": 1.1048741301508271, + "finger_top_clearance": 0.050828689581829956, + "fingertip_min_top_clearance": 0.015248606874548952, + "object_projection_between_fingers": 0.799781096458828, + "object_to_finger_line_xy": 0.011020971611181245, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048633910673301764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8344174556920883, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.374297536780406, + 0.15843399850198078, + 1.2430290093851029 + ], + "held_position": [ + 0.38019677377284566, + 0.16300393733114357, + 1.2420781433429005 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007522598236345735, + "max_held_gripper_dist": 0.00752746618312452, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009508660422024029, + "max_held_gripper_z_dist": 0.0010388012012121361, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08843604737684183, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38019677377284566, + 0.13717896386071035, + 1.2420781433429005 + ], + "held_grasp_finger_b": [ + 0.3703778994709712, + 0.16300393733114357, + 1.2420781433429005 + ], + "held_grasp_midpoint": [ + 0.37528733662190844, + 0.15009145059592696, + 1.2420781433429005 + ], + "held_grasp_object_position": [ + 0.38019677377284566, + 0.16300393733114357, + 1.2420781433429005 + ], + "held_grasp_finger_gap": 0.027628600169110815, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024899662833104255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08412291832483414, + -0.9961541770215455, + 0.024498779868406543 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038193441655819337, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03644442629260454, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3304560109507301, + 0.16392511504976295, + 0.7611146820914949 + ], + "target_position": [ + 0.3488381358613598, + 0.15661716696475925, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01978152222259712, + "xy_threshold": 0.08, + "gripper_dist": 0.20130251132633986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611146820914949, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756918286662999, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08515108471555015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17476077198057144, + "release_required_pad_clearance": 0.052575542357775076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1888478756123857, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ef39effc910cfcbd93837a093995afdcc2f1951dd648f59deab55b3ebeef76b", + "visual_seed": 6214522230458732710, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5baafc1876235d21803f9f97f3d1eed4ded7b658 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_73_success.json @@ -0,0 +1,684 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3770875815111383, + 0.15003525893237246, + 1.0089929946687644 + ], + "current_z": 1.0089929946687644, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.1478863674447085, + "gripper_z": 1.0519417984912336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37434830047788126, + 0.14730607034069682, + 1.0519417984912336 + ], + "object_minus_gripper": [ + 0.002739281033257046, + 0.0027291885916756464, + -0.04294880382246924 + ], + "object_to_gripper_xy": 0.003866798539889852, + "object_to_gripper_z": -0.04294880382246924, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3770875815111383, + 0.12721135491214525, + 1.0383607981624987 + ], + "finger_b": [ + 0.3680108464164662, + 0.15003525893237246, + 1.0384606000306271 + ], + "finger_midpoint": [ + 0.37254921396380225, + 0.13862330692225885, + 1.038410699096563 + ], + "object_minus_finger_midpoint": [ + 0.004538367547336053, + 0.011411952010113607, + -0.029417704427798563 + ], + "finger_gap": 0.024562729390608818, + "fingertip_max_gap": 0.11883111391692144, + "finger_z_skew": 9.980186812841296e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0122812633175846, + "object_to_finger_midpoint_z": 0.029417704427798563, + "finger_midpoint_minus_object_z": 0.029417704427798563, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0089929946687644, + "object_top_z": 1.0671599726846461, + "finger_top_clearance": 0.028749273588083213, + "fingertip_min_top_clearance": 0.01745009340476453, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.0122812633175846, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.061915556958460724, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 13.652899234105861, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 192, + "max_stable_success_frames": 192, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.38395873390547786, + 0.13773312800700313, + 1.202181258381577 + ], + "held_position": [ + 0.3875324067648591, + 0.13832507002690983, + 1.1586792544188094 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04365255870894005, + "max_held_gripper_dist": 0.04371976837266809, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0435020039627676, + "max_held_gripper_z_dist": 0.043547226026721564, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09019210587237214, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3875324067648591, + 0.11285289567349063, + 1.1889217376942578 + ], + "held_grasp_finger_b": [ + 0.3873609159523672, + 0.15505620494539396, + 1.1866494636657068 + ], + "held_grasp_midpoint": [ + 0.38744666135861316, + 0.1339545503094423, + 1.1877856006799823 + ], + "held_grasp_object_position": [ + 0.3875324067648591, + 0.13832507002690983, + 1.1586792544188094 + ], + "held_grasp_finger_gap": 0.04226478382601191, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.04213619996872707, + "held_grasp_world_z_skew": 0.0022722740285510135, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06766241500094462, + -0.9941555943760899, + 0.08412164862247719 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.028636661066717833, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.042920997868515325, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34347831219820524, + 0.1522403349847172, + 0.76112019836065 + ], + "target_position": [ + 0.35298204616230155, + 0.15467709431155113, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00981115463527255, + "xy_threshold": 0.08, + "gripper_dist": 0.21096358704306, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76112019836065, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521250771385192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09541391512398072, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18197543285538526, + "release_required_pad_clearance": 0.05770695756199036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.15808097376909, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e65f046227ae4007812ab98153f46b0abc581f482dce84f91ab14b00b375bc0", + "visual_seed": 2470757261806236013, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..41a6d60ab46d89d675027bd5531dc48b707599f2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3714999525752463, + 0.16037181528796418, + 1.053388671141653 + ], + "current_z": 1.053388671141653, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.19228198431295274, + "gripper_z": 1.0539833590636745, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3661096817100593, + 0.15537521848709085, + 1.0539833590636745 + ], + "object_minus_gripper": [ + 0.005390270865187008, + 0.004996596800873332, + -0.0005946879220215529 + ], + "object_to_gripper_xy": 0.007349897930623357, + "object_to_gripper_z": -0.0005946879220215529, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3714999525752463, + 0.13565044581518276, + 1.053388671141653 + ], + "finger_b": [ + 0.3595260635136792, + 0.16037181528796418, + 1.053388671141653 + ], + "finger_midpoint": [ + 0.36551300804446274, + 0.14801113055157347, + 1.053388671141653 + ], + "object_minus_finger_midpoint": [ + 0.005986944530783578, + 0.012360684736390709, + 0.0 + ], + "finger_gap": 0.027468529772604965, + "fingertip_max_gap": 0.09282351680810905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013734264886302493, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053388671141653, + "object_top_z": 1.1044094714330899, + "finger_top_clearance": 0.05102080029143696, + "fingertip_min_top_clearance": 0.015306240087431054, + "object_projection_between_fingers": 0.8099798614203347, + "object_to_finger_line_xy": 0.010776366189511735, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048911758404054526, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.024604460109567, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3724093895079065, + 0.15704118690923044, + 1.2459045318641324 + ], + "held_position": [ + 0.37821260217033464, + 0.16152350717764227, + 1.245114752359505 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007375108396485555, + "max_held_gripper_dist": 0.007380421969101029, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007897795046274414, + "max_held_gripper_z_dist": 0.0008717256423631525, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.088603410507336, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.37821260217033464, + 0.13569453809729765, + 1.245114752359505 + ], + "held_grasp_finger_b": [ + 0.36858454242760047, + 0.16152350717764227, + 1.245114752359505 + ], + "held_grasp_midpoint": [ + 0.37339857229896756, + 0.14860902263746995, + 1.245114752359505 + ], + "held_grasp_object_position": [ + 0.37821260217033464, + 0.16152350717764227, + 1.245114752359505 + ], + "held_grasp_finger_gap": 0.027565107983881676, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02499685880566506, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07736343755951938, + -0.9966219915443847, + 0.02755910918514603 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038176020830671463, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03647696086853619, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3295343829408, + 0.1642857171311028, + 0.7611127027523015 + ], + "target_position": [ + 0.34675558499362397, + 0.15595164505105222, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019131820550581866, + "xy_threshold": 0.08, + "gripper_dist": 0.20571760541169362, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611127027523015, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526360455481308, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564532635669762, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17974667681119802, + "release_required_pad_clearance": 0.052822663178348814, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6617738319321869, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 244, + "max_placed_release_frames": 244 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b167c294ce2ee129b2bb2a26f9a3e4cbb40355c4895f266704b3bc50d2c9360", + "visual_seed": 508031623808340911, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..17374aa761150f22ae9749ce221b4b0e0cd09ce6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3739922040128606, + 0.16427779850996738, + 1.053762176511572 + ], + "current_z": 1.053762176511572, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19265566849680593, + "gripper_z": 1.0542968059719262, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3686671081802847, + 0.15920298613661313, + 1.0542968059719262 + ], + "object_minus_gripper": [ + 0.005325095832575899, + 0.005074812373354248, + -0.0005346294603543189 + ], + "object_to_gripper_xy": 0.007355974867471108, + "object_to_gripper_z": -0.0005346294603543189, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3739922040128606, + 0.13978929605927776, + 1.053762176511572 + ], + "finger_b": [ + 0.36167955215330294, + 0.16427779850996738, + 1.053762176511572 + ], + "finger_midpoint": [ + 0.36783587808308177, + 0.15203354728462257, + 1.053762176511572 + ], + "object_minus_finger_midpoint": [ + 0.0061563259297788275, + 0.01224425122534481, + 0.0 + ], + "finger_gap": 0.027409636044502673, + "fingertip_max_gap": 0.09266131642066491, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013704818022251337, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053762176511572, + "object_top_z": 1.104753333983711, + "finger_top_clearance": 0.050991157472139115, + "fingertip_min_top_clearance": 0.015297347241641767, + "object_projection_between_fingers": 0.7982113837418292, + "object_to_finger_line_xy": 0.011000452714794011, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04883065821033246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9701879728007005, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37479334895216027, + 0.1612918800783228, + 1.2432932513270658 + ], + "held_position": [ + 0.38056564560816153, + 0.16582235073302878, + 1.2425415006143927 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007376293254205665, + "max_held_gripper_dist": 0.007380294735171247, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007517507126730827, + "max_held_gripper_z_dist": 0.0008404761083808943, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0882152445468881, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38056564560816153, + 0.14007965934039796, + 1.2425415006143927 + ], + "held_grasp_finger_b": [ + 0.37079020709389415, + 0.16582235073302878, + 1.2425415006143927 + ], + "held_grasp_midpoint": [ + 0.3756779263510278, + 0.15295100503671338, + 1.2425415006143927 + ], + "held_grasp_object_position": [ + 0.38056564560816153, + 0.16582235073302878, + 1.2425415006143927 + ], + "held_grasp_finger_gap": 0.027536255342410873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024808139587978176, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08515008318019299, + -0.996031013211417, + 0.02591686816427441 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037891624716277243, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03648380087349325, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3317048581784078, + 0.1683206819256209, + 0.7611094261794258 + ], + "target_position": [ + 0.3493493005753841, + 0.1591138693528754, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019902053794769038, + "xy_threshold": 0.08, + "gripper_dist": 0.20274069534237715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094261794258, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588368259201878, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599723771275107, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1762664695678031, + "release_required_pad_clearance": 0.05299861885637554, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0171699703836221, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8abb4863ceb8aa785692095be4ea2b852e5dc61460b9351bc7012de6bc241a59", + "visual_seed": 6036925325357630081, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af25b1957929240a15c05dc0f22b1246e773a4e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3712474401997896, + 0.1624633689538548, + 1.0526600254841516 + ], + "current_z": 1.0526600254841516, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.19155333865545132, + "gripper_z": 1.0531820365039704, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3659946786982935, + 0.15751369550463135, + 1.0531820365039704 + ], + "object_minus_gripper": [ + 0.005252761501496117, + 0.004949673449223452, + -0.0005220110198187466 + ], + "object_to_gripper_xy": 0.007217393618581941, + "object_to_gripper_z": -0.0005220110198187466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3712474401997896, + 0.1378979919193573, + 1.0526600254841516 + ], + "finger_b": [ + 0.35926719111221883, + 0.1624633689538548, + 1.0526600254841516 + ], + "finger_midpoint": [ + 0.3652573156560042, + 0.15018068043660604, + 1.0526600254841516 + ], + "object_minus_finger_midpoint": [ + 0.005990124543785391, + 0.012282688517248758, + 0.0 + ], + "finger_gap": 0.027331010172462655, + "fingertip_max_gap": 0.0922288511501855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01366550508623134, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526600254841516, + "object_top_z": 1.103705915505744, + "finger_top_clearance": 0.05104589002159243, + "fingertip_min_top_clearance": 0.015313767006477729, + "object_projection_between_fingers": 0.8078588755439889, + "object_to_finger_line_xy": 0.010767964079860144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048614425575092754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8418125700342903, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37204596195420014, + 0.1594904595972741, + 1.2426965085355486 + ], + "held_position": [ + 0.3776981697384274, + 0.16395249327559527, + 1.2419745629182157 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007237292508731272, + "max_held_gripper_dist": 0.007240757802334903, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007219456173328531, + "max_held_gripper_z_dist": 0.0008062281448675268, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0883223928190209, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3776981697384274, + 0.13826320966635625, + 1.2419745629182157 + ], + "held_grasp_finger_b": [ + 0.3680404459030097, + 0.16395249327559527, + 1.2419745629182157 + ], + "held_grasp_midpoint": [ + 0.3728693078207186, + 0.15110785147097577, + 1.2419745629182157 + ], + "held_grasp_object_position": [ + 0.3776981697384274, + 0.16395249327559527, + 1.2419745629182157 + ], + "held_grasp_finger_gap": 0.027444688412097372, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02476978136845558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08463493633597569, + -0.9960247471133952, + 0.027778241288870742 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037420257960177716, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03651797854390626, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3318392024520833, + 0.15840971244236032, + 0.7611093390426312 + ], + "target_position": [ + 0.34668725528507327, + 0.15904371362434305, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01486158236628982, + "xy_threshold": 0.08, + "gripper_dist": 0.20569766101272746, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611093390426312, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527237316157409, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718781580167327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1774707748554052, + "release_required_pad_clearance": 0.05359390790083664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1821718967629473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 216, + "max_placed_release_frames": 216 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3fffb8e83671e95ad501fef704ad8411c3a626adfdeab146b2279d4249e1d030", + "visual_seed": 8648864996126755387, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fae84eb15b2d0a3eeb8f5e2aa1ba1cc80d0c40 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3780711524912447, + 0.16115339138303428, + 1.0537423953084804 + ], + "current_z": 1.0537423953084804, + "required_z": 0.8611067464333448, + "initial_z": 0.7611067464333449, + "lift_margin": 0.1926356488751355, + "gripper_z": 1.0546186136162414, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37215078767184306, + 0.15578093833088805, + 1.0546186136162414 + ], + "object_minus_gripper": [ + 0.005920364819401613, + 0.005372453052146231, + -0.0008762183077610786 + ], + "object_to_gripper_xy": 0.007994621403939254, + "object_to_gripper_z": -0.0008762183077610786, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3780711524912447, + 0.13625018702533012, + 1.0537423953084804 + ], + "finger_b": [ + 0.3653298569613835, + 0.16115339138303428, + 1.0537423953084804 + ], + "finger_midpoint": [ + 0.3717005047263141, + 0.1487017892041822, + 1.0537423953084804 + ], + "object_minus_finger_midpoint": [ + 0.00637064776493057, + 0.012451602178852078, + 0.0 + ], + "finger_gap": 0.02797338376136924, + "fingertip_max_gap": 0.09357119605175693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013986691880684608, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0537423953084804, + "object_top_z": 1.104157204497286, + "finger_top_clearance": 0.0504148091888057, + "fingertip_min_top_clearance": 0.015124442756641675, + "object_projection_between_fingers": 0.792538663426878, + "object_to_finger_line_xy": 0.011342892553464344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049285598025878466, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.171181591875815, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37790520459500176, + 0.15876204170739347, + 1.245416146323295 + ], + "held_position": [ + 0.38420129947780174, + 0.1636579544191747, + 1.2443713538163248 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00804377793311214, + "max_held_gripper_dist": 0.0080485792803913, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0010447925069700936, + "max_held_gripper_z_dist": 0.0011448477941198298, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08889429927318793, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38420129947780174, + 0.13782065767094112, + 1.2443713538163248 + ], + "held_grasp_finger_b": [ + 0.3733957238705773, + 0.1636579544191747, + 1.2443713538163248 + ], + "held_grasp_midpoint": [ + 0.37879851167418954, + 0.15073930604505792, + 1.2443713538163248 + ], + "held_grasp_object_position": [ + 0.38420129947780174, + 0.1636579544191747, + 1.2443713538163248 + ], + "held_grasp_finger_gap": 0.028005827383952162, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025404621584071165, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03804520436060715, + -0.9991649733266684, + 0.014896929290221572 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004911215791575577, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03660683894584864, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3327618544328702, + 0.15912536154276866, + 0.76110923069397 + ], + "target_position": [ + 0.35296188102386084, + 0.15817538167114814, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.02022235238623866, + "xy_threshold": 0.08, + "gripper_dist": 0.20366355114065404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.76110923069397, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574566190984838, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0897520258278756, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17575155509883603, + "release_required_pad_clearance": 0.0548760129139378, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.808885326111954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f750eb3946705ce149c6dbf9baedd3d87459c836bff3b43abd9103a6f6d66bd1", + "visual_seed": 4896259327865904111, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..788cf244bef246d63084937b30ffa45dbfdec5c6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37406198335234797, + 0.16804318553125636, + 1.0522408058458739 + ], + "current_z": 1.0522408058458739, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.1911341190171736, + "gripper_z": 1.0529644827200155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36891637706091107, + 0.16307913566573304, + 1.0529644827200155 + ], + "object_minus_gripper": [ + 0.005145606291436899, + 0.004964049865523318, + -0.0007236768741416544 + ], + "object_to_gripper_xy": 0.007149759099010055, + "object_to_gripper_z": -0.0007236768741416544, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37406198335234797, + 0.14363390191842243, + 1.0522408058458739 + ], + "finger_b": [ + 0.3619744994074262, + 0.16804318553125636, + 1.0522408058458739 + ], + "finger_midpoint": [ + 0.3680182413798871, + 0.1558385437248394, + 1.0522408058458739 + ], + "object_minus_finger_midpoint": [ + 0.006043741972460881, + 0.01220464180641695, + 0.0 + ], + "finger_gap": 0.027238215701666367, + "fingertip_max_gap": 0.09621358908813574, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013619107850833171, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522408058458739, + "object_top_z": 1.1050305467467736, + "finger_top_clearance": 0.05278974090089972, + "fingertip_min_top_clearance": 0.015836922270269897, + "object_projection_between_fingers": 0.8030688074083134, + "object_to_finger_line_xy": 0.010832090729023835, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05060679454406787, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9419820944178143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3748100227437371, + 0.1656420756906922, + 1.2434552526684612 + ], + "held_position": [ + 0.3803559560718801, + 0.17012924078539646, + 1.2425686712563877 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007188744929928594, + "max_held_gripper_dist": 0.007193850796343719, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008865814120735394, + "max_held_gripper_z_dist": 0.000980273370148499, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08881344165360056, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3803559560718801, + 0.14457372039131072, + 1.2425686712563877 + ], + "held_grasp_finger_b": [ + 0.37051450573201694, + 0.17012924078539646, + 1.2425686712563877 + ], + "held_grasp_midpoint": [ + 0.3754352309019485, + 0.15735148058835358, + 1.2425686712563877 + ], + "held_grasp_object_position": [ + 0.3803559560718801, + 0.17012924078539646, + 1.2425686712563877 + ], + "held_grasp_finger_gap": 0.027385009903312517, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024769582663998067, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07097173695231926, + -0.9965771424729887, + 0.04239117425058359 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00403894790607871, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03663699391334595, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3402052468518501, + 0.15917200973171988, + 0.7611065421127814 + ], + "target_position": [ + 0.3496721396153834, + 0.16410850591633735, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010676659270435764, + "xy_threshold": 0.08, + "gripper_dist": 0.21019709632855327, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065421127814, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526579179076316, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09254375197173235, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18051240633911514, + "release_required_pad_clearance": 0.05627187598586618, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.8465218496743185, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bc3af10db23679d84c9f20e0a38d850e75752e2ae3fd4923f33e70242c572bd0", + "visual_seed": 7508138662083368654, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9934b699a49eeab4adfaeabacecfe69827ee83aa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_82_success.json @@ -0,0 +1,684 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37787911937240276, + 0.15760017028479778, + 1.0152004845940592 + ], + "current_z": 1.0152004845940592, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.15409391697464858, + "gripper_z": 1.0550966763003584, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37303796801627653, + 0.1540931335605527, + 1.0550966763003584 + ], + "object_minus_gripper": [ + 0.004841151356126228, + 0.0035070367242450717, + -0.03989619170629921 + ], + "object_to_gripper_xy": 0.005977963954234453, + "object_to_gripper_z": -0.03989619170629921, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37787911937240276, + 0.13425836804886973, + 1.0415157597950833 + ], + "finger_b": [ + 0.3663673736430465, + 0.15760017028479778, + 1.0416165351432192 + ], + "finger_midpoint": [ + 0.37212324650772466, + 0.14592926916683374, + 1.041566147469151 + ], + "object_minus_finger_midpoint": [ + 0.005755872864678102, + 0.011670901117964039, + -0.0263656628750919 + ], + "finger_gap": 0.02602633621986237, + "fingertip_max_gap": 0.11397830494539726, + "finger_z_skew": 0.00010077534813590638, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013013070557698209, + "object_to_finger_midpoint_z": 0.0263656628750919, + "finger_midpoint_minus_object_z": 0.0263656628750919, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0152004845940592, + "object_top_z": 1.0717193021295763, + "finger_top_clearance": 0.03015315466042523, + "fingertip_min_top_clearance": 0.016955645260655103, + "object_projection_between_fingers": 0.8043576745619464, + "object_to_finger_line_xy": 0.010324423087292174, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.059489152472698634, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 13.040342277570595, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 196, + "max_stable_success_frames": 196, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3824105359029423, + 0.14491440158738036, + 1.2072479963714389 + ], + "held_position": [ + 0.3858375331780185, + 0.14511005718314732, + 1.1669084314004454 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.04048534418137675, + "max_held_gripper_dist": 0.040513964277791796, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.04033956497099345, + "max_held_gripper_z_dist": 0.04038245877462798, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09056008764633204, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3858375331780185, + 0.11994154654683953, + 1.1939770375119754 + ], + "held_grasp_finger_b": [ + 0.3858375331780185, + 0.16261180553575702, + 1.1916940045640816 + ], + "held_grasp_midpoint": [ + 0.3858375331780185, + 0.1412766760412983, + 1.1928355210380284 + ], + "held_grasp_object_position": [ + 0.3858375331780185, + 0.14511005718314732, + 1.1669084314004454 + ], + "held_grasp_finger_gap": 0.042731291129832046, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.042448535860006804, + "held_grasp_world_z_skew": 0.0022830329478937816, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.10565246434154887, + -0.9895581655880639, + 0.0980417956615631 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.025431729451302884, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0433849580350201, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3431662449310623, + 0.15368909489642618, + 0.7611180001715471 + ], + "target_position": [ + 0.35178300826450204, + 0.1609663890280257, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011278635565631356, + "xy_threshold": 0.08, + "gripper_dist": 0.21117346323262243, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611180001715471, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573773031214598, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09593446120807618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18017344542028535, + "release_required_pad_clearance": 0.05796723060403809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.811913101222112, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 198, + "max_placed_release_frames": 198 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f10377432871ba6b0a503df5ed038c16805f7e620ed56ec6eba4e7e643e72df0", + "visual_seed": 3641994291093653665, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b2b5865967a286c0a14453b5c9fad3c253b9b8a1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3732193506383051, + 0.1595687057153416, + 1.0550533428681381 + ], + "current_z": 1.0550533428681381, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.19394665603943795, + "gripper_z": 1.0557499704377247, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3678472457884914, + 0.15448264959298882, + 1.0557499704377247 + ], + "object_minus_gripper": [ + 0.005372104849813708, + 0.005086056122352772, + -0.0006966275695865498 + ], + "object_to_gripper_xy": 0.0073978022004588685, + "object_to_gripper_z": -0.0006966275695865498, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3732193506383051, + 0.13504054712292501, + 1.0550533428681381 + ], + "finger_b": [ + 0.36089187206808243, + 0.1595687057153416, + 1.0550533428681381 + ], + "finger_midpoint": [ + 0.36705561135319376, + 0.1473046264191333, + 1.0550533428681381 + ], + "object_minus_finger_midpoint": [ + 0.006163739285111325, + 0.012264079296208291, + 0.0 + ], + "finger_gap": 0.0274517265729141, + "fingertip_max_gap": 0.09255561671185816, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01372586328645705, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0550533428681381, + "object_top_z": 1.105954989233427, + "finger_top_clearance": 0.05090164636528893, + "fingertip_min_top_clearance": 0.01527049390958668, + "object_projection_between_fingers": 0.7983449124008188, + "object_to_finger_line_xy": 0.011014620468840696, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048777808355929084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9595073172172589, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37401510380719555, + 0.15621541491935287, + 1.2446204688588915 + ], + "held_position": [ + 0.3798371416369211, + 0.1607444673970682, + 1.2437086504160886 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007432351828949618, + "max_held_gripper_dist": 0.007436693372038944, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0009118184428029696, + "max_held_gripper_z_dist": 0.0009965872780406393, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08851980692380695, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3798371416369211, + 0.1349625744917619, + 1.2437086504160886 + ], + "held_grasp_finger_b": [ + 0.37006623173009967, + 0.1607444673970682, + 1.2437086504160886 + ], + "held_grasp_midpoint": [ + 0.3749516866835104, + 0.14785352094441506, + 1.2437086504160886 + ], + "held_grasp_object_position": [ + 0.3798371416369211, + 0.1607444673970682, + 1.2437086504160886 + ], + "held_grasp_finger_gap": 0.027571301786239708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024844798941260942, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08539746552556, + -0.9960172427020247, + 0.025630550561131386 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037816858981993087, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03646343965754345, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33317536059151687, + 0.15608500900722028, + 0.7611089284739321 + ], + "target_position": [ + 0.34850223236389466, + 0.15759324205669653, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015400901443046885, + "xy_threshold": 0.08, + "gripper_dist": 0.20360425523749656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611089284739321, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548342983018672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09011055482319973, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17493535658478152, + "release_required_pad_clearance": 0.055055277411599865, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.189453331531225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 239, + "max_placed_release_frames": 239 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b2a1d13b67debd84cbdc9b3acf4c0d6d29433838afb39e8296b6cea1590816a", + "visual_seed": 2419641791835104886, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1237e0f7e37e9e1191408bc047b649a41f03498b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3754319156487235, + 0.1601174482548044, + 1.051717057649848 + ], + "current_z": 1.051717057649848, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.19061037082114785, + "gripper_z": 1.0522119377929897, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3701605393619366, + 0.1550584297356425, + 1.0522119377929897 + ], + "object_minus_gripper": [ + 0.005271376286786922, + 0.005059018519161906, + -0.000494880143141696 + ], + "object_to_gripper_xy": 0.007306235442012706, + "object_to_gripper_z": -0.000494880143141696, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3754319156487235, + 0.13569154898106434, + 1.051717057649848 + ], + "finger_b": [ + 0.3631084801622193, + 0.1601174482548044, + 1.051717057649848 + ], + "finger_midpoint": [ + 0.36927019790547144, + 0.14790449861793437, + 1.051717057649848 + ], + "object_minus_finger_midpoint": [ + 0.006161717743252082, + 0.01221294963687003, + 0.0 + ], + "finger_gap": 0.027358574844478407, + "fingertip_max_gap": 0.09296078844079267, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01367928742223919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051717057649848, + "object_top_z": 1.102718272014254, + "finger_top_clearance": 0.05100121436440608, + "fingertip_min_top_clearance": 0.015300364309321789, + "object_projection_between_fingers": 0.7971025210769503, + "object_to_finger_line_xy": 0.011002436918256963, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898039422039634, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1741411374846809, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 222, + "max_stable_success_frames": 222, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37628561166394603, + 0.1569519844550785, + 1.2430500028230234 + ], + "held_position": [ + 0.38202419861519, + 0.1614568668099753, + 1.2423611218540365 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00732802171243239, + "max_held_gripper_dist": 0.007331509468511521, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006888809689868935, + "max_held_gripper_z_dist": 0.0007754825089794082, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08842253607961922, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38202419861519, + 0.13572512531952108, + 1.2423611218540365 + ], + "held_grasp_finger_b": [ + 0.37227461815231233, + 0.1614568668099753, + 1.2423611218540365 + ], + "held_grasp_midpoint": [ + 0.37714940838375116, + 0.14859099606474818, + 1.2423611218540365 + ], + "held_grasp_object_position": [ + 0.38202419861519, + 0.1614568668099753, + 1.2423611218540365 + ], + "held_grasp_finger_gap": 0.027516846464187894, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02481483089784941, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08382352068393656, + -0.9961267124865191, + 0.02655541471997036 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003795074185355182, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03649559046158063, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3358087850385388, + 0.1550507792797915, + 0.7611109463291983 + ], + "target_position": [ + 0.35083069433355335, + 0.15781071978243932, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015273343787324407, + "xy_threshold": 0.08, + "gripper_dist": 0.20374992294743852, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611109463291983, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517898071920152, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09079967893879436, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17543954390410454, + "release_required_pad_clearance": 0.05539983946939718, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.917923681651037, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 238, + "max_placed_release_frames": 238 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "536a8666018a239a276feaad02c3c574b0470ff62d42d0445068f99c2543bb0c", + "visual_seed": 6899767402753977525, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d219ad40ceaed1809a26a85c2df7b6cf60e57265 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3744283481404087, + 0.16154147597259874, + 1.0528574223159435 + ], + "current_z": 1.0528574223159435, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.19175091430117763, + "gripper_z": 1.0535381458300868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3690059842352714, + 0.15643662006681838, + 1.0535381458300868 + ], + "object_minus_gripper": [ + 0.005422363905137284, + 0.005104855905780359, + -0.0006807235141432777 + ], + "object_to_gripper_xy": 0.007447253462754995, + "object_to_gripper_z": -0.0006807235141432777, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3744283481404087, + 0.136967991295963, + 1.0528574223159435 + ], + "finger_b": [ + 0.3620842161184533, + 0.16154147597259874, + 1.0528574223159435 + ], + "finger_midpoint": [ + 0.368256282129431, + 0.14925473363428088, + 1.0528574223159435 + ], + "object_minus_finger_midpoint": [ + 0.006172066010977695, + 0.012286742338317863, + 0.0 + ], + "finger_gap": 0.027499704444381153, + "fingertip_max_gap": 0.09224092269481118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013749852222190566, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528574223159435, + "object_top_z": 1.1036669088848898, + "finger_top_clearance": 0.05080948656894635, + "fingertip_min_top_clearance": 0.015242845970683904, + "object_projection_between_fingers": 0.7985046336823988, + "object_to_finger_line_xy": 0.011030603608900548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048620461347405594, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8539378861322443, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3751825819478918, + 0.1582183099125632, + 1.245541710738614 + ], + "held_position": [ + 0.38105961609783623, + 0.16276364928382017, + 1.2446784048677082 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007479634845783077, + "max_held_gripper_dist": 0.007483838237174716, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0008633058709057728, + "max_held_gripper_z_dist": 0.0009509608055369156, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0886330347144714, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38105961609783623, + 0.13696264785518783, + 1.2446784048677082 + ], + "held_grasp_finger_b": [ + 0.3711958673670411, + 0.16276364928382017, + 1.2446784048677082 + ], + "held_grasp_midpoint": [ + 0.3761277417324387, + 0.149863148569504, + 1.2446784048677082 + ], + "held_grasp_object_position": [ + 0.38105961609783623, + 0.16276364928382017, + 1.2446784048677082 + ], + "held_grasp_finger_gap": 0.02762218698337536, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024832766759298606, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08731166909084408, + -0.9958523197461414, + 0.025589640419510278 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038015184113028575, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036442646325267336, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3327864010515139, + 0.1645644479043782, + 0.7611116193802342 + ], + "target_position": [ + 0.3496806802199928, + 0.15655311747718542, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01869754218704067, + "xy_threshold": 0.08, + "gripper_dist": 0.2063481282081863, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611116193802342, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545555879923346, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559045952698417, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17987123404371286, + "release_required_pad_clearance": 0.05279522976349209, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6191654638022405, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 243, + "max_placed_release_frames": 243 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb355972adcfeff55c225abd45362bb40e3286d5b79aa7737027fa866b6e9aa2", + "visual_seed": 2700797237296569185, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9bda13317ffb599fe1f6293b2ad3d8eb4b85cb --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_8_success.json @@ -0,0 +1,684 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3741084860252433, + 0.16025290408080897, + 1.00424367052253 + ], + "current_z": 1.00424367052253, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.14313716250776398, + "gripper_z": 1.0529630773621985, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.37029787873918085, + 0.1546390023420221, + 1.0529630773621985 + ], + "object_minus_gripper": [ + 0.003810607286062473, + 0.0056139017387868695, + -0.04871940683966858 + ], + "object_to_gripper_xy": 0.006785029154052814, + "object_to_gripper_z": -0.04871940683966858, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3741084860252433, + 0.1344370818549651, + 1.0393806655950308 + ], + "finger_b": [ + 0.3640052713814525, + 0.16025290408080897, + 1.0394775277413026 + ], + "finger_midpoint": [ + 0.3690568787033479, + 0.14734499296788706, + 1.0394290966681667 + ], + "object_minus_finger_midpoint": [ + 0.005051607321895413, + 0.012907911112921916, + -0.0351854261456368 + ], + "finger_gap": 0.02772257213193364, + "fingertip_max_gap": 0.10035511138660949, + "finger_z_skew": 9.686214627180334e-05, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013861201457078691, + "object_to_finger_midpoint_z": 0.0351854261456368, + "finger_midpoint_minus_object_z": 0.0351854261456368, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.00424367052253, + "object_top_z": 1.0561536503333835, + "finger_top_clearance": 0.016724553665216746, + "fingertip_min_top_clearance": 0.015572993943256046, + "object_projection_between_fingers": 0.867181852978832, + "object_to_finger_line_xy": 0.009408376105104777, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05267755569330475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 5.160929390501842, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 193, + "max_stable_success_frames": 193, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3801116237046277, + 0.13991227799118638, + 1.1981940261268724 + ], + "held_position": [ + 0.3903925392581812, + 0.14122002337946674, + 1.1483996216915644 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 6, + "effective_shake_count": 6, + "min_shake_count": 3, + "held_gripper_dist": 0.050861479881014963, + "max_held_gripper_dist": 0.050861479881014963, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.049794404435308026, + "max_held_gripper_z_dist": 0.050215110014554254, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.09081922120491767, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3903925392581812, + 0.11331626846269732, + 1.1853837389279676 + ], + "held_grasp_finger_b": [ + 0.3883658328778765, + 0.16569833895272842, + 1.1813779999669678 + ], + "held_grasp_midpoint": [ + 0.38937918606802885, + 0.13950730370771286, + 1.1833808694474677 + ], + "held_grasp_object_position": [ + 0.3903925392581812, + 0.14122002337946674, + 1.1483996216915644 + ], + "held_grasp_finger_gap": 0.05257408860073778, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.047575813109644184, + "held_grasp_world_z_skew": 0.004005738960999761, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.386312901715797, + -0.9222926625886114, + 0.011772276888135202 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0349566836526262, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.04733734093793964, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.36031595689649165, + 0.1670776262346437, + 0.7611063993075149 + ], + "target_position": [ + 0.3480033394136317, + 0.1609612358628248, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013748119160805502, + "xy_threshold": 0.08, + "gripper_dist": 0.2241791762869309, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063993075149, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555481948942168, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08905729068254552, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19466835045172373, + "release_required_pad_clearance": 0.05452864534127276, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.090524130453323, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 334, + "max_placed_release_frames": 334 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b144bf94e43ad8194735eab5f53f9bc80161192bbd0e9ced6372612e5b077b86", + "visual_seed": 3673571435595115662, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e754e405a0ee41203e9dff752e68c0a2c153f49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.378412470603944, + 0.16375802847159912, + 1.0529007935134778 + ], + "current_z": 1.0529007935134778, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.19179422589406692, + "gripper_z": 1.0533392131274064, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3730045292996297, + 0.1586646851544275, + 1.0533392131274064 + ], + "object_minus_gripper": [ + 0.005407941304314323, + 0.0050933433171716225, + -0.00043841961392865336 + ], + "object_to_gripper_xy": 0.007428860969050755, + "object_to_gripper_z": -0.00043841961392865336, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.378412470603944, + 0.13920738656277343, + 1.0529007935134778 + ], + "finger_b": [ + 0.36607888465786653, + 0.16375802847159912, + 1.0529007935134778 + ], + "finger_midpoint": [ + 0.37224567763090527, + 0.1514827075171863, + 1.0529007935134778 + ], + "object_minus_finger_midpoint": [ + 0.006166792973038737, + 0.012275320954412833, + 0.0 + ], + "finger_gap": 0.027474558420922224, + "fingertip_max_gap": 0.09268086389777638, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0137372792104611, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0529007935134778, + "object_top_z": 1.1037497568895032, + "finger_top_clearance": 0.0508489633760254, + "fingertip_min_top_clearance": 0.015254689012807653, + "object_projection_between_fingers": 0.798480402547462, + "object_to_finger_line_xy": 0.01102101250818608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048840431948888194, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9493434129469797, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3789425665818801, + 0.16117962013774734, + 1.2443691482027142 + ], + "held_position": [ + 0.38476272613900386, + 0.16577728677815698, + 1.2437563134625063 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007442335804404467, + "max_held_gripper_dist": 0.007445318424471802, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0006128347402079015, + "max_held_gripper_z_dist": 0.0007066568191256284, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08890712069139925, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38476272613900386, + 0.14010413360073007, + 1.2437563134625063 + ], + "held_grasp_finger_b": [ + 0.3746637297688431, + 0.16577728677815698, + 1.2437563134625063 + ], + "held_grasp_midpoint": [ + 0.3797132279539235, + 0.15294071018944352, + 1.2437563134625063 + ], + "held_grasp_object_position": [ + 0.38476272613900386, + 0.16577728677815698, + 1.2437563134625063 + ], + "held_grasp_finger_gap": 0.027588050343511875, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02485357121899033, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07360955186546038, + -0.9970319438048173, + 0.02255963002697214 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00410143875354336, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03655008186350145, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.34742404847050246, + 0.15593349277565507, + 0.7611066382086491 + ], + "target_position": [ + 0.35376543111516456, + 0.16001294171220182, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007540227945620354, + "xy_threshold": 0.08, + "gripper_dist": 0.2095065232005637, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066382086491, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554686600454344, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551064915254479, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17938574212699224, + "release_required_pad_clearance": 0.0527553245762724, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5609267341853326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 197, + "max_placed_release_frames": 197 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dd8270d5d73a953885d3980d200a09819e7112d8ab0ccbc2dcba1df7b07082ed", + "visual_seed": 2954044196649830760, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2b05bb0923d3c71bc203c3fa3ae23ea7e57170 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3730375210377906, + 0.1656077454709357, + 1.052883412552371 + ], + "current_z": 1.052883412552371, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.19177678532831532, + "gripper_z": 1.053461454048477, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.36765871481918544, + 0.1605404637905442, + 1.053461454048477 + ], + "object_minus_gripper": [ + 0.005378806218605148, + 0.0050672816803915, + -0.0005780414961060742 + ], + "object_to_gripper_xy": 0.007389783485714362, + "object_to_gripper_z": -0.0005780414961060742, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3730375210377906, + 0.14104255166507398, + 1.052883412552371 + ], + "finger_b": [ + 0.3607762456580009, + 0.1656077454709357, + 1.052883412552371 + ], + "finger_midpoint": [ + 0.3669068833478958, + 0.15332514856800483, + 1.052883412552371 + ], + "object_minus_finger_midpoint": [ + 0.006130637689894802, + 0.012282596902930876, + 0.0 + ], + "finger_gap": 0.027455192963419202, + "fingertip_max_gap": 0.09214476076629954, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013727596481709601, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052883412552371, + "object_top_z": 1.1037259065814817, + "finger_top_clearance": 0.050842494029110785, + "fingertip_min_top_clearance": 0.015252748208733269, + "object_projection_between_fingers": 0.8005553954206821, + "object_to_finger_line_xy": 0.010970624260878022, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048572380383149774, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8089285009454, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 223, + "max_stable_success_frames": 223, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3737023981805302, + 0.16244499328030254, + 1.2429028464763148 + ], + "held_position": [ + 0.3795084366212985, + 0.1669863498027437, + 1.2421123115875745 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007413430167602175, + "max_held_gripper_dist": 0.007417395263199839, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007905348887402575, + "max_held_gripper_z_dist": 0.0008801328032683742, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08804061595043472, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3795084366212985, + 0.141233884442185, + 1.2421123115875745 + ], + "held_grasp_finger_b": [ + 0.3696830342637019, + 0.1669863498027437, + 1.2421123115875745 + ], + "held_grasp_midpoint": [ + 0.37459573544250024, + 0.15411011712246436, + 1.2421123115875745 + ], + "held_grasp_object_position": [ + 0.3795084366212985, + 0.1669863498027437, + 1.2421123115875745 + ], + "held_grasp_finger_gap": 0.027563163890153137, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02481875725480903, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08475974183823508, + -0.9960815581323887, + 0.025245112637270806 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038179502423762793, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036478072875403875, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.33124764592333933, + 0.16234724705728232, + 0.7611080630446729 + ], + "target_position": [ + 0.34835922116277784, + 0.1638935350309873, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017181298369814486, + "xy_threshold": 0.08, + "gripper_dist": 0.20627290255936528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080630446729, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586913706435568, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09045274844774275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1770698477173384, + "release_required_pad_clearance": 0.055226374223871375, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.547502656261939, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8287e7394ef0cc5ffc9888aae4698f8722447532b7608e8768af216cc69631e5", + "visual_seed": 109385059624322407, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..077ccf5c117e5ee7d5a20ece9044084226cf0d4a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_95_success.json @@ -0,0 +1,684 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.37540288413084083, + 0.16084308762072516, + 1.0534645677987924 + ], + "current_z": 1.0534645677987924, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1923581193886712, + "gripper_z": 1.0540198303658592, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3700284021720591, + 0.1557908477991202, + 1.0540198303658592 + ], + "object_minus_gripper": [ + 0.005374481958781707, + 0.005052239821604965, + -0.0005552625670668387 + ], + "object_to_gripper_xy": 0.007376325883546701, + "object_to_gripper_z": -0.0005552625670668387, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.37540288413084083, + 0.13625686214477395, + 1.0534645677987924 + ], + "finger_b": [ + 0.36319177775130246, + 0.16084308762072516, + 1.0534645677987924 + ], + "finger_midpoint": [ + 0.36929733094107164, + 0.14854997488274957, + 1.0534645677987924 + ], + "object_minus_finger_midpoint": [ + 0.006105553189769186, + 0.012293112737975592, + 0.0 + ], + "finger_gap": 0.027451659370003757, + "fingertip_max_gap": 0.09219484576470785, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013725829685001868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0534645677987924, + "object_top_z": 1.1043346872947422, + "finger_top_clearance": 0.05087011949594977, + "fingertip_min_top_clearance": 0.015261035848784897, + "object_projection_between_fingers": 0.8021332471723727, + "object_to_finger_line_xy": 0.010936497889311971, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04859742288235393, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8316826183204574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 224, + "max_stable_success_frames": 224, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3762480796914672, + 0.15753099624449354, + 1.2433758106064783 + ], + "held_position": [ + 0.38206306486601466, + 0.16203899942701339, + 1.2426003578464773 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00739847769860863, + "max_held_gripper_dist": 0.007402518986114888, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007754527600010164, + "max_held_gripper_z_dist": 0.0008607911325815287, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08872521212808895, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38206306486601466, + 0.13623468704765282, + 1.2426003578464773 + ], + "held_grasp_finger_b": [ + 0.3723761848433954, + 0.16203899942701339, + 1.2426003578464773 + ], + "held_grasp_midpoint": [ + 0.37721962485470506, + 0.14913684323733312, + 1.2426003578464773 + ], + "held_grasp_object_position": [ + 0.38206306486601466, + 0.16203899942701339, + 1.2426003578464773 + ], + "held_grasp_finger_gap": 0.027562622914814202, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024845593147783136, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0877693025974155, + -0.995794945974453, + 0.02624833505766832 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037083450876304, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03644724279227336, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3333543228217722, + 0.16642873026742647, + 0.7611094027579424 + ], + "target_position": [ + 0.35068622025233254, + 0.15829445144101295, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.019145787018801385, + "xy_threshold": 0.08, + "gripper_dist": 0.20328859105480251, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611094027579424, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754756020162555, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08688719530192494, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1771666306917887, + "release_required_pad_clearance": 0.053443597650962474, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8883627988797484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 240, + "max_placed_release_frames": 240 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b3a876cc5540be20a07c55a0f7c1276ab8d92475eab48b58fc0f2a86a27e50dc", + "visual_seed": 8622869697899542336, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2b69294c9353642ad22efebd70bc3db606a295 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3738875782202222, + 0.16451726737106076, + 1.0545872884759973 + ], + "current_z": 1.0545872884759973, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19348078046123118, + "gripper_z": 1.0551517057678947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3684596529762938, + 0.15940228365698483, + 1.0551517057678947 + ], + "object_minus_gripper": [ + 0.005427925243928433, + 0.005114983714075927, + -0.0005644172918974899 + ], + "object_to_gripper_xy": 0.007458245829210613, + "object_to_gripper_z": -0.0005644172918974899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3738875782202222, + 0.13994502215015042, + 1.0545872884759973 + ], + "finger_b": [ + 0.36152218139246134, + 0.16451726737106076, + 1.0545872884759973 + ], + "finger_midpoint": [ + 0.3677048798063418, + 0.1522311447606056, + 1.0545872884759973 + ], + "object_minus_finger_midpoint": [ + 0.006182698413880416, + 0.012286122610455169, + 0.0 + ], + "finger_gap": 0.02750814922717539, + "fingertip_max_gap": 0.09259449616691959, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013754074613587682, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0545872884759973, + "object_top_z": 1.1055594890486986, + "finger_top_clearance": 0.050972200572701354, + "fingertip_min_top_clearance": 0.015291660171810405, + "object_projection_between_fingers": 0.7979339401436428, + "object_to_finger_line_xy": 0.011045656347008532, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048797248083459796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9796160986451152, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 225, + "max_stable_success_frames": 225, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3746486676092303, + 0.16115143888428007, + 1.2433278712020313 + ], + "held_position": [ + 0.38052911854665034, + 0.16570697554420089, + 1.24252842674469 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007481425594608279, + "max_held_gripper_dist": 0.00748568775486943, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0007994444573411474, + "max_held_gripper_z_dist": 0.000889043845170745, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08842487894639259, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.38052911854665034, + 0.1398820350579904, + 1.24252842674469 + ], + "held_grasp_finger_b": [ + 0.37075011177724115, + 0.16570697554420089, + 1.24252842674469 + ], + "held_grasp_midpoint": [ + 0.3756396151619458, + 0.15279450530109565, + 1.24252842674469 + ], + "held_grasp_object_position": [ + 0.38052911854665034, + 0.16570697554420089, + 1.24252842674469 + ], + "held_grasp_finger_gap": 0.027614426021781872, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024878878615689177, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.08602554307278062, + -0.9959412296602794, + 0.026470228593718274 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003776582082905267, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03643956639419965, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3403029964348974, + 0.1621107203222636, + 0.7611143508200698 + ], + "target_position": [ + 0.34911706490433386, + 0.16197159941551448, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0088151663404957, + "xy_threshold": 0.08, + "gripper_dist": 0.21013013348900744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611143508200698, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516440472784022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0883742934943814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18199234011718846, + "release_required_pad_clearance": 0.054187146747190704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3520748393429556, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 2891541627295583141, + "physical_seed": 1061768133550289122, + "layout_id": "layout_00016", + "step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "workflow_spec_digest": "3bd60a462b6e3bfde7127dac466756438c35dca8882c33c1fa2c0a444f1b85ae", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "30626096e8ed5c089a8f96eea7c10b6d20d304c5ac6df1875677ed8242de9e9a", + "visual_seed": 4712585673000951076, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 1164515841808467485, + 5066845160497422571, + 1159376154734467498 + ], + "runtime_workflow_digest": "4010dc18b1bce9d2b3fca804f94e26dbc4c8d280ebd07e10489f170604ec5ae6" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e86e10eff26cc4de5d971adbfc8aa3058d219c80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00016/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_lbk_00016", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8cf5ea4c15ea70eb4656eb0c8bfc028ecb673efc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8e98152286da39f679c8076773c5c941bd4b82cf2b2e337cd822b33f3de7339 +size 4616395 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc960e6013e56f239e5b79896ef4e9224b873e3e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c730bd58c0e9819dbf6e6a5c1543c14424ef7e2993fe81881d9099fa0674d70 +size 4471384 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f692f4b75732773975c0fbd78a749102bbedccd2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4bda15ff9c0d092bb205bd50c18e3a1f914bbf1edcb219a63027da578046ce4 +size 4919209 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..25ddc023c923ec24705586a872bd10f6d62a07b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bac530c4159145c397041e3560ca4d5060674b4c3f75c22b5034760909a147b +size 5903115 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2855e5cedf29b0d8632cb8e1299ad0cf7f8de3b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9b02035436152801cb39f87f12ef3c9461d8786c3add3cd62a8a946a11ea74e +size 3854289 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c716cd809a998f895af17b20658c7202c0e9d41 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f4212b1bf8c755ace02a7a60ad00605b8f1eb7e18c677aab9604c77c5bbe50c +size 4238329 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d4f8fa4f01a4cd5e7112eeb648d69585abcc724 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e397622f0e89aa06379da60cc01fcb6bfafb6a25869b75223552af27838a10c +size 6358470 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c287a68645729b9dac638445f21ffcf125a19df8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a11af5ab7bc26936a988005611034084e1f137a2737e967fdf83e149bca83b33 +size 3596476 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..776f05f1232f6aeecd7280d52fb0613874f17c66 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e889715775a0ab8eafbe98be814384b5283b953242b4e318009ab272ea692350 +size 5222784 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f076fbb9bf948e5d37bac5dfe488982c7ffc85de --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:168a59aad2e897340524ccadc07c8b0aa365d099217d92d3b07291022d871abd +size 5589145 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67de0dfe70afafe05b157624a476347e67336e1f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcdb9f7c09fd0c34c9c4af8e0572981bdad34024eafdde434785a9ce4ea39762 +size 5806902 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8da553085f406640571cac4f66a1c84841319e68 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8ced57d0d6668502a1eaeafad75ed1f9404eb2bcbd5a042fc44a61609586172 +size 4557300 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9164f9a89ded167e1758a6681490b716c862a5ef --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0105d0353e3456c041baf66e76d28465720fe2406589f0fbf1e1cb63bce33b91 +size 4479241 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67f6ef89f671f8f46706f915f651c34fd1bbbcda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8529acd6436f8bb5d9ced806fa19d732134250a6c770cd9f78e4b3ff7febbef +size 5492029 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..156644405af1806814dbee9f573bdd0b5890a4e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eda70ba620484ea1abbcac4360feb62118cb073cacfdc4f7db24e28150dc40ff +size 4636598 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f4b88c73ba648e266823f93aa66e1618b35baff --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ae8d57734f1f9d4747c2faa223f3262e1a2030b2818c8e7a39851208ffb7fdf +size 3806320 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..48f4497a2319b91a7d2a4f6f54c49e69d3347e1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4150eee2a84fe67afb8c56cabbcd70c9878097fbc2149bd180048db276908d6 +size 4579391 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..00cdafe06b65194ff6799dcebc0efd8fea48800f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c47e900c0436ebd07e6c464fcffa11c0f3e89ca1785c2caad4a3579fc5fa97c0 +size 5090849 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0681955d31b29bced65564c2e3f2e20db9eb9684 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c23a99816ecb881a2f203133ad252c2c46080a748ea6b904b3216327fd755e3f +size 4118297 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bf471b4de378a18572e37455abddcc755121b894 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5854269130d6784f0098b7cc1f0b4fc0f3fc27a2f630457d4d93d2d0dfdf6dd +size 5027350 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..91c6f3974238ac76e6e28b507246e32fe6af1924 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ba063435eb927306c4ec5979163574f348a190ac965b90f85194381311333f7 +size 4670620 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9748c4503626b5a2823f22a76eb1ab1fd4b5f74f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc6da88423242464033b4332b4e7aca9d385a18f7ce8bef17d9b98d696a72517 +size 3593757 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d53dd73abff387a420ebf608d597dc802cd1f6bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1933ffac6ca2cd5ffb89a249929bce29f8b3a15d0237cbf40cef0e64dd8b816e +size 5390353 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e24e52e5dd35c0ffd8bf5f84e04395f8cc8a2bce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd348b58344d65c6e830e12b5a5a1233e6c7dfcd40f5a564c46d411a09617e05 +size 5670522 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fcee62fea33b16423817c97b40d9a48da76edde --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97649811157f2b90e177a5a43b4d218d83a577692d3d452cff485b6a2d7bf2f +size 4812770 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6927e4e4d4a3d147383aa68847555f4de690e6c2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ccf3caa70060d285138bcf112b73d44c5910a25ee5fc158e7bc37a8eb549ec8 +size 5239059 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d163a807782e7df14c8646bbfaeafa737e4cebdc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:481c4776701d908e703c7a0b8115bc07b3516aeee014e81e6f170cc2c29a4ceb +size 4380344 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..799d5bf53fbcf1aa3102676bdde2b2be772fa39d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c9d88769156c87b216b5e4fa1a8a6381ebb5d3e5fa9085eed3135db2fa5a1d8 +size 4486446 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a44bf5eb2908a24f6678b3eac0617679a4b0993 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81c615f16f7d63d2141b418a57f1e43e274023f4dd4d54c6864b7ccfa32f06ff +size 6311161 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a544131fa79c8a2bde8a9a989570008176492927 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc126835af2b0b9807b46a233c7834929eac282c373bfb29ef96d5e208b264d0 +size 6213705 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2a3541bf7784455cef6c4d6d6f1e2e4f241e9557 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddfe727b043ab50f0db4d2f5e6ca58e99971b69078bb572fe7e3789e1c9b6431 +size 4640525 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e39f7091634adedb5e74c89c3bba327254ec30b5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a8f54e3fa9b62593402b2bd315d9ca525640ba44a76fa77bbe8436c92542e26 +size 3945233 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d5f5fd46d40acd9b09faa32c1266c287cc288382 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a38a68e076760e32f1f247680a8de6bb901802af7592b7f667c42ccaeddc7597 +size 4209944 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76730e55f98ca92dc7d11626c48273e9332a6f28 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c79f398b3e11dbe43975cfd9349cc66a395d35d7a75dd091222b9d0aaab50ca4 +size 5795658 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c30fd9a1f438fc4fc9a806d9654b6be74c8b88ce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e7ffb96b5b2ce6035ef32d60b104efead633d298a91fdeeaeb2724ff2c6a6c2 +size 5166696 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e401521a3af15ad3249045a7591ad6d809a059f3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08b474ffb422f7a769997d26bb96e04c556ef5d6e77f09d01c516ce7ffe0495e +size 4419149 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f540f0a012c3c6c785779a31a6f28036f96429dd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:432d28d7436b81a13883568303875b470ac6b942fdd101b39e9982b659a9ee50 +size 5162385 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d3ce33ecdc0ac4ec8a0a7b68e9b5b6f22c32bf85 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:331bbb88a9adacc4aec6e1268d3da5b3bc021bc7c3b2471a864276e265788761 +size 3960954 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2f2d1c363ff6599230d1bf0de417ba25e7a180ef --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ac141ce41c11f7e6f700087c8a2e924ad0516e4bf468f18e1f896a7d54d2ffb +size 4460748 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ce887302f47fa4d16291a49dbf2498f8fd83c23 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:353a57e5715eed3cf5f02d425022b73027708c8e596165e8b42bba7828d48f6f +size 6368875 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74fda9d20e03c3169845d8139f884d8c18abbd97 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2edafc3550733832e4e8bf03789ff50eb30f5acee77eed780e07857ec033171c +size 3956259 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..76ac18fe7da5e2f95e8204da065e31c5edc09f26 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb817fd2c3655299b1d3dacb9cf297f4198607d47d4aab44772716dc51a8a538 +size 5058561 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7ac6fab12ad336c4bc5cd020265db8fdd1623c6c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45e08b093f3967080a2e9e46a9506ba61b476c20af1534681bee9b01bfdc9cda +size 5268670 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a3ee2d890db6b1cc64adc46930d831f929093eb5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fb82349c789852615667549654e198e24a675b3cfc10f1c5c1cebd1febef4d2 +size 4400423 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f6deb23621e05cba1baafebf875ef7d75f71e629 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:852329f3e02aa3ec89609374ea498417577fb87a0f0cdc4f002e212621541a15 +size 6498673 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0b04e73b7ef420ac4451727d21f28166f92cac2e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20e86f43c88962043a89ea23721d6eff0c2a26ec858bb46d1e5761ffac624c8f +size 4684941 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..69d1148ef5273396b0d02dc4039c4400fe9c92f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19037f21e96f145bcf54124b3ae149c4b6f6c38c1b9e47b586d4d612272b26aa +size 5874588 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4aa207ab25bc35e978e4b20a25769a56cacbd520 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1d532be9918969af50b362fd3bca997ed7aa73389a4503a69941ac3dafc1950 +size 3952285 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a56ff588eb32825f493f29921c14614923b1bd70 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17aa78cb913c84f6f731e0e2e26dfcd30e8002ca6463667285380f5f11efe0f3 +size 4065066 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..838ab1f564c3b1124b5e69ca6c96247bc78377c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d86bc772bb058c1b4cf300b671219476ba267566d798270a7d1a0aa6c46c1f08 +size 4769912 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bef51b766aa09f3ce7212e8f60e65cadf5eed992 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b2c055a41e1b59ea3b9a50a6401f986614cd5f7e99537bb18482304c9bc5a09 +size 4718564 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7f54337a989c03c70dee966d1f432fd1adacaf5c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e092facc8eba8ff875c361eca9801cd7f067e06b7e0dbf8023f8888a366c0a70 +size 5427772 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3886d927cd38be42ba24f099c575decab45e358f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f63a8f0c3873682f65572352cbcf84fedfebbd8381b0fb47f9390bf06c114839 +size 6771881 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..68b38d91fe8312f5f85dbbc643ea0700fcde18fa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:380484fc0a34c7133c8fb2cd140642335f7df5b08f2ec61ba0dfc3eeb34d87da +size 5536525 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95f94f85bbdccb776236e2608e5d5d5b428c32e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9308c558e7f59a453a9cd2969add5807295d0e34705ec0b6749bd6196866b916 +size 4193145 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bf68225d065d5d25bdc25b5093fd90822704fce --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beb8171b7f0da0d2dd5925b9c859cc956caf5af83cb1fe03c1772d743a1ebcd2 +size 4489092 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4aa38b8adf52edc90b8ce5c0026746d54d905f75 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc42c484fe8f361688148954abe6e4821dd49d537a1cfa99df96aa978f8ab8aa +size 4258041 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..acf5b8f6349aecc1e6586a26fd16a028042bbb6e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7f16c866e358f951c4419da787dd6ae32711e1690e032532f5ea4f356683149 +size 4715293 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9a12fbffd6870c5224d14a1cc5296d2e79fe04bd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9af41b8d8947706059b8e51da0e2b04962792fae88cb22315a4dd6d3f3815ffb +size 4822933 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..00ea5d7f7cb06481702e36fc1edf94d71544b214 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c8b964d9158ce6e0d6cbb4dbc8a1fa74c8e4c66b827646d0c1fc37fb43eb32 +size 4305240 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f18cccf9e84cff296b3360366694e958268be5d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9784e94e72bf707e20540b7d71501a217c0e4ce9cd64fa6ad0b4874e551be93 +size 4959894 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..291c90fabf970775cc9d359eecbf308fc2a588a5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb3db13b3fb3b109561e1eb2bfb4735d2207174303a6aaed284b82c2fd42c7d1 +size 4858065 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..10dfdab806429caf900502617fb16b3c0a79dd05 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:095cad238d44bac3ccf17805c388ead3c15b30f23653454377483092eb393645 +size 4262394 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6f9f354421570ef260f291e1e26edc7cae5002a2 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:224330b5ae9d07050faf10c7dc7170ac91c2896739c2d7d6812da870f68f1350 +size 4348867 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b93a300c0ea03ff26ebd732c80306427bb56e67f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:963a8b28607b8668619996b9ae138473ae6da6733b13fa9ed7e0bc7c9ab9edcc +size 3969775 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c8da29ec870fc0ac5893d40d9fba73d79f549b0c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57b64c0f29f233bd6643a804202505e0696713e7acec9ddcd24ecd2c0b2143ad +size 5459272 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d19eb62f1702b9f4afce5e76e6c3d7d52c53b3a7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db0afbb3fb2bdde799333b6db24bf2bac5e9b5174a180f886ae5fb883489e9f +size 6837747 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d75af83ed69983441f9f43bf165bba883aa534b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6ae9deb61faa0c256f4233e36cdcc96a903a58dfb4866078d178a5516ca7866 +size 4716471 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95a3a27c7849d737b9b6637b16f609987cbf5243 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:582a974a4e3d953960c02c97c12fed05d0e5cee013843df1e6a2651a0e27ac55 +size 3998839 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62457a9210d4fe85bc89ba2b971fb0fffc025a49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5b848ae20c57aadeab720f51bbb11ce9c8ad79d6d248164f42a8d97c87a88a1 +size 5794740 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca335b0ff62f952b038337c1081d45001db12ef0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5781ee684c16893bc386ff562629763a22b53147bd08dd27e3fe3861aaf1edea +size 3979674 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e4ddcff2f78ee6a81d9e119a348a7a51d49996b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5c2a2fa431aecb1a00eecee86d60c87266c47cf98f3126d45b5cb496b479bb0 +size 4468856 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ca326f017aa3efdd0a7e959009766d417e6bcf42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dcf3a08182db46a20ec544807408a9d7eef3fd96b21de96393bdd7ff09f0fb4 +size 4238337 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ae6765c8c572d37549336305ef6e08953d7ad89 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3100a62cd2e9ee9b0a8dbaa03449ecb5d4c46ada962a38434ce08e5ad2966129 +size 4004291 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a95d85815c2e76bb61b15e5167e36dfc60c6365f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a56d54da418103194be6034c651e591a443086333c10b4723a8d118ffd5f6e5 +size 4790429 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ba5aabbb4b626528597bd134990c975b5c7d2272 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cca1ff511c192db424f70ece9fb8c70c9088a52c6a9317afcd68fe48a5921329 +size 4445696 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3544e72a5040d1c8adacf901d9c611886900a3d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29fd0bb340c0f483e23e8f7532eff482dc874449fc9ff36cf0b277558fb4f2a9 +size 3621547 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ade10fc3f1e7e467d453ecfae4c3e73c10a743f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72cd7c581db40b339500caac34466489d8ef8ec7f2d97bc0c88fba3dc6fb905f +size 5563053 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b04fbf3a07d4607b62d7c26d3b8021a7dd5133e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddff5135d8b7e6385d066d4e9c28c9a6065acc7546e00e272d018468f7f4d5e6 +size 5188814 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4b57887b88b68ff718139e175648248bec479f71 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38200cb0f4068e3f1816db68f5eaca3ff662940fb7ea65aecda86641a5e77a10 +size 5602516 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad167bc7829aa8d0cd9fc2b6d5f3fc423cb97360 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e8bc69117d2ea636859e024cfb69a32f829d10a5b089c1577755942c1b8e8e2 +size 5143942 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0105.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81f2cc22ece4c03f5df80464c916ee3577da072e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0105.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64fc3f284bd6b405e05670950bcdcfc8ea0775656f3428d0f343f11b25248e03 +size 4416019 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0106.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4616e9ecec1d214501f10433430ade9acda1ea76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0106.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dba233a2ca629ebd93efe196c5e9937ab3ea90fe78d693dbcb58286685f253e6 +size 5440308 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..58f8625203a27e70242a37ac0b7ce2f63960440b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b52559315504bbc19925dc7e58620d5600bc8ddbe6cd99d6145b411f47fcc52c +size 4783418 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c3b599a6e50953e833209b8b4b16b2b3c3b79e3c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:037a004c240621532ddeba5d32f7f1326faff19d1d6e5ac3b5850317bcf69708 +size 5193391 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..99f2beb7f010870e2c9c8c1c2da2101ab174068d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98227b6ce769d9d668191b4b2c7a2f7b89054e615e98a4fa4fcaed18dcffe7d1 +size 5575483 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0113.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fe1a9d5c382b07450a23dd83a5c95501c55f3824 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0113.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d35d90514121730ca0e96e8321aa82621736bc70e03a34ff106f42ebb8b83f40 +size 4550990 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..038d00d5b34eb6b71dbcdc2ee3d9eca98e75c629 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5988b06c731ba7b5329bd0a00ece70fe84f4aeecc5a2e18f8208ee6f7b833ff +size 3441166 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0115.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0115.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c57eb0d6db93fb8e151a80a8d37b25430bbbd42d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0115.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c27643ac8d911152ccd476785a8f77c62820982d7b2849513a517c1a61d029f2 +size 4358326 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0116.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0116.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd019b98327a848320543997791545ffa922310c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0116.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a526fff5e266bb5a4886d78368cd80b2d49f5517022a5c433ce6e4e8193d6b3c +size 4340863 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2245bf019bcf7ff6c0882ee40072b5b768f95e2f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de53fe24fe2024ca9d04711b72ad5d85b5db7dbfe47f99e639ec225c326fe7ca +size 4109790 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0118.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0118.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9010ce540be3d6512fec43e80e7daf74ceb1c94d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0118.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a733c621aecce56bf9f57f6bc518acb4d1fe166e9e6253e9b99ad558a878ddc +size 4615120 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0119.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16f44a343eef8554954cd758791b7b8fc84e6681 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0119.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba4053a50938de99c19028647d94faf7ec38433d4c5bd63d7dc56886cc2b402 +size 4502796 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0120.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0120.h5 new file mode 100644 index 0000000000000000000000000000000000000000..eb4ff5b8beeb8288488244a765b0e4a084ce3492 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0120.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc73417346088fc45d2c49faabc674bba02a3cae198f873a432dcdfcab592a98 +size 5087455 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0121.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0121.h5 new file mode 100644 index 0000000000000000000000000000000000000000..115a809cb4ad62025bdb2848917b7c035ea3b5d0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0121.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8433d778afced56e520658f0cb1df3a7d00830149f3bb7455761aca663e36cf1 +size 4735843 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0122.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3ea69918e05457916b82e050047339fb094ee2f8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0122.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37210736976112a4a9d7994f7ea35065fcf277b573f90de041df7e895b0ed8e0 +size 4306884 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d5063700456dd913349faea187cab2e76a8560b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b645c8b8c7c1c980a701c0a0b2e084ee2e2de93216f03f800baef08d5f11b3de +size 5168821 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0125.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0125.h5 new file mode 100644 index 0000000000000000000000000000000000000000..edd8214245c60dac28073320314d99c500b9ba8e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0125.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252c61dab78798b0a7b96d1c183c51d0930b35d152560c8505b7de41176e41e3 +size 3627931 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0126.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0126.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ce6b82ccc22e1f892097f13b9cddf33c00e56c09 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0126.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:431a950760b6d13ecf8160850f34dc5bb6ee5f2686603f74833a19dc52490fbf +size 3941258 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0127.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0127.h5 new file mode 100644 index 0000000000000000000000000000000000000000..19e3c95fddea49890a77dd7585b2cbfaa4c078c4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0127.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:260245715b637b10da3d3b23833351b2929f7fce09608a81e086096acabdfbff +size 3908526 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fff9dd013fed889835864a014e343d20f36b72b1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":821,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":816,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":815,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} +{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":120,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":122,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":819,"success":true,"robot_type":"ur5e"} +{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":817,"success":true,"robot_type":"ur5e"} +{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":818,"success":true,"robot_type":"ur5e"} +{"episode_index":127,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a at home."],"length":820,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43cd7449c84a2df285e5d0b8b891ff75c3ae9847 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-02T22:46:03","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[0.36932294110630615,0.8922861306176482,0.71338606911949],"aabb_xy":[[0.3468238053800791,0.8697861298393851],[0.39182207683253306,0.914786131395911]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.4687953129348843,-0.5957387406105741,0.71338606911949],"aabb_xy":[[0.43129531451148395,-0.6089029545784046],[0.5062953113582846,-0.5825745266427433]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.006201122592976782,-2.5173697405718722,0.71338606911949],"aabb_xy":[[-0.021303424053994876,-2.5324712622029333],[0.008901178868041315,-2.5022682189408094]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.34954114755312027,-0.8541240749915457,0.71338606911949],"aabb_xy":[[-0.39055909093949115,-0.904124075622503],[-0.3085232041667494,-0.8041240743605883]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.3905125407957718,-1.5741154596652305,0.71338606911949],"aabb_xy":[[-0.4545125380814205,-1.6156221786180747],[-0.3265125435101232,-1.5326087407123867]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.07515478195951408,0.5715400370308128,0.71338606911949],"aabb_xy":[[-0.07911526572924846,0.5638721724452922],[-0.07119429818977971,0.5792079016163334]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.29395816223859106,-0.8023228421626205,0.71338606911949],"aabb_xy":[[0.22895816128146387,-0.8542710540963261],[0.35895816319571827,-0.7503746302289149]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.42360285574830114,-1.77217933738208,0.71338606911949],"aabb_xy":[[0.41635908970205576,-1.8521793355856824],[0.4308466217945464,-1.6921793391784776]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[0.4816528853331026,1.5087364967670323,0.71338606911949],"aabb_xy":[[0.4772222559782624,1.50328812503235],[0.48608351468794275,1.514184868501715]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.3906241835482127,1.526890518043008,0.71338606911949],"aabb_xy":[[-0.4406234587166489,1.476890516767061],[-0.34062490837977655,1.5768905193189553]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.06011704873796997,1.5673781618481049,0.71338606911949],"aabb_xy":[[-0.009882953898616383,1.5472732968522394],[0.13011705137455631,1.5874830268439704]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.31383009533213024,-1.548817967764688,0.71338606911949],"aabb_xy":[[0.268551480450981,-1.6128179671128717],[0.3591087102132795,-1.4848179684165044]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.15707798897130199,-1.0741120787756833,0.71338606911949],"aabb_xy":[[-0.22107798627364839,-1.11847850574354],[-0.09307799166895558,-1.0297456518078265]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.49993549296188444,-2.393787148565022,0.71338606911949],"aabb_xy":[[0.4885737583085982,-2.4051556149713096],[0.5112972276151706,-2.382418682158734]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.16058698208374755,-1.3015123837594484,0.71338606911949],"aabb_xy":[[-0.21058698152394315,-1.3514803082437645],[-0.1105869826435519,-1.251544459275132]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.6078548707714913,-0.7575731435753901,0.71338606911949],"aabb_xy":[[0.5713590501442125,-0.7940570860021477],[0.64435069139877,-0.7210892011486326]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.3324067225962697,-0.09424249200643242,0.71338606911949],"aabb_xy":[[-0.3667229997708876,-0.14424249197961014],[-0.29809044542165175,-0.0442424920332547]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.4485646149440634,-1.245477146880835,0.71338606911949],"aabb_xy":[[0.43146253698569526,-1.2625839524121047],[0.46566669290243157,-1.2283703413495652]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.47605288782479294,-1.760379931843921,0.71338606911949],"aabb_xy":[[-0.5188195947042131,-1.8243799352657235],[-0.4332861809453728,-1.6963799284221186]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.5492465814516589,-1.195278345457014,0.71338606911949],"aabb_xy":[[-0.6132422788467554,-1.2592783437577226],[-0.48525088405656225,-1.1312783471563053]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.6392461230789381,-0.7563362027959752,0.71338606911949],"aabb_xy":[[-0.6942416008995974,-0.8113362042298821],[-0.5842506452582786,-0.7013362013620682]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.2847772336256046,0.5785414562741398,0.71338606911949],"aabb_xy":[[-0.3447772334721714,0.5217228340811011],[-0.2247772337790378,0.6353600784671785]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918150542038406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3265.png","name":"3265"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3265.png","name":"3265"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/71.png","name":"71"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/902.png","name":"902"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8652.png","name":"8652"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.1735082037126,"rotation_z_degrees":75.9500845898032,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004862227483696375,0.007964808393603216,0.019278657498170735]},{"name":"camera_2","offset_m":[0.004579793467202588,-0.016193665923309522,0.004333012630330209]},{"name":"camera_3","offset_m":[-0.015993799927392135,-0.008311390686330836,0.006650013810208324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014405007329839408,-0.0005559190997967787,-0.00022314207970259756],"end_effector_yaw_offset_degrees":-0.554935722877371},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00044476874281016744,-0.00016063951200782694,-0.0018739717173231136],"end_effector_yaw_offset_degrees":0.14916265031236775},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007570662531258528,-0.0016520434528262574,-0.0008519458102313128],"end_effector_yaw_offset_degrees":-0.7008490914291008}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023969091952906374,-0.003457351305474563],"position_m":[0.3106030908047094,-0.11975735130547456,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002451716868400402,0.0003049982304328767],"position_m":[0.3078482831315996,0.09140499823043288,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00019848940651694732,0.0001268146110018388],"position_m":[0.35490151059348307,0.29682681461100185,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003780691003268376,0.00339083349602498],"position_m":[0.2402193089967316,-0.348409166503975,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4c8aef5b9563b828c1e372aa4d422a426bc2935099ecc1dbb1adddfeca2ae15b","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3265/tex_ceiling_textures_8652/tex_floor_textures_902/tex_table_textures_71/tex_wall_textures_2792","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":298997948854194828,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":298997948854194828,"visual_seed":298997948854194828,"scene_id":"lab_003","finished_at":"2026-09-02T22:48:36"} +{"episode_id":"ep_000001","started_at":"2026-09-02T22:48:42","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.6154014911734234,1.5026514115043619,0.71338606911949],"aabb_xy":[[-0.6496984021911638,1.4683545252944201],[-0.5811045801556827,1.5369482977143027]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.16644712166580278,0.7807921533408786,0.71338606911949],"aabb_xy":[[-0.21644712124213752,0.7308115743887728],[-0.11644712208946809,0.8307727322929847]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.4091466227848852,-1.3419003990375065,0.71338606911949],"aabb_xy":[[0.3787485116857416,-1.3723073010391758],[0.43954473388402876,-1.3114934970358367]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.6738164043458557,-0.11893578607312127,0.71338606911949],"aabb_xy":[[0.6238164029849684,-0.1689136906485369],[0.7238164057067429,-0.06895788149770565]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.5160112221346194,-2.4889949740668147,0.71338606911949],"aabb_xy":[[-0.5326883581277149,-2.505694898040745],[-0.49933408614152386,-2.4722950500928844]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.4632398572190568,-2.056405198525329,0.71338606911949],"aabb_xy":[[0.4506371580819804,-2.069000594750194],[0.4758425563561333,-2.043809802300463]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.2204957969272608,1.2360996263980586,0.71338606911949],"aabb_xy":[[-0.2844957991476678,1.19172654227277],[-0.15649579470685376,1.2804727105233467]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.2772191350270645,-1.168246080817015,0.71338606911949],"aabb_xy":[[0.21321913772471812,-1.2126125077848715],[0.3412191323294109,-1.123879653849158]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.1124459013240473,0.94525165675112,0.71338606911949],"aabb_xy":[[-0.13495959314750447,0.8752516561501124],[-0.08993220950059008,1.0152516573521275]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.4632226541004494,-1.7106620648048372,0.71338606911949],"aabb_xy":[[0.4032226532396366,-1.7620884948113233],[0.5232226549612622,-1.6592356347983506]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.2761011659988152,0.9798328391713667,0.71338606911949],"aabb_xy":[[0.22110116682222564,0.9248431643964089],[0.3311011651754046,1.0348225139463243]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[0.14925924210333708,1.2805615492103475,0.71338606911949],"aabb_xy":[[0.06925924103021674,1.270783502872963],[0.2292592431764574,1.290339595547732]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.6217550700480965,1.3708064731077725,0.71338606911949],"aabb_xy":[[0.5317550663711781,1.309374066530668],[0.7117550737250145,1.4322388796848766]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.31331966440956843,0.5322456061234804,0.71338606911949],"aabb_xy":[[-0.4033196611451786,0.47906214280618586],[-0.22331966767395817,0.5854290694407749]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.5390391532936736,0.8926245674581712,0.71338606911949],"aabb_xy":[[0.5212456463587571,0.8748248218623735],[0.55683266022859,0.9104243130539689]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5842426670037684,1.6585444832463971,0.71338606911949],"aabb_xy":[[0.49924266858634514,1.573670187784112],[0.6692426654211916,1.743418778708682]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.5289353953752416,-2.5038746202650017,0.71338606911949],"aabb_xy":[[0.47893539501467547,-2.5538546074746042],[0.5789353957358075,-2.4538946330553983]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.1488128441823352,-1.5118524203320656,0.71338606911949],"aabb_xy":[[0.09881284289849522,-1.5618312747226875],[0.19881284546617514,-1.4618735659414432]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.5399993987537381,-0.8989414125414119,0.71338606911949],"aabb_xy":[[0.4759994001671656,-0.9459483759409206],[0.6039993973403105,-0.8519344491419032]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.3257852803481405,0.8895940237101851,0.71338606911949],"aabb_xy":[[-0.37078528181436937,0.8445941668487045],[-0.2807852788819117,0.9345938805716658]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.47838849544521933,1.1384001494440366,0.71338606911949],"aabb_xy":[[-0.5008884959572598,1.1159082910786382],[-0.4558884949331786,1.160892007809435]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.5934988692355544,0.9973097571473786,0.71338606911949],"aabb_xy":[[-0.6014923590308365,0.9893116252069033],[-0.5855053794402725,1.0053078890878546]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.6604314000834568,0.46800179721437907,0.71338606911949],"aabb_xy":[[0.6496584261620891,0.4330017989953401],[0.6712043740048247,0.503001795433418]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.5234795320798531,0.9951979821261894,0.71338606911949],"aabb_xy":[[0.5058466964863255,0.9775750361105663],[0.5411123676733807,1.0128209281418121]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.5937437235251589,-1.8003409059333046,0.71338606911949],"aabb_xy":[[-0.6112437228032458,-1.8176790059996506],[-0.576243724247072,-1.7830028058669587]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688160776167396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7147.png","name":"7147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7147.png","name":"7147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8143.png","name":"8143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":782.1420020906587,"rotation_z_degrees":198.9305535108682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018737903117586958,-0.009967872285421554,0.015366124817385165]},{"name":"camera_2","offset_m":[0.009798328429324269,-0.015678679293163827,0.017069496021693078]},{"name":"camera_3","offset_m":[-0.01417036038976649,0.004529508251128914,-0.009041984582859467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018571035100361719,0.0008991126075010296,-0.0010380376768403476],"end_effector_yaw_offset_degrees":-0.29211964414353964},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014105194047590469,4.053957040534755e-05,0.0017690795670433231],"end_effector_yaw_offset_degrees":0.2668350724258248},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018407465917983194,8.868184562306654e-05,0.0008585364951533918],"end_effector_yaw_offset_degrees":0.058689284233336414}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015462143143983613,-0.004840461481919411],"position_m":[0.3145462143143984,-0.12114046148191941,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026076401415721963,0.0049409755677461845],"position_m":[0.3076923598584278,0.09604097556774618,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003611481451463643,-0.001205056165149384],"position_m":[0.3514885185485364,0.29549494383485064,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003623486627745893,0.0002498377245669292],"position_m":[0.2476234866277459,-0.35155016227543306,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e08f64d609f01d4cdfd506dc3ffc7b8cf9685f292e127b13e0135635400d97cf","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7147/tex_ceiling_textures_8597/tex_floor_textures_7542/tex_table_textures_5167/tex_wall_textures_8143","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":9046415058294426429,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":9046415058294426429,"visual_seed":9046415058294426429,"scene_id":"lab_003","finished_at":"2026-09-02T22:51:28"} +{"episode_id":"ep_000002","started_at":"2026-09-02T22:51:31","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.3696158906760958,1.7698895151359113,0.71338606911949],"aabb_xy":[[0.332115890383921,1.7658480397353078],[0.4071158909682706,1.7739309905365148]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.6258371330501807,-0.9945828586624335,0.71338606911949],"aabb_xy":[[-0.6318741460508456,-1.0006095597313818],[-0.6198001200495161,-0.9885561575934855]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.018779699436502262,-0.864754185232604,0.71338606911949],"aabb_xy":[[-0.0452202991500702,-0.9117611486321126],[0.08277969802307472,-0.8177472218330951]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.45334016882368267,0.7047108166669629,0.71338606911949],"aabb_xy":[[0.38834016618588924,0.6532312179675159],[0.5183401714614762,0.7561904153664099]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.1502666490900011,-2.019889189971592,0.71338606911949],"aabb_xy":[[-0.1583803037633782,-2.0279950064256207],[-0.142152994416624,-2.011783373517563]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.5215517203568769,-0.2625014835896744,0.71338606911949],"aabb_xy":[[0.5123918414130003,-0.26903270163321136],[0.5307115993007535,-0.25597026554613733]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.3490624510263035,-2.1793321023502927,0.71338606911949],"aabb_xy":[[-0.38497595545129315,-2.2152456105670475],[-0.31314894660131376,-2.143418594133538]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.014595772642104654,-1.6474849081636567,0.71338606911949],"aabb_xy":[[-0.061725151643940324,-1.7114849092080586],[0.032533606359731015,-1.5834849071192547]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.5860392562833198,-1.370402903854193,0.71338606911949],"aabb_xy":[[-0.6338454238970884,-1.435402906561252],[-0.5382330886695511,-1.305402901147134]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.5123404537866285,1.4924736393321294,0.71338606911949],"aabb_xy":[[0.49723815232561025,1.477372117701067],[0.5274427552476464,1.5075751609631909]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.49683179998913146,-2.1976773282746205,0.71338606911949],"aabb_xy":[[-0.5181098081326037,-2.2626773306006935],[-0.47555379184565927,-2.1326773259485474]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.1879886936359645,-0.6102649322279765,0.71338606911949],"aabb_xy":[[-0.2420042899178645,-0.6742649351202338],[-0.13397309735406449,-0.5462649293357195]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.3959242855146341,-1.0514028807589453,0.71338606911949],"aabb_xy":[[0.34594686864938046,-1.1014028822481936],[0.44590170237988763,-1.0014028792696965]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.6263305423715235,-1.2489619263643374,0.71338606911949],"aabb_xy":[[0.54633054496793,-1.32895449756252],[0.7063305397751168,-1.1689693551661544]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.2082250663447638,-1.0224182151505925,0.71338606911949],"aabb_xy":[[0.1654583594653436,-1.086418218572395],[0.250991773224184,-0.95841821172879]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.543647390726065,-0.21228579906633893,0.71338606911949],"aabb_xy":[[-0.6333344670341805,-0.30228579932078947],[-0.4539603144179496,-0.12228579881188839]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.4972628754897226,-1.5341030188859175,0.71338606911949],"aabb_xy":[[0.4902225655561857,-1.6141030182855893],[0.5043031854232597,-1.4541030194862463]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[0.2473916457492824,-1.904273688374071,0.71338606911949],"aabb_xy":[[0.20989164508470368,-1.9199607463742927],[0.28489164641386105,-1.8885866303738483]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.24213472462442942,-0.8762826259110961,0.71338606911949],"aabb_xy":[[-0.3061347210517514,-0.9234522497331926],[-0.17813472819710757,-0.8291130020889997]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.0516325976436367,0.9640868415096149,0.71338606911949],"aabb_xy":[[-0.07413259745753908,0.9596122251391341],[-0.029132597829734326,0.9685614578800956]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.16148632529372808,-0.1488567761071642,0.71338606911949],"aabb_xy":[[-0.1989863254656,-0.18155751149007135],[-0.12398632512185612,-0.11615604072425698]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.17899506267744747,1.3845969402770972,0.71338606911949],"aabb_xy":[[0.1289950616583122,1.3481307245392695],[0.22899506369658276,1.4210631560149254]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.15797584290086109,-0.29513104745695884,0.71338606911949],"aabb_xy":[[-0.21797584454378297,-0.3471311967489031],[-0.09797584125793926,-0.2431308981650147]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_23","position":[0.3010460828928698,-1.7874030744688825,0.71338606911949],"aabb_xy":[[0.29224402758389706,-1.7952144006238113],[0.3098481382018425,-1.7795917483139532]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.08788199686931797,0.6130522444748081,0.71338606911949],"aabb_xy":[[-0.11828010796846153,0.5826453424731385],[-0.05748388577017436,0.6434591464764775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898592346923093,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3641.png","name":"3641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4845.png","name":"4845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.3836274133994,"rotation_z_degrees":67.40015322968941,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015131631789830322,-0.00439425965574753,-0.0012479734604080271]},{"name":"camera_2","offset_m":[-0.008281932729792439,-0.008941814926741606,-0.007042746081997073]},{"name":"camera_3","offset_m":[-0.004449582323840606,0.011109846882195153,0.017182181319049184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001932625446703507,-0.0003503716139553702,-0.0018202413547582484],"end_effector_yaw_offset_degrees":-0.08196784915772137},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011666703292038047,0.00014377343789904063,-2.904047977202737e-05],"end_effector_yaw_offset_degrees":-0.0881913248125683},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.931761277431889e-05,0.000454450426397589,-0.0012581438497839162],"end_effector_yaw_offset_degrees":-0.5924181403627582}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008702244658525208,-0.002766466511553806],"position_m":[0.3138702244658525,-0.11906646651155381,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028717067538941345,0.0033311807518289155],"position_m":[0.3074282932461059,0.09443118075182892,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004644983480982614,0.004864790473165172],"position_m":[0.3504550165190174,0.3015647904731652,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003607406828305057,0.0027265513714536376],"position_m":[0.2443607406828305,-0.3490734486285464,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"781a8d5e382eeb588ba43a999f9b81e38f94563640f00b4e4f408f6c6f427d16","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5057/tex_ceiling_textures_3913/tex_floor_textures_4845/tex_table_textures_3641/tex_wall_textures_7935","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7947452974826970517,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7947452974826970517,"visual_seed":7947452974826970517,"scene_id":"lab_003","finished_at":"2026-09-02T22:54:21"} +{"episode_id":"ep_000003","started_at":"2026-09-02T22:54:25","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.6751878115944299,-2.4423649262659004,0.71338606911949],"aabb_xy":[[0.6642820355068672,-2.522364922664729],[0.6860935876819926,-2.362364929867071]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.3973431118252048,1.720172747135042,0.71338606911949],"aabb_xy":[[-0.401773741180045,1.7147243754003598],[-0.39291248247036464,1.7256211188697248]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.6726818651753372,-0.025785503702979273,0.71338606911949],"aabb_xy":[[0.6544760415140896,-0.03681090428497091],[0.6908876888365849,-0.014760103120987633]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.5742402506609456,-1.7342505649049813,0.71338606911949],"aabb_xy":[[0.5367402498689502,-1.7406184058631715],[0.6117402514529411,-1.727882723946791]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.17050971059650222,1.4046314424876796,0.71338606911949],"aabb_xy":[[0.1426646738158951,1.3738469437493679],[0.19835474737710934,1.4354159412259913]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.07809422700717839,-1.781920800156213,0.71338606911949],"aabb_xy":[[0.0309648480053427,-1.8459208012006145],[0.12522360600901405,-1.7179207991118106]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.2516108696866189,0.9869907633963217,0.71338606911949],"aabb_xy":[[-0.32161087307818087,0.9516749896928908],[-0.18161086629505693,1.0223065370997524]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.24013641216588216,-1.5357103378723787,0.71338606911949],"aabb_xy":[[-0.2626501039893393,-1.605710338473386],[-0.21762272034242494,-1.465710337271371]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.5630919254210078,-1.3379362578285385,0.71338606911949],"aabb_xy":[[-0.585591925431156,-1.3520324774681418],[-0.5405919254108594,-1.3238400381889353]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.24416349199073462,-1.1573348553918046,0.71338606911949],"aabb_xy":[[0.23239530519607715,-1.2423348552970261],[0.2559316787853922,-1.072334855486583]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.37007561120506915,1.0900607414747023,0.71338606911949],"aabb_xy":[[0.33959136107803906,1.0400607416932064],[0.40055986133209937,1.1400607412561983]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.3012599785369878,-1.3223077793363132,0.71338606911949],"aabb_xy":[[0.2823755947684777,-1.341193704116666],[0.3201443623054981,-1.3034218545559604]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.19041993817045688,-0.828431486719627,0.71338606911949],"aabb_xy":[[-0.20791987160444025,-0.8459314866398615],[-0.1729200047364735,-0.8109314867993924]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.4099916699131999,-0.49619521208432094,0.71338606911949],"aabb_xy":[[-0.45998650284114145,-0.5461952109795645],[-0.35999683698525825,-0.44619521318907734]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.4206834179136324,-1.0935121032358066,0.71338606911949],"aabb_xy":[[-0.4706622264239482,-1.1435121032415254],[-0.37070460940331645,-1.0435121032300878]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.04761482739111844,0.39725895521128196,0.71338606911949],"aabb_xy":[[-0.08261482566123834,0.39018482751629374],[-0.012614829120998539,0.40433308290627007]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.5644458187463375,-0.17961864225215818,0.71338606911949],"aabb_xy":[[0.5518431196092609,-0.19221403847702365],[0.5770485178834138,-0.16702324602729265]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.17534735042808902,-0.4538029934912964,0.71338606911949],"aabb_xy":[[-0.20533901316195935,-0.4838029928280969],[-0.1453556876942187,-0.42380299415449585]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.5513306903309417,-0.06436948723450353,0.71338606911949],"aabb_xy":[[-0.5716149930543404,-0.08465211237721236],[-0.5310463876075429,-0.04408686209179468]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[-0.12803698027256583,-0.3278265708308803,0.71338606911949],"aabb_xy":[[-0.14809539188580612,-0.3478916577400378],[-0.10797856865932554,-0.3077614839217227]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.41697087593906423,-0.19354979324161725,0.71338606911949],"aabb_xy":[[-0.4382488840825364,-0.2585497955676903],[-0.39569286779559193,-0.1285497909155442]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.6226444978182293,0.4719590683787578,0.71338606911949],"aabb_xy":[[0.5676490199975698,0.4169590669448507],[0.6776399756388886,0.5269590698126645]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.19237135533118332,-1.4260208116972652,0.71338606911949],"aabb_xy":[[0.18703377966517876,-1.451020812626405],[0.1977089309971879,-1.4010208107681255]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.5743597063804922,-1.9794158470429402,0.71338606911949],"aabb_xy":[[-0.5981959240210973,-2.069415847851427],[-0.5505234887398872,-1.8894158462344541]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.4264616367285274,-2.087345155044331,0.71338606911949],"aabb_xy":[[-0.4864616369799285,-2.141626480080796],[-0.36646163647712615,-2.0330638300078663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.04382045410976676,1.580274300990013,0.71338606911949],"aabb_xy":[[0.01859961724992709,1.5550505501371261],[0.06904129096960641,1.6054980518428996]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.42270172100381687,-1.140160661838393,0.71338606911949],"aabb_xy":[[0.4002369510324117,-1.1626606627172533],[0.44516649097522193,-1.1176606609595323]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[0.37664045893467324,0.8847545843940745,0.71338606911949],"aabb_xy":[[0.36871717869592496,0.8622545841560711],[0.3845637391734216,0.9072545846320779]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[-0.0714332218861915,-2.281554885989399,0.71338606911949],"aabb_xy":[[-0.12141745759436871,-2.331554884802894],[-0.02144898617801426,-2.231554887175903]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889417635431322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3776.png","name":"3776"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3496.png","name":"3496"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":505.14192014809066,"rotation_z_degrees":176.43276265998065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026789583094935406,-0.01043777855730164,-0.009500557699943561]},{"name":"camera_2","offset_m":[-0.006526987024782559,0.0019652706166280974,-0.008065815827217002]},{"name":"camera_3","offset_m":[-0.01442955364002144,-0.014023855582257268,0.01368022606966644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012815486848660558,-0.0006996995138124032,0.0010616682716974124],"end_effector_yaw_offset_degrees":-0.5615248414708784},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[8.344641847696493e-06,-0.001028868716652915,0.00030391526127091775],"end_effector_yaw_offset_degrees":-0.7058045693219557},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0017261738052767406,0.0010476469153813893,-0.0018814256782297544],"end_effector_yaw_offset_degrees":-0.8855674486008138}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013169860019646806,0.0037552237075720316],"position_m":[0.31168301399803533,-0.11254477629242797,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016659926967531324,-0.003480614538338186],"position_m":[0.3119659926967532,0.08761938546166181,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024888564845383454,-0.001748980058545493],"position_m":[0.3526111435154617,0.2949510199414545,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003752650999747753,0.0009153571359389488],"position_m":[0.24024734900025224,-0.35088464286406107,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eba97c4aca803a07c0663ddf3207dac44aecbb4fd1af89ba155c4f37246ed670","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_872/tex_ceiling_textures_3496/tex_floor_textures_3158/tex_table_textures_3776/tex_wall_textures_5975","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8029508855182090835,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8029508855182090835,"visual_seed":8029508855182090835,"scene_id":"lab_003","finished_at":"2026-09-02T22:57:13"} +{"episode_id":"ep_000004","started_at":"2026-09-02T23:02:55","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.1449830125800473,-0.7311681819255529,0.71338606911949],"aabb_xy":[[-0.15378506788902,-0.7389795080804819],[-0.13618095727107457,-0.7233568557706237]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.25383048615086506,-2.4788408967373465,0.71338606911949],"aabb_xy":[[-0.3438304858740392,-2.501914249272526],[-0.16383048642769085,-2.4557675442021663]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.521031028306227,-0.06851782798869444,0.71338606911949],"aabb_xy":[[-0.5409220681865673,-0.08117363927339127],[-0.5011399884258868,-0.0558620167039976]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.3760504002515421,-0.5694552118462317,0.71338606911949],"aabb_xy":[[0.3260503988906549,-0.6194331164216473],[0.42605040161242935,-0.5194773072708161]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.1144752065878164,0.15292346796087664,0.71338606911949],"aabb_xy":[[-0.13693997655922152,0.1304234670820161],[-0.09201043661641127,0.1754234688397371]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.01255917721848876,0.9240972654245212,0.71338606911949],"aabb_xy":[[-0.07255917706505555,0.8672786432314825],[0.04744082262807803,0.9809158876175599]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.26445818877480193,1.7565623725913597,0.71338606911949],"aabb_xy":[[-0.29560510761838504,1.6865623739045525],[-0.2333112699312188,1.826562371278167]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.4366149675126104,0.9973117968063328,0.71338606911949],"aabb_xy":[[-0.5006149648149568,0.9529453698384758],[-0.372614970210264,1.0416782237741893]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.5053502918637494,1.2125356225261377,0.71338606911949],"aabb_xy":[[0.4902479904027312,1.1974341008950755],[0.5204525933247673,1.2276371441571994]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.553792409707354,1.232924088655623,0.71338606911949],"aabb_xy":[[-0.6037654752398696,1.18292408884309],[-0.5038193441748386,1.2829240884681559]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.3807238240605628,-2.3315128587780585,0.71338606911949],"aabb_xy":[[0.29103674775244737,-2.421512859032509],[0.4704109003686783,-2.241512858523608]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.2586486378739832,0.8155962872665281,0.71338606911949],"aabb_xy":[[0.25102436978380493,0.8079630637299844],[0.2662729059641614,0.8232295108030718]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.1558762494962168,1.2277942725831315,0.71338606911949],"aabb_xy":[[0.1462446132757872,1.2181569598034223],[0.16550788571664643,1.2374315853628401]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.3326575056112977,1.1996965544826148,0.71338606911949],"aabb_xy":[[0.3088212879706927,1.1096965536741286],[0.3564937232519028,1.2896965552911015]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.24497166784127278,-0.6208986924443494,0.71338606911949],"aabb_xy":[[0.20642597501607174,-0.659444463500538],[0.2835173606664738,-0.5823529213881607]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[0.5203097827312109,0.5744697234834537,0.71338606911949],"aabb_xy":[[0.45530978173071024,0.5236833583287787],[0.5853097837317113,0.6252560886381285]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.46101221130973147,0.501906413889817,0.71338606911949],"aabb_xy":[[-0.48351221155324686,0.4897017792300452],[-0.4385122110662161,0.5141110485495891]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.5821080287370517,0.3604759859642037,0.71338606911949],"aabb_xy":[[0.5760134008489334,0.35190659141253494],[0.58820265662517,0.3690453805158724]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.41440425712425355,-0.47178138213133014,0.71338606911949],"aabb_xy":[[-0.4593968438427039,-0.5167813814057789],[-0.3694116704058031,-0.42678138285688144]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.30492067679645984,-0.8975061111304152,0.71338606911949],"aabb_xy":[[0.2872450462078615,-0.9151863274098179],[0.3225963073850582,-0.8798258948510124]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.5625212081422581,0.8334476028300117,0.71338606911949],"aabb_xy":[[0.5538072390923234,0.8109476021708234],[0.5712351771921924,0.8559476034891998]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.1565098889974672,-1.9740007014752667,0.71338606911949],"aabb_xy":[[0.14388310171027083,-1.9835467751768394],[0.16913667628466353,-1.9644546277736936]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.2638023615657362,-1.156396072274228,0.71338606911949],"aabb_xy":[[0.25988848837031364,-1.1651450876807847],[0.2677162347611587,-1.147647056867671]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.4175218803678514,1.5537054274718147,0.71338606911949],"aabb_xy":[[-0.4550218811598469,1.5473375865136245],[-0.380021879575856,1.560073268430005]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[0.6484342685136371,1.3167467603004157,0.71338606911949],"aabb_xy":[[0.6358315693765606,1.3041513640755502],[0.6610369676507135,1.3293421565252812]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[-0.4998077580732739,-1.9707378403846798,0.71338606911949],"aabb_xy":[[-0.5046513528345038,-1.9755894928636637],[-0.49496416331204396,-1.9658861879056955]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865486542933165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9051.png","name":"9051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9051.png","name":"9051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3572.png","name":"3572"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4244.png","name":"4244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9872.png","name":"9872"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.3027105594471,"rotation_z_degrees":198.02180101469173,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00991539471921581,-0.0048695772639399774,-0.0015849902236459157]},{"name":"camera_2","offset_m":[0.012135220225713044,-0.014992914854001577,0.016485371404082304]},{"name":"camera_3","offset_m":[-0.012147609029838292,-0.014464392596418536,-0.015803845139544533]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006562505169649074,0.0016360854812007839,0.0011440903447622942],"end_effector_yaw_offset_degrees":-0.08174309598383744},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018476014352950584,-0.0007158831039800035,0.0010253003061092792],"end_effector_yaw_offset_degrees":0.8948014448285588},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014253877016867462,0.0017331277487329898,-0.0006461878378449485],"end_effector_yaw_offset_degrees":0.19820706150273737}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002090426411123887,0.0007072268780951105],"position_m":[0.3150904264111239,-0.11559277312190488,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003826265506553084,-0.0014991448764447792],"position_m":[0.3141262655065531,0.08960085512355521,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038492984204298907,-0.004473021149207155],"position_m":[0.3512507015795701,0.29222697885079285,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018253492644506372,0.002569738630611832],"position_m":[0.24381746507355492,-0.3492302613693882,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"64b885d3c87b727c0e807cfb2f3fe4ce44a6503c2c2cc45b87d3140f9981b284","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9051/tex_ceiling_textures_9872/tex_floor_textures_4244/tex_table_textures_3572/tex_wall_textures_7329","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5324662358711371063,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5324662358711371063,"visual_seed":5324662358711371063,"scene_id":"lab_003","finished_at":"2026-09-02T23:05:30"} +{"episode_id":"ep_000005","started_at":"2026-09-02T23:06:57","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.2612523639919275,1.3022233621420507,0.71338606911949],"aabb_xy":[[-0.29875236550755924,1.2909965891259056],[-0.22375236247629582,1.3134501351581958]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.1319321136322711,-2.2206364188135277,0.71338606911949],"aabb_xy":[[0.11999937927044302,-2.2330185716213875],[0.14386484799409915,-2.2082542660056688]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.4320959997341839,-1.537531123549095,0.71338606911949],"aabb_xy":[[-0.5170959984262585,-1.5695169869439738],[-0.34709600104210925,-1.505545260154216]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.0349051365825811,-2.0518526271808666,0.71338606911949],"aabb_xy":[[0.0300058442760176,-2.079529546483435],[0.039804428889144594,-2.0241757078782974]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.630457459229872,-1.9293233457493142,0.71338606911949],"aabb_xy":[[0.5945439548048822,-1.9652368539660685],[0.6663709636548615,-1.8934098375325594]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.2105280592279264,-0.9535583305934687,0.71338606911949],"aabb_xy":[[0.18802892350169942,-0.9760583313717316],[0.23302719495415336,-0.9310583298152056]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.5016261007791403,1.0063603172683768,0.71338606911949],"aabb_xy":[[0.4518093213143055,0.9563603187840732],[0.551442880243975,1.05636031575268]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.4569214654043614,1.3166712112643584,0.71338606911949],"aabb_xy":[[0.41942146473978265,1.300984153264136],[0.49442146606894005,1.3323582692645803]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.08448031922047006,-0.8063708046979849,0.71338606911949],"aabb_xy":[[0.0204803160018322,-0.8530939165969933],[0.14848032243910791,-0.7596476927989766]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.24285003625501383,-0.43207385741597015,0.71338606911949],"aabb_xy":[[-0.3068500365289921,-0.4821399576132582],[-0.17885003598103563,-0.38200775721868224]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.0882108152144182,-1.1721201178667215,0.71338606911949],"aabb_xy":[[-0.10008289822591931,-1.257120117560372],[-0.07633873220291709,-1.0871201181730712]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.6166646050793951,-1.2070487898589874,0.71338606911949],"aabb_xy":[[0.5526646059096252,-1.25381547697795],[0.6806646042491651,-1.160282102740025]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.42095180571545304,0.1398435374375926,0.71338606911949],"aabb_xy":[[-0.4279932566662007,0.13281678569979805],[-0.4139103547647055,0.14687028917538714]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.5199836902133559,1.5875750266180773,0.71338606911949],"aabb_xy":[[-0.5449836901458739,1.5806923583971544],[-0.4949836902808381,1.594457694839001]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.6066650211509886,0.23051112206864133,0.71338606911949],"aabb_xy":[[-0.6606806174328885,0.16651111917638414],[-0.5526494248690885,0.2945111249608985]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.5193984310100361,-0.36247047879260563,0.71338606911949],"aabb_xy":[[-0.5365005089684044,-0.3795772843238754],[-0.5022963530516681,-0.3453636732613359]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.3820423401460853,0.28660473827608746,0.71338606911949],"aabb_xy":[[-0.39962064233503214,0.26903024870198256],[-0.36446403795713844,0.30417922785019236]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[-0.1740693046404962,-0.9635246540841718,0.71338606911949],"aabb_xy":[[-0.1917449352290945,-0.9812048703635744],[-0.15639367405189783,-0.9458444378047689]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.19586107684023962,-0.6220456158762655,0.71338606911949],"aabb_xy":[[-0.2132917919192461,-0.6393177305401162],[-0.17843036176123309,-0.6047735012124146]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[0.17276522877224287,-1.789152671227664,0.71338606911949],"aabb_xy":[[0.16313359255181326,-1.7987899840073727],[0.1823968649926725,-1.7795153584479548]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.4095938337970521,0.792001310686163,0.71338606911949],"aabb_xy":[[-0.4320938343090926,0.7695094523207646],[-0.3870938332850114,0.8144931690515613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905665303613224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7423.png","name":"7423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3312.png","name":"3312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9990.png","name":"9990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":822.9862576117973,"rotation_z_degrees":125.20876069201158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002298844923662755,0.019014045393184662,-0.019590428976034593]},{"name":"camera_2","offset_m":[0.01655933131466399,0.0034570486291818463,0.018610526164493404]},{"name":"camera_3","offset_m":[-0.016057968773847485,0.002649906531736433,0.0004287279579558677]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016650484988327623,1.0996814055004057e-05,-0.0018546703204009218],"end_effector_yaw_offset_degrees":0.42973551305088087},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012275835078350964,-0.0010085190626192499,0.0016082383584182687],"end_effector_yaw_offset_degrees":0.21969076271967491},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.000986252355438924,0.0013026101232573722,0.000472775759538655],"end_effector_yaw_offset_degrees":-0.08432260594717045}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001505508018790922,0.004955337342584488],"position_m":[0.3114944919812091,-0.11134466265741551,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033747947187551678,0.002450837608772325],"position_m":[0.3136747947187552,0.09355083760877232,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002017189620686326,0.0010413825708220003],"position_m":[0.3530828103793137,0.297741382570822,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004834021884904728,0.004541690654121601],"position_m":[0.24883402188490472,-0.3472583093458784,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c8631aebea4d3d5d68bc8d5345c922737d2191fefb694f631efcab007bd7d836","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4367/tex_ceiling_textures_6860/tex_floor_textures_9990/tex_table_textures_7423/tex_wall_textures_3312","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":25902570965838114,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":25902570965838114,"visual_seed":25902570965838114,"scene_id":"lab_003","finished_at":"2026-09-02T23:09:36"} +{"episode_id":"ep_000006","started_at":"2026-09-02T23:09:41","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.6482325469722057,-0.9550576903246142,0.71338606911949],"aabb_xy":[[0.6441165968601328,-0.9591732453574596],[0.6523484970842781,-0.9509421352917685]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.02321564874690385,1.2909525121395462,0.71338606911949],"aabb_xy":[[0.014501679696969355,1.2684525114803575],[0.031929617796838325,1.313452512798734]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.13522972240906694,-0.7795838967415709,0.71338606911949],"aabb_xy":[[-0.17022972153902258,-0.7853291178172349],[-0.10022972327911125,-0.7738386756659067]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.5743660074033826,-2.477314167839371,0.71338606911949],"aabb_xy":[[-0.654359830981941,-2.5573141704322127],[-0.4943721838248245,-2.3973141652465295]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.2574007358164473,-2.5099072117976293,0.71338606911949],"aabb_xy":[[0.19340073440845665,-2.561696163321554],[0.32140073722443796,-2.4581182602737046]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.1637922452125361,-1.129424005351097,0.71338606911949],"aabb_xy":[[0.0997922431628041,-1.169518488440405],[0.2277922472622681,-1.0893295222617891]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.048730898904121744,-2.4244262552028726,0.71338606911949],"aabb_xy":[[-0.0011517979735744604,-2.4744262544491473],[0.09861359578181797,-2.374426255956598]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.18471054140942755,-1.4993324060482494,0.71338606911949],"aabb_xy":[[0.1472105407448488,-1.515019464048471],[0.2222105420740062,-1.4836453480480267]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.5979898006995649,-0.26870334120520534,0.71338606911949],"aabb_xy":[[-0.6579898015603775,-0.3201297712116916],[-0.5379897998387518,-0.21727691119871886]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.102439599958699,-1.9938146168715103,0.71338606911949],"aabb_xy":[[0.09800897060385882,-1.9992629886061926],[0.10687022931353918,-1.9883662451368276]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.581880738507387,-2.196606743973371,0.71338606911949],"aabb_xy":[[0.5739574582686386,-2.2191067442113743],[0.5898040187461353,-2.1741067437353676]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.3866112949058458,0.7930528811912492,0.71338606911949],"aabb_xy":[[0.3216112939487185,0.7411046692575436],[0.45161129586297294,0.8450010931249547]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.5975870156128897,0.5090953872825428,0.71338606911949],"aabb_xy":[[0.5525944288944393,0.464095388008094],[0.6425796023313401,0.5540953865569915]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.35911815095392274,-1.992530119242002,0.71338606911949],"aabb_xy":[[0.2991181507025215,-2.0468114442784664],[0.41911815120532386,-1.9382487942055373]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.38991674816697786,-2.5340557860075936,0.71338606911949],"aabb_xy":[[0.3790762699404629,-2.551242067298242],[0.4007572263934927,-2.5168695047169445]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.20424571571017786,1.3898142459868765,0.71338606911949],"aabb_xy":[[-0.20958329137618242,1.3648142450577365],[-0.1989081400441733,1.414814246916016]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.4229739724151744,-2.3868001897032207,0.71338606911949],"aabb_xy":[[-0.4269344561849088,-2.3944680542887413],[-0.4190134886454401,-2.3791323251177]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.46815840320285496,0.511597952679034,0.71338606911949],"aabb_xy":[[0.45886478496570426,0.47409795419089995],[0.4774520214400054,0.5490979511671678]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.3378891204681158,0.09381591649130527,0.71338606911949],"aabb_xy":[[-0.3603891199918232,0.07131996904068448],[-0.3153891209444084,0.11631186394192604]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.5523841883806349,0.04291764715918189,0.71338606911949],"aabb_xy":[[0.5414784122930721,-0.03708234923964727],[0.5632899644681976,0.12291764355801105]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.5157090327207184,-1.1774160713757666,0.71338606911949],"aabb_xy":[[-0.521290704354847,-1.1899160711935421],[-0.5101273610865896,-1.1649160715579912]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.42388924633966707,-2.1959210247629497,0.71338606911949],"aabb_xy":[[-0.4739867103207407,-2.2599210252727615],[-0.37379178235859345,-2.131921024253138]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.4383238128056637,1.5545376713478043,0.71338606911949],"aabb_xy":[[-0.45009199960032126,1.469537671442583],[-0.4265556260110062,1.6395376712530263]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.2143905441297994,0.7635218610778933,0.71338606911949],"aabb_xy":[[-0.30439054385297354,0.7404485085427133],[-0.12439054440662521,0.7865952136130729]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.24802586133940335,-1.226622532968013,0.71338606911949],"aabb_xy":[[-0.31202586171693697,-1.2763677998188252],[-0.18402586096186974,-1.1768772661172007]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.5286567315085775,-2.5062841435533696,0.71338606911949],"aabb_xy":[[0.4736567333068326,-2.5468061101798067],[0.5836567297103222,-2.4657621769269316]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.5652494516421156,1.0667950559580195,0.71338606911949],"aabb_xy":[[0.5500865786651785,1.051629598662901],[0.5804123246190527,1.0819605132531385]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.25350323833446237,-1.6291854502130287,0.71338606911949],"aabb_xy":[[-0.2647482939050802,-1.640427247937124],[-0.24225818276384453,-1.6179436524889335]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.6479458945315196,0.20288675590082228,0.71338606911949],"aabb_xy":[[-0.6704595863549767,0.13288675529981475],[-0.6254322027080623,0.2728867565018298]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[0.5609570026287449,-1.0492964076346258,0.71338606911949],"aabb_xy":[[0.5359570030770064,-1.0594388914997606],[0.5859570021804834,-1.0391539237694911]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966032055497022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/412.png","name":"412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6703.png","name":"6703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7850.png","name":"7850"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":554.0362779427088,"rotation_z_degrees":47.67358582683157,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007623247389356314,0.008862397992540901,-0.008129908205785883]},{"name":"camera_2","offset_m":[0.008687243849423855,0.012753509167930156,-0.019943845102190414]},{"name":"camera_3","offset_m":[0.00778109316874457,-0.009699416860998155,0.006740149509096197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001413436327031462,0.0019470519658102278,0.0019464973709367346],"end_effector_yaw_offset_degrees":0.7283588332970325},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009020203548119089,-0.0009386312192028177,0.0005645322645769159],"end_effector_yaw_offset_degrees":0.43627025656006957},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011384276866114348,-0.00027498458280410796,-0.0006390038598873583],"end_effector_yaw_offset_degrees":-0.28179617393877754}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00437098365562208,0.0017179517682182378],"position_m":[0.3086290163443779,-0.11458204823178177,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002220521845491405,0.0010439541880771066],"position_m":[0.31252052184549145,0.09214395418807711,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029879653890294436,0.004566526913104594],"position_m":[0.3580879653890295,0.3012665269131046,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043333055228242335,-0.0023149904038483726],"position_m":[0.23966669447717576,-0.35411499040384836,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b49ba6faa3a2f5785a418ffe749d21c05999211de7a31cbad17a7f81de8c3bf5","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1003/tex_ceiling_textures_7850/tex_floor_textures_6703/tex_table_textures_881/tex_wall_textures_412","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4565940851962754815,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4565940851962754815,"visual_seed":4565940851962754815,"scene_id":"lab_003","finished_at":"2026-09-02T23:12:16"} +{"episode_id":"ep_000007","started_at":"2026-09-02T23:12:19","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.4717770131983362,-0.9395149958407414,0.71338606911949],"aabb_xy":[[-0.4798032838289623,-0.948266490818094],[-0.4637507425677103,-0.9307635008633888]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.11216377578887948,0.43626600409312744,0.71338606911949],"aabb_xy":[[-0.1247905630760758,0.42671993039155454],[-0.0995369885016831,0.44581207779470033]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.1690884780264671,-1.7794091973890993,0.71338606911949],"aabb_xy":[[-0.18658847730455397,-1.7967472974554453],[-0.15158847874838022,-1.7620710973227534]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.1891230756847181,-0.7040910201627997,0.71338606911949],"aabb_xy":[[0.15568290048869846,-0.7375346459937296],[0.22256325088073767,-0.6706473943318695]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.2502759229800414,-1.0278916210838904,0.71338606911949],"aabb_xy":[[-0.31186668220403424,-1.091891619192937],[-0.1886851637560486,-0.9638916229748433]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.26071601732430444,-1.8955698580198614,0.71338606911949],"aabb_xy":[[-0.2733187164613809,-1.9081652542447272],[-0.24811331818722798,-1.8829744617949962]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.5726981907393914,-0.17654850472151296,0.71338606911949],"aabb_xy":[[-0.5832656703974904,-0.1870935348345215],[-0.5621307110812924,-0.1660034746085044]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[-0.05525386283960987,-1.4589573336838901,0.71338606911949],"aabb_xy":[[-0.12025386379673708,-1.5109055456175957],[0.009746138117517336,-1.4070091217501846]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.5335967919370903,-0.3572507833349583,0.71338606911949],"aabb_xy":[[-0.5985967945748839,-0.40873038203440526],[-0.46859678929929693,-0.30577118463551134]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.6222528189211205,1.7523920044489647,0.71338606911949],"aabb_xy":[[0.5722685832129433,1.7023920056354693],[0.6722370546292977,1.8023920032624605]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.48186854800128714,1.1211379219027373,0.71338606911949],"aabb_xy":[[-0.5231173590312018,1.0661379223905196],[-0.44061973697137236,1.1761379214149545]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.6144564757024571,-0.8807402016285262,0.71338606911949],"aabb_xy":[[0.5801401985278392,-0.930740201601704],[0.648772752877075,-0.8307402016553486]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.39246990929963754,0.9183440268306584,0.71338606911949],"aabb_xy":[[0.3471912944184883,0.8543440274824746],[0.4377485241807868,0.982344026178842]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.36113719983424786,0.7247677587073471,0.71338606911949],"aabb_xy":[[0.2971372012476754,0.6777607953078384],[0.4251371984208203,0.7717747221068558]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.2387355973922327,-2.0706367909883188,0.71338606911949],"aabb_xy":[[0.2228511041269076,-2.0849897312871435],[0.25462009065755786,-2.056283850689495]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.14230817717355326,1.6387003268816245,0.71338606911949],"aabb_xy":[[0.07830818074623136,1.591530703059528],[0.20630817360087517,1.685869950703721]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[0.6620156788384635,1.0207764149250065,0.71338606911949],"aabb_xy":[[0.6270156789424445,1.0124021794130662],[0.6970156787344822,1.0291506504369463]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.15197525090067765,0.24430595317244208,0.71338606911949],"aabb_xy":[[-0.16132225848297288,0.23000233095479802],[-0.14262824331838242,0.2586095753900861]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.31233764008839005,-1.596981187439873,0.71338606911949],"aabb_xy":[[-0.357508957936559,-1.6609811845844116],[-0.2671663222402211,-1.5329811902953348]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.04805753932816337,-2.0595200769338597,0.71338606911949],"aabb_xy":[[-0.10318274495775413,-2.119520078375147],[0.00706766630142741,-1.9995200754925728]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.10116433444821538,-2.445554087748831,0.71338606911949],"aabb_xy":[[-0.1082046443817524,-2.5255540871485027],[-0.09412402451467841,-2.36555408834916]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.004991599995207263,-1.8329650884938524,0.71338606911949],"aabb_xy":[[-0.01792411288984264,-1.8558693856302764],[0.02790731288025717,-1.8100607913574294]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.38687608115063155,1.8141564712624105,0.71338606911949],"aabb_xy":[[0.35241360313754366,1.8074927940794876],[0.4213385591637192,1.820820148445333]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[-0.15185142942271135,1.1774377229213462,0.71338606911949],"aabb_xy":[[-0.18888553885077103,1.1430605155876368],[-0.11481731999465161,1.2118149302550556]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.2568079269792277,-2.2910651758213905,0.71338606911949],"aabb_xy":[[-0.2793043484130918,-2.313565175628138],[-0.23431150554536362,-2.268565176014643]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[0.5380277035001308,1.225175834987689,0.71338606911949],"aabb_xy":[[0.4780277026393179,1.1737494049812023],[0.5980277043609434,1.276602264994175]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[-0.20723818482276896,1.4516882424699964,0.71338606911949],"aabb_xy":[[-0.21365199846595384,1.4452784222223276],[-0.20082437117958396,1.4580980627176643]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[0.5816722873643319,-0.45290580922401436,0.71338606911949],"aabb_xy":[[0.5735445991710187,-0.46181941763472206],[0.5897999755576452,-0.44399220081330676]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[0.6970360051140045,-1.7245040587767426,0.71338606911949],"aabb_xy":[[0.6751462575250636,-1.8145040560659917],[0.7189257527029452,-1.6345040614874935]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[0.06491302285306888,-1.108761837691478,0.71338606911949],"aabb_xy":[[0.029913024582948963,-1.1158359653864662],[0.09991302112318877,-1.10168770999649]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.5428620334059462,-1.8289978108463725,0.71338606911949],"aabb_xy":[[0.5309292990441181,-1.8413799636542318],[0.5547947677677743,-1.816615658038513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900664741922112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6184.png","name":"6184"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9225.png","name":"9225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5372.png","name":"5372"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":729.1190910013459,"rotation_z_degrees":81.87472539241885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0002170166733433329,-0.01715905208139994,0.00613605382665354]},{"name":"camera_2","offset_m":[0.009126293801763746,0.01212940106923711,0.017834215502153205]},{"name":"camera_3","offset_m":[-0.008214257927489857,-0.006909857834382315,0.016378544057924372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004106097808935362,-0.0008163939948928284,0.00041945254931608986],"end_effector_yaw_offset_degrees":-0.7769574351207316},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018882961610482147,0.001169644536662994,-0.0012285946187449613],"end_effector_yaw_offset_degrees":0.2119960556469349},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009961710687366658,0.0003399872649943042,-0.0019609792045622463],"end_effector_yaw_offset_degrees":0.9080520011095767}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047885720957263275,0.00020019692640559777],"position_m":[0.3082114279042737,-0.11609980307359441,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004464149853066844,-0.004661027849648069],"position_m":[0.3147641498530669,0.08643897215035193,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002956988465773425,0.0018461415819203807],"position_m":[0.3521430115342266,0.2985461415819204,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004283826121189462,0.004061287074469952],"position_m":[0.23971617387881053,-0.34773871292553005,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"091d0c34cc722dc9650135f9ae04ec396044fb4176b2ddcd334fb10ad32de3a1","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8280/tex_ceiling_textures_5372/tex_floor_textures_9225/tex_table_textures_7065/tex_wall_textures_6184","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":9147616169978824295,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":9147616169978824295,"visual_seed":9147616169978824295,"scene_id":"lab_003","finished_at":"2026-09-02T23:14:57"} +{"episode_id":"ep_000008","started_at":"2026-09-02T23:16:26","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.27085932417569303,1.004745058758922,0.71338606911949],"aabb_xy":[[0.24457049985525234,0.9784736251042708],[0.29714814849613364,1.0310164924135732]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.419609751068005,0.9136428311137381,0.71338606911949],"aabb_xy":[[0.33960975241111907,0.8991379721894753],[0.4996097497248911,0.9281476900380009]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.5465103287488624,-1.5069814083091073,0.71338606911949],"aabb_xy":[[0.5219641131261117,-1.5372303048581444],[0.5710565443716131,-1.4767325117600703]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.7001577699623529,-2.4728279644649924,0.71338606911949],"aabb_xy":[[0.6921637813846494,-2.4808280445600825],[0.7081517585400562,-2.4648278843699023]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.42100535917713466,0.030549413155240845,0.71338606911949],"aabb_xy":[[-0.4560053590731536,0.022175177643300903],[-0.38600535928111585,0.03892364866718079]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.013632269207488501,-2.1904786588260725,0.71338606911949],"aabb_xy":[[-0.05036773247050885,-2.2389960503053863],[0.07763227088548585,-2.141961267346758]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.6472440218895746,1.5258287869692722,0.71338606911949],"aabb_xy":[[-0.6691337694785154,1.4358287896800228],[-0.6253542743006338,1.615828784258521]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.5566085631527874,1.085572494808455,0.71338606911949],"aabb_xy":[[-0.5612436783050206,1.081705159731306],[-0.5519734480005539,1.0894398298856036]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.5967774352201575,0.6866389014499927,0.71338606911949],"aabb_xy":[[-0.6012080645749976,0.6811905297153101],[-0.5923468058653173,0.6920872731846753]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.22504605397978855,0.6614700911983871,0.71338606911949],"aabb_xy":[[-0.2625460525554093,0.648733795534829],[-0.18754605540416772,0.6742063868619449]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.0982734190314819,-0.2973865003946443,0.71338606911949],"aabb_xy":[[-0.1622734154588038,-0.34455612421674087],[-0.03427342260416,-0.250216876572548]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.020051922013868517,0.7956275754929831,0.71338606911949],"aabb_xy":[[-0.03994807783269827,0.7388089532999444],[0.0800519218604353,0.8524461976860218]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.24675497607670527,-2.07273547582963,0.71338606911949],"aabb_xy":[[0.22347313387857395,-2.157735477126858],[0.2700368182748366,-1.9877354745324023]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.374611861124949,0.9416046592002756,0.71338606911949],"aabb_xy":[[-0.43461186172096516,0.8867921866550521],[-0.3146118605289328,0.9964171317454991]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.5413402698291083,-1.9254775513388165,0.71338606911949],"aabb_xy":[[-0.5604525771870872,-1.9446123302160583],[-0.5222279624711295,-1.9063427724615742]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.14259935772132715,1.5322594588322915,0.71338606911949],"aabb_xy":[[-0.22259935988408963,1.452304275206148],[-0.06259935555856466,1.6122146424584352]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.6958761903950488,-1.9730071493029162,0.71338606911949],"aabb_xy":[[0.6675464804465085,-1.977467891496633],[0.724205900343589,-1.968546407109199]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.3377034770260862,-1.9937621097500657,0.71338606911949],"aabb_xy":[[-0.4027034781320295,-2.0187274828181936],[-0.27270347592014293,-1.9687967366819372]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.4640980775355279,1.2208235145039765,0.71338606911949],"aabb_xy":[[0.3840980805724887,1.1437478728602029],[0.5440980744985671,1.2978991561477498]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.5486166423099428,-0.2057950825785304,0.71338606911949],"aabb_xy":[[0.4686166443291578,-0.21339662354038236],[0.6286166402907278,-0.19819354161667846]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.41898698754203917,-0.8250375606703577,0.71338606911949],"aabb_xy":[[-0.4532838985597798,-0.859334446880299],[-0.38469007652429854,-0.7907406744604164]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.5206311807781913,1.1675053600935046,0.71338606911949],"aabb_xy":[[-0.5431311810217065,1.1553007254337324],[-0.49813118053467575,1.1797099947532763]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.07708172355746568,-1.4567052627659123,0.71338606911949],"aabb_xy":[[-0.14208172143911346,-1.5078289264724534],[-0.012081725675817879,-1.4055815990593714]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[-0.3775763591786176,0.434169966336436,0.71338606911949],"aabb_xy":[[-0.44157635955615115,0.38442469948562374],[-0.3135763588010839,0.4839152331872483]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.5884529998484878,-1.3923425926013777,0.71338606911949],"aabb_xy":[[0.5758262125612914,-1.4018886663029506],[0.6010797871356841,-1.3827965188998048]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.2591255254301164,1.1685113581589324,0.71338606911949],"aabb_xy":[[-0.28271064889401126,1.1035113559135008],[-0.23554040196622156,1.2335113604043644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940738360685071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8574.png","name":"8574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1489.png","name":"1489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3218.png","name":"3218"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":676.1876502355499,"rotation_z_degrees":30.182419255771148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033787728057842123,-0.014098537951684476,-0.017795231864568665]},{"name":"camera_2","offset_m":[0.01711278109688291,-0.019404069754896485,0.00516298298160885]},{"name":"camera_3","offset_m":[-0.007486373347260237,0.00725501449233238,-0.004866031471749044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005937056223823611,0.00011680389685782408,-0.001281948556790968],"end_effector_yaw_offset_degrees":0.2113497976242178},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019198354396152313,0.0009497854471597947,-0.0002804338929484013],"end_effector_yaw_offset_degrees":0.918796201475145},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0016380073121190562,-0.0012990752826352102,-0.0018206442991395635],"end_effector_yaw_offset_degrees":0.1700747349155869}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004690641536634332,-0.003430000297830327],"position_m":[0.30830935846336566,-0.11973000029783033,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00022456694675929405,0.004298070304511338],"position_m":[0.3100754330532407,0.09539807030451133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029800739692440468,-0.0013122935521765965],"position_m":[0.3580800739692441,0.2953877064478234,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003237426251553488,0.0022826113777821453],"position_m":[0.2407625737484465,-0.3495173886222179,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb4e8f04d21d253fcd41c7065deb1fb950848e3c25bc1b0aea4df4df23a47bc1","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6274/tex_ceiling_textures_3218/tex_floor_textures_4763/tex_table_textures_8574/tex_wall_textures_1489","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5995497372517573318,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5995497372517573318,"visual_seed":5995497372517573318,"scene_id":"lab_003","finished_at":"2026-09-02T23:19:11"} +{"episode_id":"ep_000009","started_at":"2026-09-02T23:19:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.23399359515337653,-1.4258879852633815,0.71338606911949],"aabb_xy":[[-0.27898618187182694,-1.47088798453783],[-0.18900100843492612,-1.3808879859889325]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.6208743525755689,-1.2478683762812564,0.71338606911949],"aabb_xy":[[-0.6708743520157645,-1.2978363007655727],[-0.5708743531353733,-1.19790045179694]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.19068650648652286,-2.1296547212195405,0.71338606911949],"aabb_xy":[[0.1772399798524795,-2.143124572872632],[0.20413303312056616,-2.116184869566449]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.5692851485738701,-0.7450494877119489,0.71338606911949],"aabb_xy":[[-0.5772786383691523,-0.7530476196524246],[-0.5612916587785882,-0.7370513557714733]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.06579678614173201,-2.433430713377288,0.71338606911949],"aabb_xy":[[0.024492243077996023,-2.4974307129454045],[0.107101329205468,-2.3694307138091704]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.6333110148791283,-0.21658582429593887,0.71338606911949],"aabb_xy":[[0.553311017719553,-0.22813342525375588],[0.7133110120387036,-0.2050382233381218]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.48648377096558426,-1.4611692340975293,0.71338606911949],"aabb_xy":[[-0.49526499811282065,-1.4699489813860598],[-0.4777025438183482,-1.4523894868089993]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.2796399686379971,0.9065602089725755,0.71338606911949],"aabb_xy":[[0.2621399683786605,0.892468666783803],[0.29713996889733374,0.9206517511613482]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.5738144939264698,-2.4917749787905823,0.71338606911949],"aabb_xy":[[-0.5843819735845687,-2.502320008903591],[-0.5632470142683706,-2.4812299486775737]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.5647869223762665,0.5792880681555235,0.71338606911949],"aabb_xy":[[0.48478692210265956,0.5063385203298066],[0.6447869226498735,0.6522376159812401]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.13324843832995714,-1.8802899897029384,0.71338606911949],"aabb_xy":[[-0.16824843660007702,-1.8873641173979263],[-0.09824844005983721,-1.87321586200795]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.45013937920110064,-0.3105078012365823,0.71338606911949],"aabb_xy":[[-0.5401393815351196,-0.38799015582169494],[-0.36013937686708153,-0.23302544665146963]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.11595143515168116,-0.7264765771390449,0.71338606911949],"aabb_xy":[[-0.127196490722299,-0.7377183748631402],[-0.10470637958106334,-0.7152347794149496]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.10815620878729892,-1.6420392628071931,0.71338606911949],"aabb_xy":[[0.08315620962166578,-1.6489915085125495],[0.133156207952932,-1.6350870171018363]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.34868495759139995,-0.3986920618594407,0.71338606911949],"aabb_xy":[[0.3261849573478846,-0.4108966965192127],[0.3711849578349154,-0.3864874271996688]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.18731107084846144,1.3012513905279928,0.71338606911949],"aabb_xy":[[-0.19816267709733704,1.290392099800342],[-0.17645946459958584,1.312110681255644]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.43206338834911295,0.3001725212437627,0.71338606911949],"aabb_xy":[[0.41919148484817276,0.22017252082992658],[0.44493529185005304,0.38017252165759885]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.28952593390048614,0.43921274744287153,0.71338606911949],"aabb_xy":[[-0.3069566489794926,0.42194063277902066],[-0.2720952188214796,0.4564848621067223]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.6475581903949288,-0.640974916265832,0.71338606911949],"aabb_xy":[[-0.6850581905668005,-0.6736756516487392],[-0.6100581902230566,-0.6082741808829248]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.3332787040400744,-0.8734767737287379,0.71338606911949],"aabb_xy":[[0.29648407091516815,-0.9103826488253203],[0.3700733371649807,-0.8365708986321557]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.5359875732697819,-1.8657724786183374,0.71338606911949],"aabb_xy":[[0.47198757596743546,-1.910138905586194],[0.5999875705721283,-1.8214060516504804]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.558825287823357,-2.542733156747702,0.71338606911949],"aabb_xy":[[0.5288336250894868,-2.5727331560845026],[0.5888169505572275,-2.5127331574109015]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.3808109047954369,-1.0515964309991848,0.71338606911949],"aabb_xy":[[0.3380441979160167,-1.1155964344209872],[0.4235776116748571,-0.9875964275773823]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[-0.24423677585108217,-1.0059765667458014,0.71338606911949],"aabb_xy":[[-0.30423677644709834,-1.0607890392910249],[-0.18423677525506596,-0.9511640942005779]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[0.333567948965926,-0.5027428656145845,0.71338606911949],"aabb_xy":[[0.30491861660550973,-0.5313884248916602],[0.3622172813263422,-0.4740973063375086]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.6334391044312113,-2.2464006031415815,0.71338606911949],"aabb_xy":[[0.5634391026224659,-2.2677543719057693],[0.7034391062399568,-2.2250468343773946]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.027038675237453624,-2.298453266667081,0.71338606911949],"aabb_xy":[[-0.06203867658893536,-2.3188130026239016],[0.007961326114028102,-2.27809353071026]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.636175098845607,-0.5926499098678661,0.71338606911949],"aabb_xy":[[0.5862924019679108,-0.6426499091141409],[0.6860577957233032,-0.5426499106215914]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[0.3702164502558396,1.2972859991039423,0.71338606911949],"aabb_xy":[[0.3102164486129178,1.2452858498119983],[0.4302164518987615,1.3492861483958867]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_29","position":[0.6050173362369093,-0.42252553343040145,0.71338606911949],"aabb_xy":[[0.5500218584162498,-0.4775255348643083],[0.6600128140575686,-0.36752553199649446]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.3906402259286874,-2.1234520094477745,0.71338606911949],"aabb_xy":[[0.3453616110475381,-2.187452008795958],[0.4359188408098366,-2.059452010099591]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[0.22319639056271723,-0.7203869888845991,0.71338606911949],"aabb_xy":[[0.2152731103239689,-0.7428869891226025],[0.23111967080146556,-0.6978869886465958]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_32","position":[0.2764799614152935,0.6622897481893486,0.71338606911949],"aabb_xy":[[0.2613776599542753,0.6471882265582866],[0.2915822628763115,0.6773912698204102]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_33","position":[-0.4229823038040604,-2.196791501716631,0.71338606911949],"aabb_xy":[[-0.5029823023913796,-2.2761071036547915],[-0.3429823052167409,-2.1174758997784697]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_34","position":[-0.1814785962954235,0.3894992402386892,0.71338606911949],"aabb_xy":[[-0.22928476390919214,0.3244992375316302],[-0.13367242868165485,0.45449924294574806]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898144604978032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8764.png","name":"8764"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8764.png","name":"8764"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8622.png","name":"8622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4081.png","name":"4081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4021.png","name":"4021"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":797.8788839682652,"rotation_z_degrees":152.635291917931,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010882015028296194,0.006007225708041349,-0.00429923320557617]},{"name":"camera_2","offset_m":[-0.014412167354009641,-0.01137383568165041,0.01778595314651586]},{"name":"camera_3","offset_m":[-0.012963029404660553,0.009223988746842424,-0.017284516423132185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009614381025046755,0.0005657846879693483,-0.0008181980209957804],"end_effector_yaw_offset_degrees":0.5412013118725603},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00046429102121787113,-0.0009244939811961345,-0.0004496550389310218],"end_effector_yaw_offset_degrees":0.7826130892840146},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001310153097489792,-0.0010246646303891378,-0.001369465083265926],"end_effector_yaw_offset_degrees":-0.9291286581873675}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004677961395135703,-0.004760932324941886],"position_m":[0.3134677961395136,-0.12106093232494189,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021481824203893485,0.0005361171337235435],"position_m":[0.3081518175796107,0.09163611713372355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011098062440736468,-0.002624814683490402],"position_m":[0.3539901937559264,0.2940751853165096,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037964180708735086,0.0033884279758071645],"position_m":[0.2402035819291265,-0.3484115720241928,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"101f0c076daf594ffdf434b142ffba1c67d393b6783a265611dc8e362641cb3d","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8764/tex_ceiling_textures_4021/tex_floor_textures_4081/tex_table_textures_8622/tex_wall_textures_7011","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5590610865883673416,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5590610865883673416,"visual_seed":5590610865883673416,"scene_id":"lab_003","finished_at":"2026-09-02T23:21:50"} +{"episode_id":"ep_000010","started_at":"2026-09-02T23:25:05","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.6230463106869426,-0.06997552788397599,0.71338606911949],"aabb_xy":[[0.5590463074683049,-0.11669863978298435],[0.6870463139055806,-0.023252415984967648]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.5265806429444486,0.28416879490136093,0.71338606911949],"aabb_xy":[[0.49314046774842896,0.2507251690704308],[0.5600208181404681,0.31761242073229096]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.04483691550957247,-1.9911784130725207,0.71338606911949],"aabb_xy":[[-0.0748285782434428,-2.0211784124093217],[-0.014845252775702145,-1.9611784137357204]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.4888274125226486,-1.2453844299421426,0.71338606911949],"aabb_xy":[[0.4517933030945888,-1.279761637275852],[0.5258615219507083,-1.2110072226084332]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.3643151980762325,-0.9790875270758614,0.71338606911949],"aabb_xy":[[-0.3864877250528833,-1.0012631942319845],[-0.3421426710995817,-0.9569118599197383]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.026929838923552607,-2.4425595616574154,0.71338606911949],"aabb_xy":[[-0.04436055400255911,-2.4598316763212655],[-0.009499123844546096,-2.4252874469935644]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.5403877066731728,-0.40538787585284597,0.71338606911949],"aabb_xy":[[-0.6103877030831344,-0.42582581150452764],[-0.47038771026321086,-0.3849499402011642]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.5299613379797461,-1.9718445755632203,0.71338606911949],"aabb_xy":[[-0.5413230726330323,-1.9832130419695084],[-0.5185996033264599,-1.9604761091569323]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.6626244552671612,-2.335491257473749,0.71338606911949],"aabb_xy":[[0.6451244550221117,-2.3529910453133156],[0.6801244555122105,-2.317991469634182]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.10729544183801887,1.5912889658673657,0.71338606911949],"aabb_xy":[[0.08971713964907202,1.5737144762932607],[0.12487374402696572,1.6088634554414707]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.577555354382518,-1.3736691651298514,0.71338606911949],"aabb_xy":[[0.555056218656291,-1.3961691659081144],[0.6000544901087449,-1.3511691643515884]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.12533035575075968,-0.6767037808591194,0.71338606911949],"aabb_xy":[[0.07752418813699104,-0.7417037835661784],[0.17313652336452834,-0.6117037781520605]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.2766408494149815,-1.6248923962865955,0.71338606911949],"aabb_xy":[[-0.36664084913815564,-1.647965748821775],[-0.1866408496918073,-1.6018190437514153]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.7088773731861371,-0.21877520644726633,0.71338606911949],"aabb_xy":[[0.7032957015520083,-0.23127520626504183],[0.7144590448202659,-0.20627520662949084]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.30893782895927835,-2.238907962193998,0.71338606911949],"aabb_xy":[[-0.3588205258369746,-2.2889079614402728],[-0.2590551320815822,-2.1889079629477233]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[-0.4076002080956352,-0.298845262363697,0.71338606911949],"aabb_xy":[[-0.4451002065190355,-0.3120094763315276],[-0.3701002096722348,-0.28568104839586633]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.5153688546885715,1.5224569966162762,0.71338606911949],"aabb_xy":[[-0.5503688545845904,1.5140827611043364],[-0.4803688547925527,1.5308312321282165]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.21703408368128863,0.7277051226288802,0.71338606911949],"aabb_xy":[[0.20618247743241302,0.7168458319012292],[0.22788568993016423,0.7385644133565312]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.20635884722413256,-2.3104027743972044,0.71338606911949],"aabb_xy":[[0.16885884603933973,-2.3148209970932645],[0.24385884840892533,-2.3059845517011435]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.6556764532686303,0.9230389417142932,0.71338606911949],"aabb_xy":[[0.605676454622709,0.8731193980548309],[0.7056764519145514,0.9729584853737556]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[0.2454125251543614,1.1731583326227697,0.71338606911949],"aabb_xy":[[0.22413451701088913,1.1081583302966964],[0.26669053329783365,1.2381583349488425]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.2994893510972288,-2.0883075112604352,0.71338606911949],"aabb_xy":[[-0.3894893496916988,-2.1045580975738565],[-0.2094893525027589,-2.072056924947014]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[0.23061001323945884,1.7589335393587189,0.71338606911949],"aabb_xy":[[0.16661001406968892,1.7121668522397564],[0.2946100124092288,1.8057002264776814]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892697430589079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6893.png","name":"6893"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6893.png","name":"6893"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6602.png","name":"6602"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/883.png","name":"883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7537.png","name":"7537"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":570.6386608026553,"rotation_z_degrees":347.02581060736475,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016169284392941987,-0.0020404603928128387,-0.01220052636388946]},{"name":"camera_2","offset_m":[-0.019240574772025305,-0.0011031775156233568,-0.010189649215508524]},{"name":"camera_3","offset_m":[0.015341092180822299,-0.0034478614288889174,0.006805944071850933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006299349457986238,-0.0016672433049893264,0.0001679295241680174],"end_effector_yaw_offset_degrees":0.6132776145735042},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019379485130070911,-0.0018687260990439163,0.0014373875140464725],"end_effector_yaw_offset_degrees":0.09986498651588982},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013332738188111541,0.0017859537151919975,-0.0016559194051175296],"end_effector_yaw_offset_degrees":-0.9325397380634943}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002820135100502702,-0.003575775914203716],"position_m":[0.3158201351005027,-0.11987577591420372,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00041998614925747337,0.004676243191284637],"position_m":[0.3107199861492575,0.09577624319128464,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002793354358956215,-0.00034345100161321546],"position_m":[0.3523066456410438,0.2963565489983868,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004431706682886734,0.0015816434873331476],"position_m":[0.23956829331711327,-0.35021835651266686,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8fba077ac7925f81af42e6500d3ed344f1064985e2775b7666b8ca19e57ffcf6","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6893/tex_ceiling_textures_7537/tex_floor_textures_8916/tex_table_textures_6602/tex_wall_textures_883","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4908529714360244915,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4908529714360244915,"visual_seed":4908529714360244915,"scene_id":"lab_003","finished_at":"2026-09-02T23:27:47"} +{"episode_id":"ep_000011","started_at":"2026-09-02T23:30:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.3282867777136827,1.4875650246218224,0.71338606911949],"aabb_xy":[[-0.34496391370677826,1.470865100647892],[-0.31160964172058725,1.5042649485957527]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.46593754358429107,0.32757334001465255,0.71338606911949],"aabb_xy":[[-0.529937540011613,0.2804037161925561],[-0.40193754715696917,0.374742963836749]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[-0.09838627162186309,1.7317766757348623,0.71338606911949],"aabb_xy":[[-0.14619243923563174,1.6667766730278029],[-0.05058010400809443,1.7967766784419208]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.335832335133752,-1.3048380214753093,0.71338606911949],"aabb_xy":[[0.2858330599653158,-1.3548380227512566],[0.38583161030218815,-1.2548380201993623]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.4948072707897613,-1.793466577683866,0.71338606911949],"aabb_xy":[[0.4308072687400293,-1.8335610607731738],[0.5588072728394933,-1.753372094594558]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.5158216934299782,-0.8399744342874889,0.71338606911949],"aabb_xy":[[0.5033543353202427,-0.8524397589208126],[0.528289051539714,-0.8275091096541656]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.5257735556825385,-1.386575512017333,0.71338606911949],"aabb_xy":[[0.4758002616792779,-1.4365755125718802],[0.5757468496857988,-1.3365755114627855]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.24688437499622456,1.7874060206915243,0.71338606911949],"aabb_xy":[[-0.2747294117768317,1.7566215219532129],[-0.21903933821561744,1.8181905194298362]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.668480004077814,1.4223325648262342,0.71338606911949],"aabb_xy":[[-0.6810827032148905,1.4097371686013687],[-0.6558773049407376,1.4349279610510997]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.18328614517280373,-2.274974221258668,0.71338606911949],"aabb_xy":[[0.15082444429087624,-2.3051070533735705],[0.21574784605473116,-2.244841389143765]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.16501913569357796,0.7952576606643031,0.71338606911949],"aabb_xy":[[-0.19023997255341757,0.7700339098114163],[-0.13979829883373823,0.8204814115171898]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.46665129012577733,0.12840918382443212,0.71338606911949],"aabb_xy":[[-0.516651291787272,0.07841074156872939],[-0.4166512884642825,0.1784076260801348]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.514949489251199,1.1378764607157423,0.71338606911949],"aabb_xy":[[0.45494948760827714,1.0858763114237981],[0.5749494908941208,1.1898766100076865]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.09606764279842761,0.06813433235973809,0.71338606911949],"aabb_xy":[[-0.18606764647534574,0.006701925782633731],[-0.006067639121509412,0.12956673893684242]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.09131615602057996,-1.688879786352693,0.71338606911949],"aabb_xy":[[-0.09944384421389318,-1.6977933947634003],[-0.08318846782726674,-1.6799661779419852]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.010003206358225714,-1.5302911663193939,0.71338606911949],"aabb_xy":[[-0.07999679223624423,-1.5465417526328151],[0.10000320495269566,-1.514040580005973]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.27212384255370514,1.030917120108735,0.71338606911949],"aabb_xy":[[0.26798798622100495,0.993417120664378],[0.27625969888640534,1.068417119553092]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.4963978587701541,0.7748448906973486,0.71338606911949],"aabb_xy":[[0.48759580346118137,0.7670335645424194],[0.5051999140791268,0.7826562168522776]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.5567525124694441,-0.7461180354180288,0.71338606911949],"aabb_xy":[[-0.5980570555331801,-0.8101180349861458],[-0.5154479694057081,-0.6821180358499116]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.6719271781070801,0.8422203345470072,0.71338606911949],"aabb_xy":[[0.6646834120608347,0.7622203363434049],[0.6791709441533254,0.9222203327506097]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.5418054520188518,-1.0804472388287447,0.71338606911949],"aabb_xy":[[0.49180545244251705,-1.1304278177808509],[0.5918054515951865,-1.030466659876639]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.4224281263079589,-2.1019329593481646,0.71338606911949],"aabb_xy":[[-0.4329956059660579,-2.112477989461173],[-0.4118606466498599,-2.091387929235156]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5674860004782771,1.0260268978273257,0.71338606911949],"aabb_xy":[[-0.5937748247987178,0.9997554641726744],[-0.5411971761578365,1.0522983314819767]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.14562710233970522,0.48903334537094256,0.71338606911949],"aabb_xy":[[-0.16312710161779206,0.47169524530459656],[-0.1281271030616183,0.5063714454372885]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.10388193844519433,-0.973951320747654,0.71338606911949],"aabb_xy":[[-0.1189842399062124,-0.9890528423787155],[-0.08877963698417621,-0.9588497991165918]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[0.09313707416930528,-2.027973877632596,0.71338606911949],"aabb_xy":[[0.06316951725947961,-2.057973877930482],[0.12310463107913094,-1.9979738773347109]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.15516681116886022,1.5952126139497893,0.71338606911949],"aabb_xy":[[-0.18016681110137814,1.588329945728866],[-0.13016681123634236,1.6020952821707126]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.11051711007494891,1.2643783341952415,0.71338606911949],"aabb_xy":[[-0.14801711036712373,1.260336858794638],[-0.07301710978277409,1.268419809595845]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890236414580085,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4998.png","name":"4998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4998.png","name":"4998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2072.png","name":"2072"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2774.png","name":"2774"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3554.png","name":"3554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5436.png","name":"5436"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":808.0306989615306,"rotation_z_degrees":349.98988305247804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012715973824772308,0.009933261590310435,-0.01330783140059533]},{"name":"camera_2","offset_m":[-0.006224138688405958,-0.010689697794529227,0.01603423390376686]},{"name":"camera_3","offset_m":[-0.01016104506962673,-0.011171673921430592,0.011005876799405793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001570140645218487,-0.0011425351886534285,0.0014356620736087314],"end_effector_yaw_offset_degrees":0.5582172302733137},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008015525809949562,-0.0016875771566905464,-0.0015845160050314317],"end_effector_yaw_offset_degrees":-0.40336998062032103},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009250913921968794,-0.0010566909156417975,0.0015065525678646702],"end_effector_yaw_offset_degrees":-0.4177412652324888}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037987721669648696,0.0017385064497102021],"position_m":[0.31262012278330353,-0.1145614935502898,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002996946366386752,0.0026637371131528658],"position_m":[0.3132969463663868,0.09376373711315286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015411690757045193,-0.003565304878015022],"position_m":[0.3535588309242955,0.293134695121985,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015617148466133988,-0.0030764237854728304],"position_m":[0.24243828515338658,-0.35487642378547285,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a8f5e3fd29211e98762150b92795597e0ab214010275b16fd8c25a04081373e","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4998/tex_ceiling_textures_5436/tex_floor_textures_3554/tex_table_textures_2072/tex_wall_textures_2774","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7258898092204734123,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7258898092204734123,"visual_seed":7258898092204734123,"scene_id":"lab_003","finished_at":"2026-09-02T23:33:27"} +{"episode_id":"ep_000012","started_at":"2026-09-02T23:35:00","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.6523526379590223,-0.8499141014743608,0.71338606911949],"aabb_xy":[[0.6095859310796022,-0.9139141048961632],[0.6951193448384426,-0.7859140980525583]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.5909070544919035,0.9525185129923375,0.71338606911949],"aabb_xy":[[-0.6274028751191822,0.9160345705655799],[-0.5544112338646248,0.989002455419095]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.35898225405611983,-0.7370650282324105,0.71338606911949],"aabb_xy":[[0.30898225447978517,-0.7870456071845164],[0.4089822536324546,-0.6870844492803045]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.053212196042646154,0.4485975577287524,0.71338606911949],"aabb_xy":[[-0.10319643175082338,0.3985975589152568],[-0.0032279603344689267,0.49859755654224797]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.6746841356999844,-1.6192374054337542,0.71338606911949],"aabb_xy":[[0.658006999706889,-1.6359373294076844],[0.69136127169308,-1.6025374814598239]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.4527838039787764,0.6053878225850284,0.71338606911949],"aabb_xy":[[0.38278380184734667,0.5826258569593327],[0.5227838061102057,0.628149788210724]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.6109089556123344,0.7747866335681342,0.71338606911949],"aabb_xy":[[-0.6560802734605035,0.7107866364235959],[-0.5657376377641655,0.8387866307126728]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.14242300619081327,-1.4097348189342767,0.71338606911949],"aabb_xy":[[-0.16533871907586317,-1.4326391160707002],[-0.11950729330576337,-1.3868305217978532]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.3218766341364559,-2.1811931233696717,0.71338606911949],"aabb_xy":[[-0.35937663565208755,-2.192419896385817],[-0.28437663262082413,-2.1699663503535267]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.5295742002786444,1.5903921527422997,0.71338606911949],"aabb_xy":[[-0.5470049153576508,1.5731200380784487],[-0.5121434851996378,1.6076642674061503]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.3353773058380124,-0.33324282286022733,0.71338606911949],"aabb_xy":[[-0.3993773075160097,-0.3817602143395416],[-0.271377304160015,-0.28472543138091316]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.2804885087603466,1.4240008403741728,0.71338606911949],"aabb_xy":[[0.2744514957596819,1.4179741393052248],[0.28652552176101137,1.430027541443121]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.4020205287323406,-1.963598220313164,0.71338606911949],"aabb_xy":[[-0.43241863983148415,-1.994005122314833],[-0.371622417633197,-1.933191318311494]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.551721223045252,0.9639287612857452,0.71338606911949],"aabb_xy":[[0.5388493195443117,0.8839287608719092],[0.564593126546192,1.0439287616995814]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.10220367193231295,-2.1630422990582616,0.71338606911949],"aabb_xy":[[-0.16620367263578228,-2.2090606815311826],[-0.0382036712288436,-2.1170239165853406]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.049153504154753724,-1.2075577567677414,0.71338606911949],"aabb_xy":[[-0.04084649556842046,-1.230631109302921],[0.13915350387792788,-1.1844844042325613]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.42330642789157313,0.6966333421924298,0.71338606911949],"aabb_xy":[[-0.46015697582856074,0.6591333413693962],[-0.3864558799545855,0.7341333430154636]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.1110579491091892,0.8332923589101151,0.71338606911949],"aabb_xy":[[0.08605794983722691,0.8169469953139528],[0.13605794838115146,0.8496377225062774]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.08124518025070482,-0.7792309233496235,0.71338606911949],"aabb_xy":[[-0.16124518072092076,-0.787541630963972],[-0.0012451797804888672,-0.7709202157352752]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.4966193049824137,-0.12912816535231508,0.71338606911949],"aabb_xy":[[0.470330480661973,-0.15539959900696632],[0.5229081293028544,-0.10285673169766386]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.24881342075045276,-0.9647048644934049,0.71338606911949],"aabb_xy":[[0.16881342209356678,-0.9792097234176678],[0.32881341940733877,-0.9502000055691422]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.04760944458187388,-2.500037885578493,0.71338606911949],"aabb_xy":[[-0.08104961977789348,-2.533481511409423],[-0.014169269385854276,-2.4665942597475623]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.11422423639913992,0.9059785439748134,0.71338606911949],"aabb_xy":[[-0.1288676419531729,0.8913198243180291],[-0.09958083084510692,0.9206372636315976]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.10671487298589155,1.3027518439133292,0.71338606911949],"aabb_xy":[[-0.11470836278117359,1.2947537119728538],[-0.09872138319060954,1.310749975853805]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.20486754372678584,-1.328475586613819,0.71338606911949],"aabb_xy":[[0.16986754453396755,-1.3394426326114812],[0.23986754291960408,-1.3175085406161562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968194307872758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6260.png","name":"6260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6260.png","name":"6260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2608.png","name":"2608"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3377.png","name":"3377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6516.png","name":"6516"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":625.994219414598,"rotation_z_degrees":66.01635827939654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014517803706172998,-0.005192009998132541,-0.007539687026975717]},{"name":"camera_2","offset_m":[-0.01643295396724837,-0.006121752906129889,-0.004016764471682581]},{"name":"camera_3","offset_m":[-0.006413422237877499,-0.001959912899623325,0.004942005923003975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016142107781058007,-0.0016033441362665267,0.0016986709032503606],"end_effector_yaw_offset_degrees":0.10562657273453335},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001387814003246809,0.000164456232403199,0.001775227881240034],"end_effector_yaw_offset_degrees":-0.6454621576895077},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001794855830521584,-0.00043992119398229075,0.001963579931503946],"end_effector_yaw_offset_degrees":-0.525815629205252}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038603694029385374,-0.003518503613823112],"position_m":[0.30913963059706145,-0.11981850361382311,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041242806623379225,-5.750599040729894e-06],"position_m":[0.31442428066233796,0.09109424940095927,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003954881490134285,0.003045328067148758],"position_m":[0.3590548814901343,0.29974532806714876,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001354959000060546,-0.0005968132865129209],"position_m":[0.24264504099993944,-0.3523968132865129,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"010bc837c559c779380cc93ada23397822d192bc6e8d58f80cd00c0b9ab34bf9","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6260/tex_ceiling_textures_6516/tex_floor_textures_3377/tex_table_textures_2608/tex_wall_textures_8694","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5653518105160447141,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5653518105160447141,"visual_seed":5653518105160447141,"scene_id":"lab_003","finished_at":"2026-09-02T23:37:33"} +{"episode_id":"ep_000013","started_at":"2026-09-02T23:37:36","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.21908177708438076,-0.2644709293055669,0.71338606911949],"aabb_xy":[[-0.2830817791341127,-0.3045654123948749],[-0.15508177503464873,-0.22437644621625896]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.4890648641800528,-1.4293561746891414,0.71338606911949],"aabb_xy":[[0.43406486597830796,-1.4698781413155788],[0.5440648623817976,-1.3888342080627036]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.46338497111033194,-1.7374232603464757,0.71338606911949],"aabb_xy":[[0.38338497083672496,-1.8103728081721924],[0.5433849713839389,-1.664473712520759]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.577553755960845,0.4838400934672187,0.71338606911949],"aabb_xy":[[-0.6150537567528405,0.47747225250902864],[-0.5400537551688496,0.49020793442540883]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.6128310121830474,-1.868803763889786,0.71338606911949],"aabb_xy":[[0.6067363842949292,-1.8773731584414548],[0.6189256400711658,-1.8602343693381174]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.434173853644691,-0.35363213010901395,0.71338606911949],"aabb_xy":[[-0.4981738550526817,-0.4054210816329386],[-0.37017385223670035,-0.3018431785850892]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.30380798700699246,0.3823573080573759,0.71338606911949],"aabb_xy":[[-0.3216014939419089,0.3645575624615782],[-0.286014480072076,0.40015705365317356]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.15912953929229245,0.6881384844228573,0.71338606911949],"aabb_xy":[[-0.19412953760298787,0.6804234694993117],[-0.12412954098159698,0.695853499346403]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.27321729429584074,-0.9317877546075048,0.71338606911949],"aabb_xy":[[0.22323305858766346,-0.9817877534210004],[0.3232015300040179,-0.8817877557940093]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.5800730800636277,-0.8806110065303352,0.71338606911949],"aabb_xy":[[-0.6159865844886174,-0.9165245147470897],[-0.5441595756386381,-0.8446974983135804]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.34183696351241005,-1.7648482320089909,0.71338606911949],"aabb_xy":[[-0.40583696680211817,-1.8081831510129083],[-0.27783696022270193,-1.721513313005073]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.47824355442916444,-2.4707551643854835,0.71338606911949],"aabb_xy":[[-0.49574355356353156,-2.480634791423071],[-0.4607435552947972,-2.460875537347895]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.5155409690337083,1.5241675904871292,0.71338606911949],"aabb_xy":[[0.5090393325257037,1.51439976846082],[0.5220426055417129,1.5339354125134395]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.6584038436615551,0.8702127880699204,0.71338606911949],"aabb_xy":[[0.6209038421459234,0.8589860150537755],[0.6959038451771868,0.8814395610860656]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.05558602729939366,-0.7597265392433721,0.71338606911949],"aabb_xy":[[-0.024413970104199757,-0.8397191104415548],[0.13558602470298706,-0.6797339680451892]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.5528524077959602,-0.0940493553291768,0.71338606911949],"aabb_xy":[[0.46285240837758923,-0.12742485217336652],[0.642852407214331,-0.060673858484987075]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[0.5805104016299649,1.170653647584691,0.71338606911949],"aabb_xy":[[0.5654081001689467,1.1555521259536286],[0.5956127030909829,1.1857551692157524]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.23651262247745097,0.6926214713936392,0.71338606911949],"aabb_xy":[[0.1565126255144118,0.6155458297498655],[0.31651261944049014,0.7696971130374124]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.33618210248874036,-2.4181443027941003,0.71338606911949],"aabb_xy":[[0.2761821022373392,-2.4724256278305643],[0.39618210274014154,-2.3638629777576354]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.26293337961594176,1.2314291889067652,0.71338606911949],"aabb_xy":[[-0.2804333798609911,1.2139294010671984],[-0.24543337937089235,1.248928976746332]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.09273592767582006,-1.0964963198218367,0.71338606911949],"aabb_xy":[[-0.09997969372206539,-1.1764963180254389],[-0.08549216162957474,-1.0164963216182341]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.5812430115529612,0.2700966787678465,0.71338606911949],"aabb_xy":[[0.5562430122809989,0.25375131517168414],[0.6062430108249235,0.28644204236400883]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.5805172968884011,-2.039963334581458,0.71338606911949],"aabb_xy":[[0.5165173004928281,-2.103926623000192],[0.6445172932839742,-1.9760000461627247]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.22169803468110644,-1.4492230234125985,0.71338606911949],"aabb_xy":[[-0.25854858261809405,-1.4867230242356324],[-0.18484748674411883,-1.411723022589565]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.5765643014801993,-0.6525957857895344,0.71338606911949],"aabb_xy":[[0.5125643041778528,-0.696962212757391],[0.6405642987825456,-0.6082293588216775]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.6737296361996745,0.219402045991135,0.71338606911949],"aabb_xy":[[0.6504477940015431,0.13440204469390693],[0.6970114783978058,0.30440204728836306]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_26","position":[0.10975492967625033,0.9600366680777292,0.71338606911949],"aabb_xy":[[0.05475945185559092,0.9050366666438222],[0.1647504074969097,1.0150366695116362]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.2594157480742374,-0.38746460945848504,0.71338606911949],"aabb_xy":[[-0.28938330498406306,-0.4174646097563708],[-0.22944819116441173,-0.3574646091605993]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[0.1911397083394054,1.5831010806537953,0.71338606911949],"aabb_xy":[[0.14837300145998525,1.519101077231993],[0.23390641521882563,1.647101084075598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883621308589727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7953.png","name":"7953"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7953.png","name":"7953"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8096.png","name":"8096"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9515.png","name":"9515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8291.png","name":"8291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":708.1765145287816,"rotation_z_degrees":223.10238423841156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013732018600254626,0.012058547847955393,0.005081232664142142]},{"name":"camera_2","offset_m":[0.007334432389054162,-0.003612761059876575,0.017160695337464452]},{"name":"camera_3","offset_m":[-0.005593108293226186,0.00490092615208073,-0.017883000085100235]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009636798591208865,-0.0008891759014531297,-0.0012573656283692656],"end_effector_yaw_offset_degrees":0.7099249474527034},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005000727720240353,-0.0010148081691812348,-0.0006465278320496553],"end_effector_yaw_offset_degrees":0.011008408442567452},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010331813431185312,-0.0001315109159809333,-0.00011145371314884452],"end_effector_yaw_offset_degrees":0.3415397759558203}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0047863945485287,-0.0046908506358529],"position_m":[0.3177863945485287,-0.1209908506358529,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005611059903062121,-0.0048385164678904306],"position_m":[0.3097388940096938,0.08626148353210956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003182325360298075,-0.001639301453843787],"position_m":[0.35191767463970197,0.29506069854615624,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002578785923577557,0.004648966017160514],"position_m":[0.24142121407642245,-0.3471510339828395,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca417a53f2179b41f03bde128659e3044c83d9a4c64ef0d5305632c6c93cbaec","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7953/tex_ceiling_textures_8006/tex_floor_textures_8291/tex_table_textures_8096/tex_wall_textures_9515","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5240661909121831172,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5240661909121831172,"visual_seed":5240661909121831172,"scene_id":"lab_003","finished_at":"2026-09-02T23:40:14"} +{"episode_id":"ep_000014","started_at":"2026-09-02T23:43:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.02729851399765859,-0.13299007961460418,0.71338606911949],"aabb_xy":[[-0.038138992224173496,-0.150176360905253],[-0.016458035771143683,-0.11580379832395538]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.023537293703506545,-1.41033966577091,0.71338606911949],"aabb_xy":[[-0.03225126275344103,-1.432839666430098],[-0.014823324653572055,-1.3878396651117215]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.24903751283015085,-0.48510814593268936,0.71338606911949],"aabb_xy":[[-0.27153393426401495,-0.5076081457394368],[-0.22654109139628678,-0.46260814612594187]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.1547676364453443,0.2593128608594055,0.71338606911949],"aabb_xy":[[-0.23476763970935743,0.24575282855049219],[-0.07476763318133117,0.27287289316831886]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.2016998537775121,1.1977545217699501,0.71338606911949],"aabb_xy":[[0.13769985155710507,1.1533814376446616],[0.2656998559979191,1.2421276058952382]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.29294992265855535,1.546028585956186,0.71338606911949],"aabb_xy":[[-0.31300833427179564,1.5259634990470288],[-0.27289151104531506,1.5660936728653436]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.014460000661902006,1.0811012710200951,0.71338606911949],"aabb_xy":[[-0.065539997994984,1.0665964120958322],[0.09445999931878801,1.095606129944358]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.424283782593025,-2.000988123468065,0.71338606911949],"aabb_xy":[[0.3742995468848477,-2.0509881222815607],[0.47426801830120213,-1.9509881246545695]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.5458600873578757,0.9024352209454669,0.71338606911949],"aabb_xy":[[-0.5833600859334965,0.8896989252819089],[-0.5083600887822549,0.9151715166090247]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.12156838513506729,0.7948004007224077,0.71338606911949],"aabb_xy":[[0.11357489533978528,0.7868022687819323],[0.12956187493034932,0.8027985326628835]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.6037606185806972,0.44525860567512776,0.71338606911949],"aabb_xy":[[-0.6677606199886877,0.393469654151203],[-0.5397606171727064,0.4970475571990524]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.6504411099874581,0.6243392900178706,0.71338606911949],"aabb_xy":[[-0.6592223371346945,0.6155595427293404],[-0.6416598828402219,0.6331190373064007]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.33214587740907286,-2.2619898395068,0.71338606911949],"aabb_xy":[[0.31869935077502953,-2.275459691159891],[0.3455924040431162,-2.2485199878537085]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.6368165151253635,-2.4412147200173604,0.71338606911949],"aabb_xy":[[0.6123028910283577,-2.465479313319397],[0.6613301392223694,-2.416950126715324]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.4897072013717163,1.5218412368293142,0.71338606911949],"aabb_xy":[[0.48320556486371175,1.5120734148030046],[0.496208837879721,1.5316090588556242]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.49427038011533664,-2.063673723285918,0.71338606911949],"aabb_xy":[[-0.5167351500867416,-2.0861737241647784],[-0.47180561014393146,-2.0411737224070574]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.5251432945924008,-0.4707987650109673,0.71338606911949],"aabb_xy":[[0.50297076761575,-0.49297443216709036],[0.5473158215690517,-0.448623097854844]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.33950864442465134,-1.543408910889269,0.71338606911949],"aabb_xy":[[0.27550864513048307,-1.6073950512581232],[0.4035086437188195,-1.4794227705204148]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.26373944213402645,-2.024772591148677,0.71338606911949],"aabb_xy":[[-0.3277394394196751,-2.066279310101521],[-0.1997394448483778,-1.9832658721958332]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.4126787664816218,-0.6874435301379926,0.71338606911949],"aabb_xy":[[-0.4163820278107606,-0.6911455484467104],[-0.40897550515248293,-0.6837415118292747]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[0.22075659943584913,0.9900495142447285,0.71338606911949],"aabb_xy":[[0.21517492780172037,0.9775495144269529],[0.2263382710699779,1.0025495140625038]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911700477668938,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3267.png","name":"3267"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3267.png","name":"3267"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5538.png","name":"5538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2957.png","name":"2957"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2114.png","name":"2114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8834.png","name":"8834"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":509.868981712204,"rotation_z_degrees":117.82017963419864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018438833645157027,0.005269357769008037,-0.010937414084013315]},{"name":"camera_2","offset_m":[0.0126674039705169,0.018520945070160572,0.01969277905653208]},{"name":"camera_3","offset_m":[0.0001846629699604127,-0.019347572971703437,0.0027130563840798948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029875371461761087,0.0008183545106829268,0.0017758844868284392],"end_effector_yaw_offset_degrees":-0.965951542363356},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012804389802872351,0.0014393219679684904,0.001411341587879349],"end_effector_yaw_offset_degrees":-0.30754546356186774},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001020148864107952,0.0002964468945674892,0.001790914675700341],"end_effector_yaw_offset_degrees":0.44080404138556184}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001159400433538865,-0.0020079923178094195],"position_m":[0.31184059956646115,-0.11830799231780942,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00048327831301825646,-0.003832196474189922],"position_m":[0.3107832783130183,0.08726780352581008,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009057103463544656,0.00011224755746614898],"position_m":[0.3541942896536456,0.29681224755746616,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008658172864433053,-0.0029451715944530223],"position_m":[0.2431341827135567,-0.354745171594453,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"216f26db815010547579aadc759b7e8facee84430318734eb291c3dba43d9709","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3267/tex_ceiling_textures_8834/tex_floor_textures_2114/tex_table_textures_5538/tex_wall_textures_2957","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5273437865437386042,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5273437865437386042,"visual_seed":5273437865437386042,"scene_id":"lab_003","finished_at":"2026-09-02T23:45:49"} +{"episode_id":"ep_000015","started_at":"2026-09-02T23:45:52","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.3066339805373943,1.0227676007732804,0.71338606911949],"aabb_xy":[[0.2957935023108794,1.0055813194826317],[0.31747445876390923,1.0399538820639291]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.18182833987296376,-0.7272781577199372,0.71338606911949],"aabb_xy":[[0.15932834034925633,-0.749774105170558],[0.20432833939667114,-0.7047822102693164]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.37775630287062545,-0.4756655721960028,0.71338606911949],"aabb_xy":[[0.3364517598068894,-0.5396655717641199],[0.4190608459343614,-0.4116655726278857]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.7136030011510304,-0.5722175460268999,0.71338606911949],"aabb_xy":[[0.7091723717961903,-0.5776659177615825],[0.7180336305058707,-0.5667691742922173]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[-0.16282731340547907,0.6499068958866108,0.71338606911949],"aabb_xy":[[-0.17087067333143424,0.5649068947912442],[-0.1547839534795239,0.7349068969819771]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.09168400607995564,1.2867625276868222,0.71338606911949],"aabb_xy":[[-0.11418400609010393,1.272666308047219],[-0.06918400606980735,1.3008587473264255]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.10413600875590023,1.7379117545095846,0.71338606911949],"aabb_xy":[[0.09068948212185689,1.724441902856493],[0.11758253538994355,1.7513816061626757]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.32515929151990264,-1.3751410182229558,0.71338606911949],"aabb_xy":[[-0.37513258552316303,-1.4251410187775029],[-0.27518599751664213,-1.3251410176684082]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.6124857138215167,1.7466630811041637,0.71338606911949],"aabb_xy":[[0.5949857146871493,1.7367834540665756],[0.6299857129558837,1.7565427081417513]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3249168292358259,-0.5015394405261677,0.71338606911949],"aabb_xy":[[-0.4049168303089462,-0.5113174868635522],[-0.24491682816270555,-0.4917613941887833]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.5436050828575264,0.3380584319449098,0.71338606911949],"aabb_xy":[[-0.5548501384281442,0.32681663422081453],[-0.5323600272869086,0.3493002296690051]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.5714191558564308,0.8014625322609916,0.71338606911949],"aabb_xy":[[0.5164191576546858,0.760940565634554],[0.6264191540581755,0.8419844988874292]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.47549061117989866,-1.663435149401555,0.71338606911949],"aabb_xy":[[-0.5204906126461275,-1.7084350062630358],[-0.43049060971366987,-1.6184352925400745]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.5374955601694643,-1.831791324383366,0.71338606911949],"aabb_xy":[[-0.5604112730545143,-1.8546956215197898],[-0.5145798472844145,-1.8088870272469428]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.37630590474755177,-1.5920949086553473,0.71338606911949],"aabb_xy":[[-0.3823429177482166,-1.5981216097242958],[-0.3702688917468871,-1.5860682075863997]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.39182307643578285,0.5343431308236202,0.71338606911949],"aabb_xy":[[0.3820670869266089,0.5245805967643856],[0.4015790659449567,0.5441056648828545]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.5898274340276533,-1.0222766525497766,0.71338606911949],"aabb_xy":[[0.5476430198668225,-1.0862766528269878],[0.632011848188484,-0.9582766522725654]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.3810538445739959,1.4132941196165567,0.71338606911949],"aabb_xy":[[-0.4610538415882438,1.3931595679431452],[-0.30105384755974784,1.4334286712899678]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.2803087981101048,1.4127951032650796,0.71338606911949],"aabb_xy":[[0.21630880080775833,1.3684286762972229],[0.34430879541245113,1.4571615302329364]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.6722279043209253,1.1190210324423542,0.71338606911949],"aabb_xy":[[-0.682639463001409,1.1136752991064558],[-0.6618163456404416,1.1243667657782526]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.6556567371127133,-1.5191804608374049,0.71338606911949],"aabb_xy":[[-0.6732895727062408,-1.536803406853028],[-0.6380239015191856,-1.5015575148217821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864379562181413,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8337.png","name":"8337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8337.png","name":"8337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4424.png","name":"4424"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9617.png","name":"9617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4122.png","name":"4122"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":759.57393467073,"rotation_z_degrees":18.499622275988983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011035100907413518,0.004732079429789864,0.003849122086813289]},{"name":"camera_2","offset_m":[0.017033994207533102,-0.00306759164207291,-0.01418541930435913]},{"name":"camera_3","offset_m":[0.016683851463811027,-0.01977584968305228,-0.01957437821643631]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014796053927626238,0.0006328666441989569,0.001784196542923091],"end_effector_yaw_offset_degrees":-0.5983952707422788},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001565185915997385,0.0014880583692559908,0.0005953011242280813],"end_effector_yaw_offset_degrees":0.9676512673838218},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002283949058047932,0.0012136240457227472,-0.000588478509126278],"end_effector_yaw_offset_degrees":0.8700757946761779}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008183999266546107,0.004776240278498003],"position_m":[0.3138183999266546,-0.111523759721502,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029296432596760845,-0.002130719181808106],"position_m":[0.3132296432596761,0.0889692808181919,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004508148103448928,-0.003335367196229211],"position_m":[0.3505918518965511,0.2933646328037708,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009060118977202289,-0.001869260053492484],"position_m":[0.24309398810227978,-0.3536692600534925,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af4e97a0a51f1c55d43b6eb0ac136a2bccd07080f22cf39379c73b87efcc5cd0","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8337/tex_ceiling_textures_4122/tex_floor_textures_9617/tex_table_textures_4424/tex_wall_textures_215","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1608820619114552173,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1608820619114552173,"visual_seed":1608820619114552173,"scene_id":"lab_003","finished_at":"2026-09-02T23:48:30"} +{"episode_id":"ep_000016","started_at":"2026-09-02T23:48:33","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.31533384362639283,-1.83348307215648,0.71338606911949],"aabb_xy":[[0.2778338428343974,-1.8398509131146705],[0.3528338444183883,-1.8271152311982901]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.4991404547575031,0.7879927241320313,0.71338606911949],"aabb_xy":[[0.44916164624718724,0.7379927241263123],[0.549119263267819,0.83799272413775]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.3205373888205431,0.8248436043162828,0.71338606911949],"aabb_xy":[[-0.33811569100948996,0.807269114742178],[-0.30295908663159626,0.8424180938903878]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.571357197621988,0.9942553554882672,0.71338606911949],"aabb_xy":[[-0.5856916227481515,0.9821951399337283],[-0.5570227724958245,1.006315571042806]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.2508562255795487,-2.2341703648195015,0.71338606911949],"aabb_xy":[[0.19322575669227776,-2.2941703637462116],[0.3084866944668195,-2.1741703658927904]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.4719612589827764,-1.543400247472959,0.71338606911949],"aabb_xy":[[-0.4763918883376166,-1.5488486192076418],[-0.46753062962793623,-1.5379518757382764]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.4046796313942438,-1.2677404932227907,0.71338606911949],"aabb_xy":[[0.3346796292628142,-1.2905024588484864],[0.4746796335256733,-1.244978527597095]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.2011663623473965,0.5842926479156665,0.71338606911949],"aabb_xy":[[-0.26616636498519,0.5328130492162194],[-0.13616635970960297,0.6357722466151133]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.5206713323262298,1.6477512693055645,0.71338606911949],"aabb_xy":[[-0.5846713327037634,1.5980060024547522],[-0.45667133194869614,1.6974965361563767]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.5336032923785794,-1.2136187403906105,0.71338606911949],"aabb_xy":[[-0.6036032957701413,-1.2489345140940413],[-0.46360328898701736,-1.1783029666871796]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.3820822770133029,1.0179528698067841,0.71338606911949],"aabb_xy":[[-0.42708227847953173,0.9729530129453037],[-0.337082275547074,1.062952726668265]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.6342019346319799,1.3965204260804644,0.71338606911949],"aabb_xy":[[-0.6841950467411719,1.346520425406269],[-0.5842088225227882,1.4465204267546603]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.6251509695849835,0.4836693601665192,0.71338606911949],"aabb_xy":[[0.6170373149116064,0.47556354371249004],[0.6332646242583606,0.4917751766205482]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.6259517524720166,-1.2436363573212623,0.71338606911949],"aabb_xy":[[0.5659517516112036,-1.2950627873277487],[0.6859517533328292,-1.192209927314776]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.12997277544561525,1.2832629579382528,0.71338606911949],"aabb_xy":[[-0.15125078358908747,1.2182629556121796],[-0.10869476730214297,1.3482629602643257]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.4813059535615949,0.11993448016715336,0.71338606911949],"aabb_xy":[[0.4438059537445612,0.11529626885601149],[0.5188059533786283,0.12457269147829522]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.15237913004581793,-1.746219470861977,0.71338606911949],"aabb_xy":[[0.12715829318597824,-1.7714432217148635],[0.17759996690565757,-1.72099572000909]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.13465076732781023,-1.8189004840880454,0.71338606911949],"aabb_xy":[[-0.15493507005120896,-1.839183109230754],[-0.11436646460441145,-1.7986178589453363]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.32050666368853853,0.805274981998156,0.71338606911949],"aabb_xy":[[0.2862097526707979,0.7709780957882145],[0.35480357470627916,0.8395718682080971]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5187969144668833,-1.6898910618959313,0.71338606911949],"aabb_xy":[[-0.5561281909921258,-1.7245441166907838],[-0.48146563794164066,-1.6552380071010793]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.06278528218284463,1.149187643129851,0.71338606911949],"aabb_xy":[[0.025934734245857016,1.1116876423068174],[0.09963583011983224,1.1866876439528848]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.07357391951589376,1.4238157984821815,0.71338606911949],"aabb_xy":[[-0.08227188180660906,1.4116908241747068],[-0.06487595722517848,1.4359407727896563]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.52291495260788,-0.11033374678818042,0.71338606911949],"aabb_xy":[[0.4729149539619588,-0.1602532904476428],[0.5729149512538012,-0.06041420312871802]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.20080616201676393,-1.5868553909543919,0.71338606911949],"aabb_xy":[[0.15098938255192917,-1.636855389438695],[0.2506229414815987,-1.5368553924700883]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.2912444752925478,-2.482767836735794,0.71338606911949],"aabb_xy":[[-0.35524447257819647,-2.524274555688638],[-0.22724447800689918,-2.44126111778295]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.3575415149338247,0.1373798156815651,0.71338606911949],"aabb_xy":[[-0.41754151552984087,0.08256734313634162],[-0.2975415143378085,0.19219228822678858]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[-0.20796439316896514,-0.4066095728053627,0.71338606911949],"aabb_xy":[[-0.25796439445280506,-0.4565884271959848],[-0.15796439188512512,-0.3566307184147406]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.2693242579645438,0.29628303898836883,0.71338606911949],"aabb_xy":[[-0.32432425616628857,0.25576107236193124],[-0.21432425976279892,0.3368050056148064]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[-0.40805058993178717,-1.2365363240552723,0.71338606911949],"aabb_xy":[[-0.41820360548593644,-1.2726058656280124],[-0.3978975743776377,-1.2004667824825317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922171419700296,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8705.png","name":"8705"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6194.png","name":"6194"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.6798765158787,"rotation_z_degrees":153.86414458896505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00840859707086547,-0.01268507382889528,0.003053689843791646]},{"name":"camera_2","offset_m":[0.0028519288910931195,0.01563783826179461,-0.010727357218642241]},{"name":"camera_3","offset_m":[-0.001974454474734443,-0.018327818564314237,0.010072405247829899]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002021652486506884,0.0006864950195443953,0.0019430822934246982],"end_effector_yaw_offset_degrees":0.814067399426669},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015802248732159328,0.0004255236628718773,0.0017750613857288352],"end_effector_yaw_offset_degrees":-0.841541443694795},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005561642225265302,0.0010798519698125802,0.0007401973708373879],"end_effector_yaw_offset_degrees":-0.45412864560095056}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012110940440288433,-0.0001328521019036107],"position_m":[0.31178890595597114,-0.11643285210190361,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046580409844743835,-0.0025547233988826947],"position_m":[0.30564195901552565,0.0885452766011173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010926381136126921,-0.0016621411194254043],"position_m":[0.35619263811361274,0.2950378588805746,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[6.898950083353804e-05,0.001242489099412174],"position_m":[0.24406898950083353,-0.35055751090058784,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f9babcbbe90a52a517eddd72e303dad05518149a2bae2942aa38d10c685b1a7f","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8705/tex_ceiling_textures_6194/tex_floor_textures_6934/tex_table_textures_1725/tex_wall_textures_9237","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":636701234167945501,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":636701234167945501,"visual_seed":636701234167945501,"scene_id":"lab_003","finished_at":"2026-09-02T23:51:12"} +{"episode_id":"ep_000017","started_at":"2026-09-02T23:51:14","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.47595939432110357,-1.2126413553071789,0.71338606911949],"aabb_xy":[[0.4219437980392035,-1.2766413581994358],[0.5299749906030036,-1.1486413524149215]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.056807805719809035,-1.208550014791779,0.71338606911949],"aabb_xy":[[0.04624032606171002,-1.2190950449047875],[0.06737528537790805,-1.1980049846787704]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.29713909998809973,1.408707714963164,0.71338606911949],"aabb_xy":[[-0.33463909993186614,1.4004146249283274],[-0.2596391000443333,1.4170008049980005]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.6235122211473488,-1.9669933213278337,0.71338606911949],"aabb_xy":[[-0.6281473362995822,-1.9708606564049822],[-0.6188771059951155,-1.9631259862506847]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.03896788310780752,1.433067653439092,0.71338606911949],"aabb_xy":[[-0.042928366877541896,1.4253997888535714],[-0.03500739933807315,1.4407355180246126]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.5865740563525085,0.10909050651303254,0.71338606911949],"aabb_xy":[[-0.6765740560756826,0.0860171539778527],[-0.49657405662933424,0.13216385904821237]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.5981483073345387,-1.8204721437960163,0.71338606911949],"aabb_xy":[[-0.6063628524502226,-1.8291487340936574],[-0.5899337622188546,-1.8117955534983747]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.10838664273205689,-2.3421719706165978,0.71338606911949],"aabb_xy":[[-0.11710061178199138,-2.3646719712757855],[-0.0996726736821224,-2.319671969957409]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.11818669811049687,0.27813838838925964,0.71338606911949],"aabb_xy":[[-0.1681866976868316,0.22815780943715375],[-0.06818669853416216,0.32811896734136564]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.5773359286876613,-0.8304197484663491,0.71338606911949],"aabb_xy":[[-0.5807766049277185,-0.8342811814407137],[-0.5738952524476042,-0.8265583154919848]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.6546817724278167,-0.7814033169222427,0.71338606911949],"aabb_xy":[[0.6196817724513208,-0.7908679329698594],[0.6896817724043125,-0.7719387008746261]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.4255574018570289,0.49386633119080825,0.71338606911949],"aabb_xy":[[-0.4335937365583137,0.48582821188639147],[-0.417521067155744,0.501904450495225]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.20817826105322546,0.8765891849627656,0.71338606911949],"aabb_xy":[[-0.2881782643172386,0.8630291526538524],[-0.12817825778921232,0.8901492172716791]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.5929959084319179,-0.9473899614332857,0.71338606911949],"aabb_xy":[[0.5771114151665927,-0.9617429017321099],[0.608880401697243,-0.9330370211344617]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.32614818681266716,-1.6378146342868396,0.71338606911949],"aabb_xy":[[-0.3711407735311175,-1.6828146335612886],[-0.2811556000942167,-1.592814635012391]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.10154666755824204,-1.7698953810219735,0.71338606911949],"aabb_xy":[[0.06475203443333577,-1.8068012561185558],[0.13834130068314832,-1.7329895059253912]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.4801878412597185,-1.7673859211928,0.71338606911949],"aabb_xy":[[-0.4933390872310079,-1.7923859209494866],[-0.46703659528842917,-1.7423859214361135]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[-0.2024274391078984,0.6474529023724944,0.71338606911949],"aabb_xy":[[-0.2824274377647844,0.6329480434482317],[-0.12242744045101239,0.6619577612967573]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.3859984793295959,-2.3250713892564336,0.71338606911949],"aabb_xy":[[-0.41648272945662607,-2.37507138903793],[-0.35551422920256576,-2.275071389474938]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.43862420986342365,1.5725316429561453,0.71338606911949],"aabb_xy":[[0.42107751494730467,1.535031641391894],[0.45617090477954253,1.6100316445203966]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.06131399133432991,-0.6959686472024775,0.71338606911949],"aabb_xy":[[0.027538432143636923,-0.7100071424156426],[0.09508955052502287,-0.6819301519893125]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.3720960436036935,-2.0758786999031336,0.71338606911949],"aabb_xy":[[0.31209604300767735,-2.1306911724483575],[0.4320960441997097,-2.0210662273579105]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.48510493142864586,0.36198745769576046,0.71338606911949],"aabb_xy":[[-0.5311900226833772,0.2979874604432053],[-0.4390198401739143,0.4259874549483155]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[0.46492454391474225,-0.5185415903316453,0.71338606911949],"aabb_xy":[[0.4610106707193197,-0.5272906057382021],[0.4688384171101648,-0.5097925749250884]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.38996929779600975,0.6671863825016149,0.71338606911949],"aabb_xy":[[-0.43496929926223865,0.6221865256401343],[-0.3449692963297809,0.7121862393630957]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.6029812262092524,1.2280187383486152,0.71338606911949],"aabb_xy":[[0.5921407479827374,1.2108324570579665],[0.6138217044357672,1.2452050196392639]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[0.5970690020766798,0.8943430225102831,0.71338606911949],"aabb_xy":[[0.5917364874220669,0.8890186942650476],[0.6024015167312929,0.8996673507555187]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.062463544735132714,0.8894529546224144,0.71338606911949],"aabb_xy":[[0.012490479202617252,0.8394529548098817],[0.1124366102676482,0.9394529544349475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956827963124734,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9902.png","name":"9902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2930.png","name":"2930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4816.png","name":"4816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1053.png","name":"1053"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":845.0332089284921,"rotation_z_degrees":22.52975266534432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033782360990665637,0.010471434846969555,0.015152952776522326]},{"name":"camera_2","offset_m":[0.0048917559845690975,-0.0008110040174780127,-0.0064010545273887765]},{"name":"camera_3","offset_m":[0.005134709518236611,0.004912293623313198,0.01785531786819337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00032360610961948075,-0.0011824232457124655,0.0011208000889608577],"end_effector_yaw_offset_degrees":0.9423793556376436},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010216914288501578,-0.0014516928342208943,-0.0016704246828101307],"end_effector_yaw_offset_degrees":-0.3313642641328238},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008562213341665066,-0.0011174601131311835,0.000520954362180893],"end_effector_yaw_offset_degrees":-0.12688225702792888}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004559174508101467,-0.001992727364344905],"position_m":[0.31755917450810145,-0.1182927273643449,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001580456542247739,-0.004497315782053415],"position_m":[0.3118804565422478,0.08660268421794659,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002663441960280755,0.0031126090626965594],"position_m":[0.35776344196028076,0.2998126090626966,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029856351886865264,-0.0012361297946928995],"position_m":[0.24101436481131347,-0.3530361297946929,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"97df5969b2c64f705b58737bb88c57c73fcec2df312421ecd95ebeef30679458","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9902/tex_ceiling_textures_2890/tex_floor_textures_1053/tex_table_textures_2930/tex_wall_textures_4816","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":562565717019260417,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":562565717019260417,"visual_seed":562565717019260417,"scene_id":"lab_003","finished_at":"2026-09-02T23:53:53"} +{"episode_id":"ep_000018","started_at":"2026-09-02T23:53:57","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.6536709175549336,-2.023345578802251,0.71338606911949],"aabb_xy":[[0.5936709177083669,-2.0801642009952896],[0.7136709174015005,-1.9665269566092123]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.1381752224688927,-1.1888525294051562,0.71338606911949],"aabb_xy":[[-0.14313124265377392,-1.2113525296072778],[-0.13321920228401152,-1.1663525292030346]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.5030610427072704,-0.9922248360155235,0.71338606911949],"aabb_xy":[[0.48014532982222047,-1.0151291331519472],[0.5259767555923203,-0.9693205388791001]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.6088585892329124,1.4652560838462265,0.71338606911949],"aabb_xy":[[-0.62706441289416,1.454230683264235],[-0.5906527655716647,1.4762814844282184]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.20050446286825085,0.8608769777343896,0.71338606911949],"aabb_xy":[[-0.2059624085052709,0.7808769744267305],[-0.19504651723123076,0.9408769810420488]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.39109797254939616,-1.2819336534905645,0.71338606911949],"aabb_xy":[[0.3535979710337644,-1.2931604265067096],[0.4285979740650278,-1.2707068804744195]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.4639888484561187,-0.15327347923203805,0.71338606911949],"aabb_xy":[[-0.47915172143305584,-0.16843893652715683],[-0.4488259754791817,-0.13810802193691932]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[-0.1207074678555109,-1.9076196736198077,0.71338606911949],"aabb_xy":[[-0.1432074680990263,-1.9198243082795798],[-0.09820746761199552,-1.895415038960036]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.1243051837742839,-2.143338929751546,0.71338606911949],"aabb_xy":[[0.10402088105088513,-2.163621554894254],[0.14458948649768263,-2.123056304608836]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.3964897302407462,-2.476887623921225,0.71338606911949],"aabb_xy":[[0.3589897299485713,-2.4809290993218287],[0.43398973053292095,-2.4728461485206212]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.49140334895749815,1.5869045344298107,0.71338606911949],"aabb_xy":[[-0.5463955995930092,1.5319045326864984],[-0.4364110983219873,1.641904536173124]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.2892464941148272,-0.9383986100942863,0.71338606911949],"aabb_xy":[[-0.3442202161511601,-0.9933986096585196],[-0.23427277207849434,-0.8833986105300532]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.30047587680391896,-1.5724185623641,0.71338606911949],"aabb_xy":[[0.2592270657740042,-1.6274185618763175],[0.34172468783383364,-1.5174185628518826]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.5890498182601127,1.412497528941084,0.71338606911949],"aabb_xy":[[0.5250498168521219,1.360708577417159],[0.6530498196681033,1.4642864804650084]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.4019743583515665,0.4681075904107148,0.71338606911949],"aabb_xy":[[0.3519743569906793,0.4181296858352992],[0.45197435971245375,0.5180854949861304]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.4716811252707037,-1.07460964966669,0.71338606911949],"aabb_xy":[[-0.5188105042725393,-1.1386096507110919],[-0.424551746268868,-1.010609648622288]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.3841778546352781,0.7949662177976067,0.71338606911949],"aabb_xy":[[0.3466778538432827,0.7885983768394165],[0.4216778554272736,0.8013340587557967]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.40560061596954705,-0.7603975124232367,0.71338606911949],"aabb_xy":[[-0.42565902758278734,-0.7804625993323941],[-0.38554220435630676,-0.7403324255140791]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.2575602412117106,0.5694582638602785,0.71338606911949],"aabb_xy":[[0.2386758574432004,0.5505723390799259],[0.2764446249802208,0.5883441886406314]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.24715012209839393,1.313407468186052,0.71338606911949],"aabb_xy":[[-0.2775482331975375,1.2830005661843824],[-0.21675201099925034,1.3438143701877214]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.20116446256272297,-1.3160972611528015,0.71338606911949],"aabb_xy":[[-0.20908774280147127,-1.338597261390805],[-0.1932411823239746,-1.2935972609147983]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[-0.2690500256563142,1.1417751366236453,0.71338606911949],"aabb_xy":[[-0.2865500259156509,1.1276835944348729],[-0.25155002539697763,1.1558666788124181]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[-0.08159006258779034,0.8762241874702448,0.71338606911949],"aabb_xy":[[-0.1315674794530439,0.8262241859809961],[-0.03161264572253674,0.9262241889594932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858330697848014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7915.png","name":"7915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7915.png","name":"7915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8145.png","name":"8145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8263.png","name":"8263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7636.png","name":"7636"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.9988164742037,"rotation_z_degrees":99.92072628198079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019879275684232204,-0.017156831203635967,0.018917252872867617]},{"name":"camera_2","offset_m":[-0.0001579200649135075,-0.01927731912652347,0.013214428460514075]},{"name":"camera_3","offset_m":[-0.006570806390302733,-0.01958699416658528,0.015079019734060572]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013549245057627927,-0.0015898166399408128,0.0015823874101073354],"end_effector_yaw_offset_degrees":-0.7685374147886015},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000799868138551418,-0.0006412357242094023,-0.0015006135593908408],"end_effector_yaw_offset_degrees":0.8998876623174052},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0015957359397540845,-7.822215938277648e-05,-0.001569824451882584],"end_effector_yaw_offset_degrees":0.5484205660855703}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00020411297291104448,0.004302599981401318],"position_m":[0.31279588702708894,-0.11199740001859869,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010609599913852623,0.0030161879698180844],"position_m":[0.30923904000861474,0.09411618796981809,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004534344056468969,-0.004697854531983255],"position_m":[0.35056565594353106,0.2920021454680168,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027503336853432715,0.0009594501140071602],"position_m":[0.24675033368534327,-0.35084054988599284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32afc717fb7f55a39d11715d20cf5043fe5743615b07737d485b86042437fc83","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7915/tex_ceiling_textures_7636/tex_floor_textures_8263/tex_table_textures_8145/tex_wall_textures_5953","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1595914364213161080,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1595914364213161080,"visual_seed":1595914364213161080,"scene_id":"lab_003","finished_at":"2026-09-02T23:56:32"} +{"episode_id":"ep_000019","started_at":"2026-09-02T23:56:35","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.5630259252266699,0.21905917395211771,0.71338606911949],"aabb_xy":[[-0.6330259270354154,0.19770540518793034],[-0.4930259234179245,0.2404129427163051]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[-0.06995067611658756,-1.1456548608038426,0.71338606911949],"aabb_xy":[[-0.08738139119559406,-1.162926975467693],[-0.052519961037581046,-1.1283827461399913]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.354835474845278,1.5083659608602935,0.71338606911949],"aabb_xy":[[0.2997102692156872,1.4483659594190061],[0.4099606804748688,1.5683659623015804]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.5685815479601566,-2.4491079471881685,0.71338606911949],"aabb_xy":[[0.5606582677214083,-2.471607947426172],[0.5765048281989049,-2.426607946950165]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.461841754362737,-0.8600060333299708,0.71338606911949],"aabb_xy":[[-0.5258417560407342,-0.908523424809285],[-0.3978417526847396,-0.8114886418506566]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.6058614827155728,-1.3829559519743186,0.71338606911949],"aabb_xy":[[-0.6608614809173176,-1.4234779186007562],[-0.5508614845138279,-1.342433985347881]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.27055031117722483,0.7114942344592778,0.71338606911949],"aabb_xy":[[0.23305031136019128,0.7068560231481361],[0.3080503109942584,0.7161324457704198]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.6303085055463653,-0.8812386445182916,0.71338606911949],"aabb_xy":[[0.5406214292382499,-0.9712386447727422],[0.7199955818544808,-0.7912386442638412]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.24157786238588808,-0.9447039176722287,0.71338606911949],"aabb_xy":[[0.15157786266271386,-0.9677772702074084],[0.3315778621090622,-0.9216305651370488]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.5345518906160607,0.5309400589895765,0.71338606911949],"aabb_xy":[[0.49955189072004186,0.5225658234776365],[0.5695518905120796,0.5393142945015164]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.5542592033301448,-1.9675224731417453,0.71338606911949],"aabb_xy":[[0.46425920659453457,-2.0207059364590387],[0.644259200065755,-1.9143390098244502]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.07376989429325476,1.0432109931265385,0.71338606911949],"aabb_xy":[[0.036919346356267146,1.0057109923035048],[0.11062044223024237,1.0807109939495723]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.0623659780365009,0.7309555233012945,0.71338606911949],"aabb_xy":[[-0.11735822867201187,0.6759555215579819],[-0.007373727400989962,0.7859555250446075]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.3956793257779485,-1.1031074829899692,0.71338606911949],"aabb_xy":[[0.3306793257436458,-1.1498081596702965],[0.46067932581225124,-1.056406806309642]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.04927085737469861,-0.7296465538869672,0.71338606911949],"aabb_xy":[[-0.12926468095325683,-0.8096465564798089],[0.030722966203859607,-0.6496465512941257]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.057601610080625476,-1.3224779077222346,0.71338606911949],"aabb_xy":[[-0.012398392050804077,-1.34523987334793],[0.12760161221205502,-1.2997159420965387]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.11836756846802532,1.0243267154852842,0.71338606911949],"aabb_xy":[[-0.19836756705534472,0.9450111135471234],[-0.03836756988070588,1.103642317423445]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.4987629694266195,0.1364874648424057,0.71338606911949],"aabb_xy":[[-0.5887629680210895,0.12023687852898471],[-0.40876297083214963,0.15273805115582675]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.36079373925098446,1.2214046592466117,0.71338606911949],"aabb_xy":[[-0.3777044716873262,1.2079324536539968],[-0.3438830068146426,1.234876864839226]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.6431582281133481,0.4159788079543181,0.71338606911949],"aabb_xy":[[0.6300069821420587,0.3909788081976316],[0.6563094740846375,0.44097880771100467]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.5310620569060414,-0.06530319606630641,0.71338606911949],"aabb_xy":[[0.4976218817100216,-0.09874682189723648],[0.5645022321020607,-0.031859570235376326]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.29016072403832344,-2.5160780000656167,0.71338606911949],"aabb_xy":[[-0.30683786003141894,-2.532777924039547],[-0.27348358804522793,-2.4993780760916864]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.664875907792378,0.8944538052494582,0.71338606911949],"aabb_xy":[[-0.6873759083044185,0.8719619468840596],[-0.6423759072803373,0.9169456636148563]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.5003254650139154,-1.8618194477688137,0.71338606911949],"aabb_xy":[[-0.5248390891109211,-1.8860840410708497],[-0.4758118409169094,-1.8375548544667768]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.4544650323210878,-2.5365350695217153,0.71338606911949],"aabb_xy":[[-0.5444650317394586,-2.5699105663659045],[-0.36446503290271687,-2.503159572677525]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.1657509376994598,-2.3909587052290444,0.71338606911949],"aabb_xy":[[0.1017552403043632,-2.4549587035297527],[0.22974663509455637,-2.3269587069283353]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[-0.4153228492466962,0.37205195083156983,0.71338606911949],"aabb_xy":[[-0.43986906486944694,0.34180305428253266],[-0.3907766336239455,0.4023008473806068]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[-0.5773429493633486,-2.2069886369475604,0.71338606911949],"aabb_xy":[[-0.5855574944790325,-2.2156652272452013],[-0.5691284042476645,-2.1983120466499186]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.4424733624985675,-2.405452757128634,0.71338606911949],"aabb_xy":[[0.42119535435509525,-2.470452759454707],[0.46375137064203975,-2.340452754802561]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.6572178495580623,0.8121689436746804,0.71338606911949],"aabb_xy":[[0.6073351526803661,0.7621689444284059],[0.7071005464357585,0.8621689429209554]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.5772726909002406,0.5007638918311708,0.71338606911949],"aabb_xy":[[-0.5907192175342839,0.4872940401780794],[-0.5638261642661972,0.5142337434842619]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_31","position":[-0.41078659069892726,0.8117651800808825,0.71338606911949],"aabb_xy":[[-0.4607708264071045,0.7617651812673869],[-0.36080235499075003,0.8617651788943781]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_32","position":[0.2460354789905963,-0.544741883130555,0.71338606911949],"aabb_xy":[[0.23519500076408137,-0.5619281644212039],[0.2568759572171112,-0.5275556018399062]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_33","position":[0.6051939589748372,-1.3598395473995681,0.71338606911949],"aabb_xy":[[0.5869881353135895,-1.3708649479815598],[0.6233997826360849,-1.3488141468175765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955623397733687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/459.png","name":"459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/459.png","name":"459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3218.png","name":"3218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4969.png","name":"4969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9514.png","name":"9514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6414.png","name":"6414"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":612.5793443733011,"rotation_z_degrees":241.1731436384106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01632094518362959,0.014531012712363383,-0.018550099492182736]},{"name":"camera_2","offset_m":[-0.011675800681641122,-0.00591068164086812,-0.0039002030824400492]},{"name":"camera_3","offset_m":[0.0042362147354713525,-0.003916433276627634,0.007107992569345387]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016505470665643803,-0.0016732129648823575,0.0012494217259779584],"end_effector_yaw_offset_degrees":-0.5724348153920944},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001454200554972636,0.0015428430388704645,0.0014315802168355886],"end_effector_yaw_offset_degrees":-0.6838591563200729},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001780064922426655,-0.0019062038673392978,0.0010960039326981998],"end_effector_yaw_offset_degrees":-0.8732879761254486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000175358043345771,-0.0033972578854935855],"position_m":[0.3131753580433458,-0.11969725788549358,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002441888471203718,0.0013843222331816184],"position_m":[0.3078581115287963,0.09248432223318162,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001762246437640354,0.004714463905025021],"position_m":[0.35686224643764036,0.301414463905025,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003713518677848429,-0.0009831689666769828],"position_m":[0.24437135186778483,-0.352783168966677,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"930f32fcf4c0bffa8844831cbdde82289838f27a5a86c46500549f0ed12dbf2b","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_459/tex_ceiling_textures_6414/tex_floor_textures_9514/tex_table_textures_3218/tex_wall_textures_4969","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8793931404851642237,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8793931404851642237,"visual_seed":8793931404851642237,"scene_id":"lab_003","finished_at":"2026-09-02T23:59:13"} +{"episode_id":"ep_000020","started_at":"2026-09-02T23:59:18","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.10175201825557478,0.7963205878281965,0.71338606911949],"aabb_xy":[[0.02175201778535885,0.7880098802138483],[0.18175201872579075,0.8046312954425451]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.6363220825895783,1.5576599725413929,0.71338606911949],"aabb_xy":[[0.6117758669668275,1.5274110759923556],[0.660868298212329,1.5879088690904297]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.34252427154508425,-1.2890779899946754,0.71338606911949],"aabb_xy":[[0.3316184954575215,-1.3690779863935045],[0.3534300476326469,-1.2090779935958462]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.12457889706298286,-1.7433965651645185,0.71338606911949],"aabb_xy":[[0.10268914947404206,-1.8333965624537676],[0.14646864465192366,-1.6533965678752693]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.6556916470205891,-2.0754771416401483,0.71338606911949],"aabb_xy":[[0.5980611781333182,-2.1354771405668584],[0.7133221159078599,-2.0154771427134373]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.32226209969767106,1.398550330740881,0.71338606911949],"aabb_xy":[[-0.3336238343509572,1.3871818643345928],[-0.3109003650443849,1.409918797147169]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.31387739877332754,0.36966095853009273,0.71338606911949],"aabb_xy":[[-0.4038773955089377,0.3164774952127982],[-0.22387740203771728,0.42284442184738724]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.1018954225063674,-1.0706918809067592,0.71338606911949],"aabb_xy":[[-0.11436278061610307,-1.0831572055400829],[-0.08942806439663177,-1.0582265562734359]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.4363849525113772,-1.1003847166212042,0.71338606911949],"aabb_xy":[[0.4246167657167198,-1.185384716526426],[0.44815313930603484,-1.0153847167159828]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.4242965306760903,-1.035147581155863,0.71338606911949],"aabb_xy":[[-0.47377695189004915,-1.0991475790687149],[-0.37481610946213156,-0.9711475832430112]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.6197327681966993,-1.7909310497907835,0.71338606911949],"aabb_xy":[[0.597232768382797,-1.7954056661612645],[0.6422327680106018,-1.786456433420303]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.6282837257456599,-2.4208194581557754,0.71338606911949],"aabb_xy":[[-0.6459165613391875,-2.438442404171398],[-0.6106508901521324,-2.403196512140152]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.07722005490938466,1.345099099817642,0.71338606911949],"aabb_xy":[[-0.14722005651166414,1.3316663066159846],[-0.0072200533071051926,1.3585318930192998]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.5652837638351405,-0.182032721957615,0.71338606911949],"aabb_xy":[[-0.6151664607128368,-0.23203272120388976],[-0.5154010669574444,-0.13203272271134026]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.363521582498725,0.8597233321331137,0.71338606911949],"aabb_xy":[[-0.4535215861756431,0.7982909255560092],[-0.2735215788218068,0.9211557387102179]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.5947909850150855,-1.9158047566894252,0.71338606911949],"aabb_xy":[[-0.6251890961142289,-1.9462116586910945],[-0.5643928739159417,-1.8853978546877554]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.2083148352656376,-1.7268194151537286,0.71338606911949],"aabb_xy":[[-0.26831483577349047,-1.7836661488396497],[-0.14831483475778467,-1.669972681467807]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.15988672298276585,-0.9162902085820628,0.71338606911949],"aabb_xy":[[0.14980501590419235,-0.9962902064741773],[0.1699684300613393,-0.836290210689948]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.5232693335958837,-2.421470114390992,0.71338606911949],"aabb_xy":[[-0.5457684693221106,-2.4439701151692548],[-0.5007701978696567,-2.3989701136127293]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.2660201070206923,-2.399831023660204,0.71338606911949],"aabb_xy":[[-0.3300158044157888,-2.4638310219609125],[-0.20202440962559565,-2.335831025359495]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.25278145269813407,-2.0491797886993712,0.71338606911949],"aabb_xy":[[-0.31678145186790396,-2.0959464758183333],[-0.1887814535283641,-2.0024131015804083]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.5614168028960003,-0.6534859400994242,0.71338606911949],"aabb_xy":[[-0.6254168001983466,-0.6978523670672809],[-0.49741680559365375,-0.6091195131315674]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.10984161078787902,0.015619624663801623,0.71338606911949],"aabb_xy":[[-0.18984160775091818,-0.06145601697997183],[-0.029841613824839852,0.09269526630757507]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.5791429438339226,1.6976203456883732,0.71338606911949],"aabb_xy":[[0.5602585600654125,1.6787344209080206],[0.5980273276024329,1.7165062704687262]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.50020465200174,0.5440169157123957,0.71338606911949],"aabb_xy":[[0.4362046527075718,0.48003077534354155],[0.5642046512959082,0.6080030560812499]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.05669819156677347,-2.2820284536961277,0.71338606911949],"aabb_xy":[[0.026706528832903136,-2.3120284530329283],[0.0866898543006438,-2.252028454359327]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[0.6438553072083864,-2.1948175046208447,0.71338606911949],"aabb_xy":[[0.6155255972598461,-2.1992782468145617],[0.6721850171569266,-2.1903567624271276]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[0.5565685600689798,0.07712963729675293,0.71338606911949],"aabb_xy":[[0.5505315470683152,0.07110293622780473],[0.5626055730696446,0.08315633836570113]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900772412905947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8531.png","name":"8531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8531.png","name":"8531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2336.png","name":"2336"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4634.png","name":"4634"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2497.png","name":"2497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/750.png","name":"750"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":809.101126065925,"rotation_z_degrees":66.6747091069818,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006874290763817962,-0.018796010309283354,-0.015462473725233928]},{"name":"camera_2","offset_m":[0.005409575606936178,-0.017409836199570636,0.0016925947549077981]},{"name":"camera_3","offset_m":[-0.003273848296729307,0.00689399809988402,0.0015332623260478767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001558545839364967,-0.0013945020634717063,7.46160626455745e-05],"end_effector_yaw_offset_degrees":-0.13429787852573605},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015555921498856611,-0.001510930861438295,-0.001446187302155923],"end_effector_yaw_offset_degrees":0.17781484456036023},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013621263118287577,0.00010809457688138683,-0.0016938798812356115],"end_effector_yaw_offset_degrees":0.3448322269239552}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004725788475694427,0.004348262681680852],"position_m":[0.31772578847569444,-0.11195173731831914,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004154357296366383,0.004098113998044369],"position_m":[0.3144543572963664,0.09519811399804437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003963844431520555,0.003960043678422697],"position_m":[0.3511361555684795,0.3006600436784227,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004513795873181725,0.002571989406749937],"position_m":[0.24851379587318173,-0.34922801059325004,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac1be6a2ac822cfd01e58c6732bae597224ee8e7fefdec327b11a3592d42167a","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8531/tex_ceiling_textures_750/tex_floor_textures_2497/tex_table_textures_2336/tex_wall_textures_4634","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2929766376748743297,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2929766376748743297,"visual_seed":2929766376748743297,"scene_id":"lab_003","finished_at":"2026-09-03T00:01:56"} +{"episode_id":"ep_000021","started_at":"2026-09-03T00:02:00","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.7000500477698537,1.2488521744037784,0.71338606911949],"aabb_xy":[[0.6868988017985643,1.2238521746470918],[0.713201293741143,1.273852174160465]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.42167847045210505,-0.567567887416867,0.71338606911949],"aabb_xy":[[0.3995059434754541,-0.5897435545729902],[0.4438509974287558,-0.5453922202607439]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.04625884311685968,-1.8249433282706657,0.71338606911949],"aabb_xy":[[0.03302789758217838,-1.838170747292665],[0.05948978865154097,-1.811715909248666]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.3645305752739239,-1.5191746779854405,0.71338606911949],"aabb_xy":[[-0.38203057551897324,-1.5366744658250073],[-0.34703057502887447,-1.5016748901458736]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.022401901342287145,1.1537657686486589,0.71338606911949],"aabb_xy":[[-0.09240190473384911,1.1184499949452276],[0.04759810204927483,1.1890815423520893]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.290385764912866,-0.3739758615987716,0.71338606911949],"aabb_xy":[[-0.38038576164847615,-0.427159324916066],[-0.20038576817725573,-0.320792398281477]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.31450180231920855,-0.6934539021920629,0.71338606911949],"aabb_xy":[[0.2505018020587377,-0.7384627015449909],[0.3785018025796793,-0.6484451028391349]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.29481342827797963,0.7060361021787558,0.71338606911949],"aabb_xy":[[0.23968822264838882,0.6460361007374685],[0.34993863390757035,0.7660361036200428]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.167746526563318,-1.5028147073275335,0.71338606911949],"aabb_xy":[[0.1458567789743772,-1.5928147046167824],[0.1896362741522588,-1.4128147100382842]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.08629362154179965,-2.1864331658411786,0.71338606911949],"aabb_xy":[[0.044989078478063646,-2.2504331654092957],[0.12759816460553564,-2.1224331662730616]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[-0.26469691120833827,1.5944471253931511,0.71338606911949],"aabb_xy":[[-0.27662964557016634,1.5820649725852916],[-0.2527641768465102,1.6068292782010103]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.4801298287837314,-1.4914590319303536,0.71338606911949],"aabb_xy":[[-0.485467404449736,-1.5164590328594933],[-0.4747922531177269,-1.4664590310012138]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[-0.48401641036242804,1.7315349414090835,0.71338606911949],"aabb_xy":[[-0.5215164110270067,1.715847883408861],[-0.44651640969784934,1.7472219994093054]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.6049021107795021,1.7176899203105518,0.71338606911949],"aabb_xy":[[0.5249021137652541,1.6975553686371407],[0.68490210779375,1.7378244719839633]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.14962388006417604,-1.943999505758888,0.71338606911949],"aabb_xy":[[-0.1996231552326122,-1.9939995070348353],[-0.09962460489573988,-1.893999504482941]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.6009078491925942,-0.056109973377530764,0.71338606911949],"aabb_xy":[[-0.638407849484769,-0.06015144877813436],[-0.5634078489004194,-0.05206849797692717]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.4049832975087357,-0.9271034871290857,0.71338606911949],"aabb_xy":[[-0.42248329776807236,-0.9411950293178585],[-0.3874832972493991,-0.9130119449403132]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.5876522963537485,0.6884344252324257,0.71338606911949],"aabb_xy":[[-0.6676522996177616,0.6748743929235124],[-0.5076522930897354,0.701994457541339]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[-0.24724400119293305,1.1154322161018722,0.71338606911949],"aabb_xy":[[-0.25452631756959665,1.0254322124923627],[-0.23996168481626934,1.2054322197113807]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.3441710157736427,1.2309024409473568,0.71338606911949],"aabb_xy":[[-0.351414781819888,1.1509024427437544],[-0.33692724972739735,1.3109024391509592]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.3379448153311231,-1.6607819479151873,0.71338606911949],"aabb_xy":[[0.3154456796048961,-1.6832819486934503],[0.36044395105735005,-1.6382819471369243]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.6069291401955126,0.6856464488485097,0.71338606911949],"aabb_xy":[[0.5990058599567644,0.6631464486105064],[0.614852420434261,0.7081464490865131]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.09571681405325205,1.6567156220671948,0.71338606911949],"aabb_xy":[[0.005716814634881162,1.623340125223005],[0.18571681347162294,1.6900911189113845]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.4524160939184376,-2.345283144480769,0.71338606911949],"aabb_xy":[[0.4029356727044789,-2.4092831423936207],[0.5018965151323964,-2.281283146567917]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.048066323175340986,-0.018335121808245702,0.71338606911949],"aabb_xy":[[-0.07306632310785888,-0.025217790029169018],[-0.023066323242823095,-0.011452453587322386]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.01642589430992314,0.8267875483817928,0.71338606911949],"aabb_xy":[[-0.017014280886096463,0.7933439225508625],[0.04986606950594274,0.8602311742127227]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.17585713090615174,0.8798747330677208,0.71338606911949],"aabb_xy":[[-0.26085712932357497,0.7950004376054358],[-0.09085713248872851,0.9647490285300058]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[0.27402514606099637,-2.053792519331865,0.71338606911949],"aabb_xy":[[0.2570150487709457,-2.0699270078301386],[0.291035243351047,-2.0376580308335908]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[-0.44566552932720993,1.6055454110346754,0.71338606911949],"aabb_xy":[[-0.4761497794542401,1.5555454112531792],[-0.4151812792001798,1.6555454108161711]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.5648731590204251,-1.6334414745964252,0.71338606911949],"aabb_xy":[[-0.5830789826816727,-1.644466875178417],[-0.5466673353591773,-1.6224160740144338]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[-0.09028706762221805,-2.5041208849589944,0.71338606911949],"aabb_xy":[[-0.1288327604474191,-2.542666656015183],[-0.05174137479701702,-2.4655751139028057]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[-0.1517456700415526,-2.25507372302041,0.71338606911949],"aabb_xy":[[-0.23174567147167976,-2.3345908780330196],[-0.07174566861142537,-2.1755565680078006]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_32","position":[-0.5769431274503296,1.1069058172881419,0.71338606911949],"aabb_xy":[[-0.656943126037649,1.0275902153499807],[-0.49694312886301023,1.1862214192263025]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_33","position":[0.33715686123205435,0.5773272059787198,0.71338606911949],"aabb_xy":[[0.29965686112646134,0.5705050441257385],[0.37465686133764725,0.5841493678317008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945644138261933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5331.png","name":"5331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9551.png","name":"9551"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6772.png","name":"6772"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1103.png","name":"1103"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":822.0816403005094,"rotation_z_degrees":210.87491503478734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0064696795565509155,0.01997121969035667,0.0009213642855292262]},{"name":"camera_2","offset_m":[0.01094439046768041,-0.003195025278923732,-0.00409870989211477]},{"name":"camera_3","offset_m":[0.0004643244278370942,-0.014327532444171563,-0.006742529177415904]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001350918150835628,-0.0019314653905231581,-0.0016250065005453402],"end_effector_yaw_offset_degrees":0.9711240401932633},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010851714283285807,0.0012817398194040022,0.0018780691333690315],"end_effector_yaw_offset_degrees":-0.2321741597581466},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003220126938835036,0.0010367782049370698,-0.0005223146480044499],"end_effector_yaw_offset_degrees":0.8088532582619523}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016364206163000695,0.0004213832473696534],"position_m":[0.3146364206163001,-0.11587861675263035,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00031571889148649616,-0.0036992257599892577],"position_m":[0.3099842811085135,0.08740077424001075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008938704138542718,0.004217572975781242],"position_m":[0.3559938704138543,0.30091757297578126,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010595722031082958,-0.0022868746739655066],"position_m":[0.2429404277968917,-0.3540868746739655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b46a06c8facecfc773e69d2d653a34e66e6725c9edf6a94f4ce3b68797463226","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7829/tex_ceiling_textures_1103/tex_floor_textures_6772/tex_table_textures_5331/tex_wall_textures_9551","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5763462485022981833,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5763462485022981833,"visual_seed":5763462485022981833,"scene_id":"lab_003","finished_at":"2026-09-03T00:04:33"} +{"episode_id":"ep_000022","started_at":"2026-09-03T00:04:37","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.15631090933585812,0.19086255861705892,0.71338606911949],"aabb_xy":[[-0.22031090863002634,0.12687641824820475],[-0.0923109100416899,0.2548486989859131]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.619267629995778,1.4099533614867452,0.71338606911949],"aabb_xy":[[0.5692726190363261,1.3599533624511535],[0.6692626409552301,1.459953360522337]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.4889290548350621,-0.8427812474628962,0.71338606911949],"aabb_xy":[[-0.5789290545582362,-0.8658545999980759],[-0.3989290551118879,-0.8197078949277162]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.11168416611489485,-2.0033886818811393,0.71338606911949],"aabb_xy":[[0.09853292014360551,-2.0283886816378263],[0.12483541208618423,-1.9783886821244532]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[-0.39711759957316056,0.7836777855469141,0.71338606911949],"aabb_xy":[[-0.41221990103417855,0.7685762639158522],[-0.38201529811214235,0.7987793071779759]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.6238467639665346,-0.21691878682291632,0.71338606911949],"aabb_xy":[[0.5895304867919167,-0.26691878679609404],[0.6581630411411525,-0.16691878684973857]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.37064197692758816,-2.36602840892784,0.71338606911949],"aabb_xy":[[0.35175759315907795,-2.384914333708193],[0.38952636069609836,-2.3471424841474873]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.05626643941330578,1.401669188481672,0.71338606911949],"aabb_xy":[[0.04433370505147772,1.389287035673813],[0.06819917377513385,1.4140513412895317]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.44199674471634837,1.5907215237502235,0.71338606911949],"aabb_xy":[[-0.5059967454198179,1.544703141277303],[-0.37799674401287914,1.636739906223145]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.449279046401202,0.09311017100893526,0.71338606911949],"aabb_xy":[[-0.4606407810544881,0.08174170460264718],[-0.43791731174791576,0.10447863741522334]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.31734701688811895,1.1329870126566615,0.71338606911949],"aabb_xy":[[0.27984701653989114,1.1211956170755777],[0.35484701723634665,1.1447784082377448]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.007738660771687389,-1.4033248541574732,0.71338606911949],"aabb_xy":[[-0.010130446982768106,-1.417157762134684],[0.025607768526142882,-1.389491946180262]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.30761853492598107,-1.1499947783751194,0.71338606911949],"aabb_xy":[[-0.3451185335016019,-1.1627310740386771],[-0.27011853635036026,-1.1372584827115613]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.10443843901345828,0.974662273584074,0.71338606911949],"aabb_xy":[[0.05443843772961831,0.9246834191934518],[0.15443844029729822,1.0246411279746959]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.28818421458737975,-0.8367663807108607,0.71338606911949],"aabb_xy":[[0.20818421242461727,-0.9167215643370042],[0.36818421675014223,-0.756811197084717]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.5000062347755647,-0.6740750499458035,0.71338606911949],"aabb_xy":[[0.4822127278406484,-0.6918747955416011],[0.5177997417104813,-0.6562753043500058]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.29706699214382376,-2.2030445482708667,0.71338606911949],"aabb_xy":[[-0.362066993100951,-2.2549927602045723],[-0.23206699118669658,-2.151096336337161]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.6465234841320611,0.7268949979419612,0.71338606911949],"aabb_xy":[[0.576523487722099,0.7064570622902793],[0.7165234805420226,0.7473329335936427]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.001046070463001314,0.6892653339299972,0.71338606911949],"aabb_xy":[[-0.06504606963277125,0.6424986468110349],[0.06295392870676862,0.7360320210489598]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.2991865557752109,-1.5512559146281468,0.71338606911949],"aabb_xy":[[0.29314954277454625,-1.5572826156970951],[0.3052235687758757,-1.545229213559199]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.6434949995609026,0.5488442617914902,0.71338606911949],"aabb_xy":[[-0.6647730077043749,0.483844259465417],[-0.6222169914174304,0.6138442641175631]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.2200751183841566,-1.7308348309153685,0.71338606911949],"aabb_xy":[[0.16007511778814043,-1.785647303460592],[0.2800751189801728,-1.676022358370145]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.041931127612083285,-2.5693730329284326,0.71338606911949],"aabb_xy":[[-0.04600928551913302,-2.5734540131766956],[-0.03785296970503354,-2.5652920526801686]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.39245387191512937,1.3769740001320336,0.71338606911949],"aabb_xy":[[0.3424545967466932,1.3269739988560865],[0.44245314708356553,1.4269740014079808]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.11771610635211571,0.02211779044241391,0.71338606911949],"aabb_xy":[[-0.20771610494658568,0.005867204128992887],[-0.027716107757645797,0.03836837675583493]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.1667337147197906,-1.4840992709350147,0.71338606911949],"aabb_xy":[[-0.24673371499339758,-1.5570488187607312],[-0.08673371444618362,-1.4111497231092978]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.5665634796330328,0.5437248090679212,0.71338606911949],"aabb_xy":[[-0.5794353831339728,0.463724808654085],[-0.5536915761320925,0.6237248094817572]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[0.44103871908253467,-1.8736650030992632,0.71338606911949],"aabb_xy":[[0.42393664112416646,-1.8907718086305327],[0.45814079704090277,-1.8565581975679932]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[-0.347029472613983,-0.4566459279226627,0.71338606911949],"aabb_xy":[[-0.3923080874951322,-0.5206459272708464],[-0.30175085773283367,-0.392645928574479]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_29","position":[0.5713261895626514,-2.4023843189944722,0.71338606911949],"aabb_xy":[[0.5136957206753804,-2.462384317921183],[0.6289566584499221,-2.3423843200677616]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[0.6471472013963566,1.6369373678654884,0.71338606911949],"aabb_xy":[[0.6166629512693265,1.5869373680839927],[0.6776314515233868,1.6869373676469845]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_31","position":[-0.3922439559485147,-1.5726861615962795,0.71338606911949],"aabb_xy":[[-0.4097439552266015,-1.5900242616626252],[-0.37474395667042776,-1.5553480615299333]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[-0.04214733232069867,-1.0682120141094886,0.71338606911949],"aabb_xy":[[-0.12586955782078113,-1.1582120176441846],[0.04157489317938379,-0.9782120105747927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935432895020929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2613.png","name":"2613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3192.png","name":"3192"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.0934672854032,"rotation_z_degrees":295.5370529059654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005293819219606873,0.007825636457584682,0.019239076157417333]},{"name":"camera_2","offset_m":[-0.004024431669745504,0.01910657274310684,0.0093783163328225]},{"name":"camera_3","offset_m":[-0.011777387389928099,0.002244308563823596,-0.005265006013153694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005938026068059998,-0.0008577530943776376,-0.0019877740428295757],"end_effector_yaw_offset_degrees":-0.8979611714073725},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00041215234184120535,0.0012424822773835988,-9.48056396465548e-05],"end_effector_yaw_offset_degrees":-0.8658341039007833},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000595968604280757,0.00018102825920863867,-0.0012049511575164392],"end_effector_yaw_offset_degrees":-0.054320618403495224}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004983227900686516,0.00020141323431233787],"position_m":[0.3080167720993135,-0.11609858676568766,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024700223720407768,0.004891777818361185],"position_m":[0.3078299776279592,0.09599177781836118,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003163227644745974,-0.0029524932502006398],"position_m":[0.358263227644746,0.2937475067497994,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026473411046094198,-0.001024264229586863],"position_m":[0.24135265889539056,-0.35282426422958685,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3959a0bc4854d6e3eba1b2f857f977c9f25f74c15dee477d6d9e1e80f9de2d0","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8234/tex_ceiling_textures_3192/tex_floor_textures_5900/tex_table_textures_9003/tex_wall_textures_2613","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2135146082472410424,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2135146082472410424,"visual_seed":2135146082472410424,"scene_id":"lab_003","finished_at":"2026-09-03T00:07:21"} +{"episode_id":"ep_000023","started_at":"2026-09-03T00:07:24","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.11916434916312979,-0.9566516863918848,0.71338606911949],"aabb_xy":[[-0.1410540967520706,-1.046651683681134],[-0.09727460157418899,-0.8666516891026358]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.35977944718553756,-1.586919361393873,0.71338606911949],"aabb_xy":[[0.29977944693413633,-1.6412006864303375],[0.4197794474369387,-1.5326380363574081]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.2373883752326824,1.6236983575834114,0.71338606911949],"aabb_xy":[[0.21959486829776598,1.6058986119876137],[0.25518188216759885,1.641498103179209]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.5883672370129557,-0.7967134461658543,0.71338606911949],"aabb_xy":[[-0.6162122737935628,-0.8274979449041658],[-0.5605222002323486,-0.7659289474275425]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.2561505604014278,-1.746169422126295,0.71338606911949],"aabb_xy":[[0.20633378093659305,-1.7961694206105983],[0.30596733986626257,-1.6961694236419915]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.597265745235672,-2.5591333053303496,0.71338606911949],"aabb_xy":[[-0.6037673817436767,-2.568901127356659],[-0.5907641087276675,-2.5493654833040393]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.052794125480482124,-1.658460249787919,0.71338606911949],"aabb_xy":[[-0.11679412782328367,-1.7034011010320513],[0.01120587686231944,-1.6135193985437863]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.31117062857519917,0.6833763591384869,0.71338606911949],"aabb_xy":[[0.2933015208207437,0.6695434511612761],[0.32903973632965466,0.697209267115698]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.39243184508965134,1.7036902371882516,0.71338606911949],"aabb_xy":[[-0.43743184655588024,1.6586903803267712],[-0.3474318436234225,1.7486900940497325]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[-0.3491436837558365,1.0739892814546765,0.71338606911949],"aabb_xy":[[-0.35642600013250003,0.9839892778451672],[-0.3418613673791727,1.163989285064185]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.28683757388928016,-0.2642308298642497,0.71338606911949],"aabb_xy":[[-0.2917368661958436,-0.29190774916681844],[-0.2819382815827166,-0.2365539105616809]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.07662886906118593,0.9242344473400079,0.71338606911949],"aabb_xy":[[-0.15662269263974415,0.8442344447471664],[0.0033649545173722734,1.0042344499328495]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.4599607551577106,-0.38843679868492975,0.71338606911949],"aabb_xy":[[-0.5099555880856522,-0.4384367975801733],[-0.409965922229769,-0.3384367997896862]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.4565237378365621,0.23332813924863238,0.71338606911949],"aabb_xy":[[0.4383179141753145,0.22230273866664077],[0.47472956149780987,0.24435353983062405]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.3957973954695133,-1.5615562630799367,0.71338606911949],"aabb_xy":[[-0.42208621978995386,-1.5878276967345877],[-0.36950857114907254,-1.5352848294252852]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.41337769135953045,1.3743854661688624,0.71338606911949],"aabb_xy":[[-0.47737769303752775,1.325868074689548],[-0.34937768968153304,1.4229028576481764]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.19086685020382188,-1.244297201310058,0.71338606911949],"aabb_xy":[[-0.28086685388074,-1.3057296078871619],[-0.10086684652690367,-1.1828647947329531]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.04800113596273292,-2.2304178652885964,0.71338606911949],"aabb_xy":[[-0.0019988653211070457,-2.280396719679218],[0.09800113724657288,-2.180439010897974]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.6665270372232557,-0.33486871441787347,0.71338606911949],"aabb_xy":[[0.6290270386476348,-0.3476050100814314],[0.7040270357988764,-0.32213241875431553]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.12846219110492563,0.049872268767193084,0.71338606911949],"aabb_xy":[[-0.19246219148245924,0.00012700191638082003],[-0.06446219072739201,0.09961753561800535]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.5597820636786397,1.0516643389293576,0.71338606911949],"aabb_xy":[[0.5232862430513608,1.0151803965026],[0.5962778843059183,1.0881482813561152]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.6229684555858885,-0.9221906998553957,0.71338606911949],"aabb_xy":[[-0.6615141484110896,-0.9607364709115843],[-0.5844227627606875,-0.8836449287992071]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.4222734590976256,-1.236245895985945,0.71338606911949],"aabb_xy":[[0.41669178746349683,-1.2487458958037205],[0.42785513073175435,-1.2237458961681695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932742050310136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1382.png","name":"1382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1382.png","name":"1382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/17.png","name":"17"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2954.png","name":"2954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3352.png","name":"3352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5303.png","name":"5303"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.7902594239697,"rotation_z_degrees":313.93211677070013,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012753353961886964,-0.014540127176012656,0.016952276838128364]},{"name":"camera_2","offset_m":[0.01459472085406591,0.010172098281028712,-0.00453791731308173]},{"name":"camera_3","offset_m":[0.0024956724764537697,-0.009625408105033349,-0.0008610381901027371]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001004315214386907,-0.0006929966872637238,-0.0013595711401586234],"end_effector_yaw_offset_degrees":-0.49630363391297183},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006839997069102745,0.0014516622722564117,-0.00035444537751793044],"end_effector_yaw_offset_degrees":0.174005489216291},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011840857732391616,0.0016243165978798452,-0.0006064038867791886],"end_effector_yaw_offset_degrees":-0.5434293284707352}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00021415942296877741,-0.0034425643982982914],"position_m":[0.31278584057703124,-0.11974256439829829,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004485915553348068,-0.0031056889136134667],"position_m":[0.305814084446652,0.08799431108638653,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011999305271282188,0.0005835463730871878],"position_m":[0.3562999305271283,0.2972835463730872,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002260619135072276,-0.0026717110162572054],"position_m":[0.24173938086492772,-0.3544717110162572,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b5733ff949d4938b30042a06eaeafd3e7603e2545d0f84f104831b61110a72b","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1382/tex_ceiling_textures_5303/tex_floor_textures_3352/tex_table_textures_17/tex_wall_textures_2954","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8992809520986609007,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8992809520986609007,"visual_seed":8992809520986609007,"scene_id":"lab_003","finished_at":"2026-09-03T00:09:58"} +{"episode_id":"ep_000024","started_at":"2026-09-03T00:10:01","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.4972302924233052,0.6678461718121098,0.71338606911949],"aabb_xy":[[0.44223708108616844,0.6128461714733162],[0.5522235037604419,0.7228461721509034]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.5423115846452642,1.6094676716298495,0.71338606911949],"aabb_xy":[[-0.5574837539268975,1.5942988147016464],[-0.5271394153636308,1.624636528558053]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[0.3707397211682766,1.3747882294333271,0.71338606911949],"aabb_xy":[[0.35382898873193475,1.3613160238407123],[0.3876504536046183,1.3882604350259415]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.6354311574463735,-1.4277272822744203,0.71338606911949],"aabb_xy":[[-0.6905563630759641,-1.4877272837157072],[-0.5803059518167826,-1.3677272808331329]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.27976559976730986,1.368333651583483,0.71338606911949],"aabb_xy":[[0.27165194509393276,1.3602278351294539],[0.28787925444068696,1.376439468037512]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5694820659342232,-0.8387571560404923,0.71338606911949],"aabb_xy":[[-0.6310728251582162,-0.9027571541495392],[-0.5078913067102305,-0.7747571579314454]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.07316042599854577,-0.48218701594482205,0.71338606911949],"aabb_xy":[[-0.10660060119456535,-0.5156306417757521],[-0.03972025080252615,-0.44874339011389197]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.09219196271565,-2.5358594193646598,0.71338606911949],"aabb_xy":[[0.07469196358128283,-2.545739046402247],[0.10969196185001717,-2.5259797923270715]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.5152872056231419,-1.3876617537280054,0.71338606911949],"aabb_xy":[[0.5039254709698555,-1.3990302201342935],[0.5266489402764278,-1.3762932873217173]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.01187687060015763,-0.9612081549517808,0.71338606911949],"aabb_xy":[[-0.06185016460341808,-1.011208155506328],[0.03809642340310282,-0.9112081543972332]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.5263560146270996,-0.24582581193890585,0.71338606911949],"aabb_xy":[[0.5187317465369213,-0.25345903547544957],[0.5339802827172778,-0.23819258840236215]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.16783644127614583,-0.6338979183865505,0.71338606911949],"aabb_xy":[[-0.19616615122468609,-0.6383586605802676],[-0.13950673132760563,-0.6294371761928335]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.46592559609590456,-1.780363198792314,0.71338606911949],"aabb_xy":[[-0.5072301391596405,-1.844363198360431],[-0.4246210530321685,-1.7163631992241968]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.4090660685005878,-2.0171368040581195,0.71338606911949],"aabb_xy":[[-0.48906607175843064,-2.0971333118501034],[-0.32906606524274473,-1.9371402962661355]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.24420672307809388,-1.0939283758205658,0.71338606911949],"aabb_xy":[[-0.2522002128733759,-1.1019265077610416],[-0.23621323328281188,-1.0859302438800904]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[0.5590753522878413,0.15065771959135654,0.71338606911949],"aabb_xy":[[0.5365753517758006,0.1281658612259582],[0.5815753527998818,0.1731495779567549]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.10636725304234196,1.346819495950622,0.71338606911949],"aabb_xy":[[0.04636725319577516,1.2900008737575834],[0.16636725288890875,1.4036381181436608]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.23452775440903512,0.2619014642748061,0.71338606911949],"aabb_xy":[[-0.24245103464778345,0.23940146403680274],[-0.22660447417028678,0.28440146451280945]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.0851591173886822,-1.556365845253715,0.71338606911949],"aabb_xy":[[-0.09220056833942981,-1.5633925969915095],[-0.07811766643793462,-1.5493390935159206]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[-0.6385021650683872,0.013500869539757154,0.71338606911949],"aabb_xy":[[-0.6513740685693272,-0.06649913087407898],[-0.6256302615674469,0.09350086995359329]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.18607927074987496,0.7818060674832554,0.71338606911949],"aabb_xy":[[-0.22357927104204978,0.7777645920826518],[-0.14857927045770014,0.785847542883859]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.23103902701617796,-0.9187772542978243,0.71338606911949],"aabb_xy":[[0.22223697170720524,-0.9265885804527534],[0.23984108232515067,-0.9109659281428952]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.660341215508996,-1.4175428289295613,0.71338606911949],"aabb_xy":[[0.6370593733108647,-1.5025428302267891],[0.6836230577071274,-1.332542827632333]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.3826409733429646,1.2752115242161661,0.71338606911949],"aabb_xy":[[-0.4526409754743941,1.2524495585904702],[-0.312640971211535,1.2979734898418616]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.0574952238050388,-2.3128780064270105,0.71338606911949],"aabb_xy":[[-0.14249522249711344,-2.3448638698218893],[0.027504774887035836,-2.2808921430321316]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.37691651417810523,-2.0843358555901776,0.71338606911949],"aabb_xy":[[0.3689225256004018,-2.092335935685268],[0.38491050275580857,-2.076335775495087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890172192853026,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1901.png","name":"1901"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1901.png","name":"1901"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5345.png","name":"5345"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5096.png","name":"5096"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3929.png","name":"3929"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.5405754026896,"rotation_z_degrees":313.4133623433957,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019088145477091156,0.006278669788250476,-0.014935277459962589]},{"name":"camera_2","offset_m":[0.012954283387811256,-0.014538546073718371,0.0032073551056600695]},{"name":"camera_3","offset_m":[-0.00883493637199487,0.013272917986549036,-0.015239776075253807]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013681208095069012,-0.0012558719908922376,0.0009881890795820306],"end_effector_yaw_offset_degrees":-0.23859277326318118},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002898160102749888,-0.0004523171867118125,0.0016059627290508157],"end_effector_yaw_offset_degrees":0.36196992204253164},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00022812396459692122,-0.001682622679511097,-0.001755882016452739],"end_effector_yaw_offset_degrees":-0.6422381678923241}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024848325703285944,-0.0034585777232252037],"position_m":[0.3105151674296714,-0.1197585777232252,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042891462256598985,0.004129596025915862],"position_m":[0.3145891462256599,0.09522959602591587,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001186347689617838,-0.004336408654163122],"position_m":[0.3539136523103822,0.2923635913458369,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001345557385963958,-0.004717083459616626],"position_m":[0.24265444261403604,-0.35651708345961663,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13294d41d1838c2979c23ca2ad26ad395a344c3d60f67222424e09e9f530e59e","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1901/tex_ceiling_textures_3929/tex_floor_textures_5096/tex_table_textures_3466/tex_wall_textures_5345","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6309603587278293698,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6309603587278293698,"visual_seed":6309603587278293698,"scene_id":"lab_003","finished_at":"2026-09-03T00:12:40"} +{"episode_id":"ep_000025","started_at":"2026-09-03T00:15:47","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.33184810932568576,-2.4756048568626126,0.71338606911949],"aabb_xy":[[0.29684811105556586,-2.4826789845576007],[0.36684810759580566,-2.4685307291676244]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.5539285759398842,1.323646998605939,0.71338606911949],"aabb_xy":[[0.4899328785447875,1.25964700030523],[0.6179242733349807,1.3876469969066474]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.08348976725769497,-0.6452636752717298,0.71338606911949],"aabb_xy":[[-0.12098976775505321,-0.6492323588198481],[-0.045989766760336726,-0.6412949917236113]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.42233311456264816,0.55730360046753,0.71338606911949],"aabb_xy":[[-0.47732536519815916,0.5023035987242173],[-0.3673408639271372,0.6123036022108428]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.559816070506763,-1.4754502693976028,0.71338606911949],"aabb_xy":[[0.5423853554277563,-1.4927223840614534],[0.5772467855857694,-1.4581781547337518]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.2392384136735855,-0.5176977943019914,0.71338606911949],"aabb_xy":[[-0.3192322372521437,-0.5976977968948329],[-0.15924459009502728,-0.4376977917091498]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.06537581748458354,-1.9860291243161994,0.71338606911949],"aabb_xy":[[0.0574525372458352,-2.0085291245542027],[0.07329909772333186,-1.963529124078196]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.15125397393664097,0.45158040190314575,0.71338606911949],"aabb_xy":[[-0.1762539731022741,0.44462815619778917],[-0.12625397477100786,0.4585326476085023]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.44030185333962873,-2.1995940118057824,0.71338606911949],"aabb_xy":[[-0.46276662331103385,-2.222094012684643],[-0.4178370833682236,-2.177094010926922]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.4331243421282718,1.496682111258179,0.71338606911949],"aabb_xy":[[0.41611424483822107,1.480547622759905],[0.4501344394183224,1.5128165997564529]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.10141764798893327,0.9215613224650814,0.71338606911949],"aabb_xy":[[-0.11606105354296625,0.906902602808297],[-0.08677424243490028,0.9362200421218655]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.4383541417496415,0.6775182587367223,0.71338606911949],"aabb_xy":[[0.42125206379127333,0.6604114532054526],[0.45545621970800965,0.6946250642679921]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.4497580739267295,-2.2815324145705134,0.71338606911949],"aabb_xy":[[-0.4835336331174224,-2.2955709097836783],[-0.4159825147360365,-2.2674939193573485]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.2424156754730955,1.5680496981711616,0.71338606911949],"aabb_xy":[[0.2056210423481892,1.5311438230745793],[0.2792103085980018,1.6049555732677439]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[0.21939894318449893,-2.318954353277314,0.71338606911949],"aabb_xy":[[0.2061679976498176,-2.3321817722993123],[0.2326298887191802,-2.3057269342553135]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.07190568676774778,-1.0325144910181774,0.71338606911949],"aabb_xy":[[-0.10940568671151418,-1.040807581053014],[-0.034405686823981374,-1.0242214009833408]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.5720583673423512,-0.17305545754458862,0.71338606911949],"aabb_xy":[[0.5495583675284489,-0.1775300739150693],[0.5945583671562537,-0.16858084117410793]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.3283547142617955,1.2075947614929006,0.71338606911949],"aabb_xy":[[0.24835471729875636,1.1305191198491271],[0.4083547112248347,1.284670403136674]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.4913847670575271,-1.9361502147053156,0.71338606911949],"aabb_xy":[[0.4273847667835488,-1.9862163149026035],[0.5553847673315053,-1.8860841145080276]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.20469733133239187,0.8140299448756401,0.71338606911949],"aabb_xy":[[0.19392435741102412,0.7790299466566011],[0.21547030525375968,0.849029943094679]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.5773449464452889,-2.297313634687807,0.71338606911949],"aabb_xy":[[-0.6051899832258959,-2.328098133426119],[-0.5494999096646817,-2.2665291359494955]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.4019979563995762,0.13354530925374553,0.71338606911949],"aabb_xy":[[-0.49199796007649427,0.07211290267664112],[-0.31199795272265796,0.1949777158308498]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.05492143086371193,-1.8124032559455068,0.71338606911949],"aabb_xy":[[0.028632606543271263,-1.8386746896001578],[0.08121025518415258,-1.7861318222908553]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[-0.5002016440321375,-0.7584803221525636,0.71338606911949],"aabb_xy":[[-0.5372357534601973,-0.7928575294862729],[-0.4631675346040778,-0.724103114818854]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.16852861058481117,-2.4259800931414355,0.71338606911949],"aabb_xy":[[0.09852860898253168,-2.439412886343093],[0.23852861218709065,-2.412547299939778]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.5740743475626844,0.9859573100615537,0.71338606911949],"aabb_xy":[[0.5519018205860333,0.9637816429054303],[0.596246874539335,1.0081329772176766]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[0.2707128972965219,0.5399899165426492,0.71338606911949],"aabb_xy":[[0.2651312256623931,0.5274899167248736],[0.27629456893065063,0.5524899163604245]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[0.5273121435409205,-0.8710033373281352,0.71338606911949],"aabb_xy":[[0.4938719683449007,-0.9044469631590651],[0.5607523187369399,-0.837559711497205]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.48060881485557105,-0.4552435816589857,0.71338606911949],"aabb_xy":[[-0.530601926964763,-0.5052435823331813],[-0.4306157027463793,-0.40524358098479013]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_29","position":[-0.25462301471722465,-1.0232519310346178,0.71338606911949],"aabb_xy":[[-0.2626663746431798,-1.1082519321299842],[-0.24657965479126948,-0.9382519299392513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943051357913115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7745.png","name":"7745"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9472.png","name":"9472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7649.png","name":"7649"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":545.194526497828,"rotation_z_degrees":322.98774165087326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011679563402630905,0.005296653938695873,-0.010115138687513299]},{"name":"camera_2","offset_m":[0.010957213312884496,0.009727194338769233,-0.005853122255413231]},{"name":"camera_3","offset_m":[-0.010019991180356458,0.005462965847853312,-0.016324772188515007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011663166810517741,-0.0019100217320964102,0.0011661976587956824],"end_effector_yaw_offset_degrees":0.4630630585349591},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007276695657679366,0.001036640169100868,-0.0013582093041952072],"end_effector_yaw_offset_degrees":0.7046028837342597},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0007438048273738294,0.0002979749369566211,-0.0015963442372819725],"end_effector_yaw_offset_degrees":-0.5562504517608433}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001622406039775576,-0.0028804353472452085],"position_m":[0.3146224060397756,-0.1191804353472452,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015256485833364986,-0.00376312506659781],"position_m":[0.30877435141666354,0.08733687493340218,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005971675030192148,0.004236310103791554],"position_m":[0.3556971675030192,0.30093631010379157,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003993675136298084,-0.0015443995859403324],"position_m":[0.2400063248637019,-0.3533443995859403,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"400a81bd9c51ff120078db41c2ae9068483ae8a4b746d263462ad02ebdbe8fcb","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_697/tex_ceiling_textures_7649/tex_floor_textures_9472/tex_table_textures_8191/tex_wall_textures_7745","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3580072777568333353,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3580072777568333353,"visual_seed":3580072777568333353,"scene_id":"lab_003","finished_at":"2026-09-03T00:18:28"} +{"episode_id":"ep_000026","started_at":"2026-09-03T00:18:31","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.5703059749849588,-0.07695145976682394,0.71338606911949],"aabb_xy":[[0.5533952425486169,-0.09042366535943845],[0.5872167074213005,-0.0634792541742094]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.5793389351877163,-2.460876818355302,0.71338606911949],"aabb_xy":[[0.5153389331379843,-2.50097130144461],[0.6433389372374483,-2.420782335265994]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.321482308085117,-0.5809440094738703,0.71338606911949],"aabb_xy":[[0.3138580399949388,-0.5885772330104141],[0.32910657617529526,-0.5733107859373267]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.4296899451430832,1.2156645609677081,0.71338606911949],"aabb_xy":[[-0.43502245979769616,1.2103402327224728],[-0.4243574304884702,1.220988889212944]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.2501281263009645,1.0938889986316132,0.71338606911949],"aabb_xy":[[0.16512812760888984,1.0619031352367343],[0.3351281249930391,1.125874862026492]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.10821435782330369,1.1770318684103152,0.71338606911949],"aabb_xy":[[0.10217734482263897,1.1710051673413673],[0.11425137082396843,1.1830585694792635]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.297287513166064,-1.6649744534690283,0.71338606911949],"aabb_xy":[[-0.34228751463229284,-1.7099743103305092],[-0.25228751169983515,-1.6199745966075478]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.14380277512715955,1.4452623571739402,0.71338606911949],"aabb_xy":[[-0.2078027774699611,1.4003215059298075],[-0.07980277278435798,1.4902032084180725]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.09698730104835152,1.1830007897205959,0.71338606911949],"aabb_xy":[[-0.18698730472526964,1.1215683831434913],[-0.006987297371433316,1.2444331962977]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.32095123290768246,-0.43310442649079794,0.71338606911949],"aabb_xy":[[0.3107982173535331,-0.46917396806353817],[0.33110424846183184,-0.3970348849180575]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.5873675690829789,-1.4403753348818986,0.71338606911949],"aabb_xy":[[0.4973675725821071,-1.4862869773003566],[0.6773675655838506,-1.3944636924634402]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.38254254966952606,0.6802379657864459,0.71338606911949],"aabb_xy":[[0.33256948413701065,0.6302379659739131],[0.4325156152020416,0.7302379655989789]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.5967336591827487,-0.0010631840407913096,0.71338606911949],"aabb_xy":[[-0.6021916048197687,-0.08106318734845042],[-0.5912757135457286,0.0789368192668678]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.5470322611282874,1.2382224708816914,0.71338606911949],"aabb_xy":[[-0.6020059831646203,1.1832224713174582],[-0.4920585390919545,1.2932224704459245]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.3038289605739529,-2.110055013289686,0.71338606911949],"aabb_xy":[[0.28866608759701584,-2.1252204705848046],[0.31899183355089,-2.094889555994567]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.18543198168066044,-1.075531139120882,0.71338606911949],"aabb_xy":[[-0.22761639584149118,-1.1395311393980934],[-0.1432475675198297,-1.011531138843671]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.6155334886652042,0.414081568463335,0.71338606911949],"aabb_xy":[[0.5455334922552421,0.3936436328116532],[0.6855334850751656,0.43451950411501666]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.3039749047657031,1.7074830602092441,0.71338606911949],"aabb_xy":[[0.29907561245913955,1.6798061409066751],[0.30887419707226654,1.7351599795118127]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.286947581343505,-1.9939108297311803,0.71338606911949],"aabb_xy":[[-0.29881966435500606,-2.0789108294248306],[-0.27507549833200384,-1.90891083003753]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.6144687011336167,-0.6871825511277689,0.71338606911949],"aabb_xy":[[0.5925600189942656,-0.7090832179478596],[0.6363773832729677,-0.6652818843076781]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.3802991148545838,-1.143212006618911,0.71338606911949],"aabb_xy":[[-0.4146153920292017,-1.1932120065920888],[-0.34598283767996585,-1.0932120066457334]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.4222304141301394,1.459300124905496,0.71338606911949],"aabb_xy":[[0.4106614333832028,1.4343001247885645],[0.43379939487707597,1.484300125022428]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.2739817230492386,-2.2629023003876134,0.71338606911949],"aabb_xy":[[0.2364817223846599,-2.278589358387835],[0.31148172371381727,-2.247215242387391]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.2499537992265537,-1.6948606009991214,0.71338606911949],"aabb_xy":[[0.24511020446532375,-1.6997122534781057],[0.25479739398778367,-1.6900089485201375]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.16012348878238658,-1.342353365775949,0.71338606911949],"aabb_xy":[[-0.21512348840413245,-1.397337058563422],[-0.10512348916064077,-1.2873696729884765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916881872957611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9166.png","name":"9166"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9166.png","name":"9166"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8093.png","name":"8093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2447.png","name":"2447"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3643.png","name":"3643"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.3956792831937,"rotation_z_degrees":337.8338244423243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006944927298648542,-0.013134381814210356,0.009626653060624903]},{"name":"camera_2","offset_m":[-0.003340057659432367,-0.0038099874136211485,-0.006931815541181647]},{"name":"camera_3","offset_m":[0.01943618398288192,-0.012049919599840532,0.003613710753201653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014128328792718413,0.0018689905117576597,0.0005759749330946778],"end_effector_yaw_offset_degrees":-0.5474041548586768},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017743489235945162,0.00145701461491634,0.001398476142805076],"end_effector_yaw_offset_degrees":-0.7245965963755905},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001165840055199682,0.0015427665588616819,-0.000708696215221373],"end_effector_yaw_offset_degrees":0.9027668489966809}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013729809605387312,-0.002521420277708777],"position_m":[0.31437298096053873,-0.11882142027770878,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004853001961856199,-0.0011392221970961815],"position_m":[0.3151530019618562,0.08996077780290382,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009414929367533272,0.0013917528414467304],"position_m":[0.3541585070632467,0.29809175284144673,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024133240525742727,0.003937711249270867],"position_m":[0.24641332405257427,-0.3478622887507291,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8b19a56da089269ad3cafd831de6818ffb7ec41cd587fc39e2de21e66920d9f0","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9166/tex_ceiling_textures_3643/tex_floor_textures_2447/tex_table_textures_8093/tex_wall_textures_8365","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":873695027618239834,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":873695027618239834,"visual_seed":873695027618239834,"scene_id":"lab_003","finished_at":"2026-09-03T00:21:11"} +{"episode_id":"ep_000027","started_at":"2026-09-03T00:21:14","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.5367828928119582,0.8324636919246053,0.71338606911949],"aabb_xy":[[0.5017828945418382,0.8253895642296171],[0.571782891082078,0.8395378196195934]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.02927368334193281,0.8962466764965273,0.71338606911949],"aabb_xy":[[-0.0031880175399946506,0.8661138443816246],[0.061735384223860254,0.9263795086114298]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.4715760711827044,-0.5734789304753307,0.71338606911949],"aabb_xy":[[0.4496673890433534,-0.5953795972954214],[0.4934847533220555,-0.55157826365524]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.24523873475220492,-1.4804055465863948,0.71338606911949],"aabb_xy":[[0.24116057684515516,-1.4844865268346579],[0.24931689265925464,-1.4763245663381313]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.6417312158306354,-1.8733139863667603,0.71338606911949],"aabb_xy":[[0.5617312171737494,-1.8878188452910236],[0.7217312144875214,-1.8588091274424978]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[-0.386562301069257,-1.9298271527327553,0.71338606911949],"aabb_xy":[[-0.41014742453315184,-1.9948271549781873],[-0.36297717760536213,-1.8648271504873237]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.30416758427254775,-1.5628471736975706,0.71338606911949],"aabb_xy":[[0.23416758088098574,-1.5981629474010013],[0.3741675876641097,-1.5275313999941396]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.574738317737923,0.44987451233456843,0.71338606911949],"aabb_xy":[[-0.5821507732793115,0.4440233019129405],[-0.5673258621965346,0.4557257227561964]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.4469416281054319,1.57698840728017,0.71338606911949],"aabb_xy":[[-0.5019371059260913,1.5219884058462632],[-0.3919461502847725,1.631988408714077]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.4502562218599828,1.1869312251448205,0.71338606911949],"aabb_xy":[[-0.5142562191456315,1.1454245061919768],[-0.3862562245743342,1.2284379440976647]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.49092833124614077,-1.0422043636135119,0.71338606911949],"aabb_xy":[[0.45359705472089823,-1.0768574184083641],[0.5282596077713835,-1.0075513088186596]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.11158775049645375,1.5243992665448425,0.71338606911949],"aabb_xy":[[0.10663173031157257,1.501899266342721],[0.11654377068133497,1.5468992667469643]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.14790922953899854,-0.4575182864766969,0.71338606911949],"aabb_xy":[[-0.1520251796510712,-0.4616338415095424],[-0.14379327942692588,-0.4534027314438514]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.5658984739643296,1.394529995673381,0.71338606911949],"aabb_xy":[[-0.6033984746289083,1.3788429376731586],[-0.5283984732997509,1.410217053673603]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.6217220387720226,-2.246913858871538,0.71338606911949],"aabb_xy":[[0.6047119414819719,-2.263048347369812],[0.6387321360620732,-2.230779370373264]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.32830546148114265,-0.6496196981366509,0.71338606911949],"aabb_xy":[[-0.3360086521552197,-0.6573290688353888],[-0.3206022708070656,-0.6419103274379128]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.29427323983489945,-1.0904924464441415,0.71338606911949],"aabb_xy":[[-0.327713415030919,-1.123936072275071],[-0.2608330646388798,-1.057048820613211]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.21702718533098275,-1.8175053220634338,0.71338606911949],"aabb_xy":[[0.15543642610698993,-1.8815053201724807],[0.27861794455497557,-1.753505323954387]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.6907192224379228,1.690639154549864,0.71338606911949],"aabb_xy":[[0.6748347291725977,1.6762862142510397],[0.706603715703248,1.7049920948486879]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.0033933354780987246,-0.9709014848381203,0.71338606911949],"aabb_xy":[[-0.0252559968823175,-0.999547044115196],[0.03204266783851495,-0.9422559255610444]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.4267510269327955,0.8858663501736879,0.71338606911949],"aabb_xy":[[-0.44192319621442877,0.8706974932454845],[-0.4115788576511621,0.9010352071018912]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.5392365466921056,-1.7229649029388774,0.71338606911949],"aabb_xy":[[0.5017365465202336,-1.7556656383217843],[0.5767365468639775,-1.69026416755597]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.411683208376953,-2.146216202318447,0.71338606911949],"aabb_xy":[[-0.475683207546723,-2.1929828894374093],[-0.3476832092071831,-2.0994495151994843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949570009023192,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9450.png","name":"9450"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9450.png","name":"9450"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1459.png","name":"1459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7122.png","name":"7122"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8840.png","name":"8840"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":689.4622489125979,"rotation_z_degrees":73.2981291431689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01606156234398036,-0.005760488089550497,-8.081377881756502e-05]},{"name":"camera_2","offset_m":[-0.018287577577856217,-0.006011583281907705,-0.019120686627816963]},{"name":"camera_3","offset_m":[-0.005747078529215379,0.005346973107618797,0.01799930723205503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.6635163426161685e-06,0.0010535139917721426,-0.0009932574811970696],"end_effector_yaw_offset_degrees":-0.2321936464835861},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011345439601040562,0.0014687398175413182,0.00033683153682499776],"end_effector_yaw_offset_degrees":-0.6216505661102945},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009958575190705306,0.001737557355687072,0.0017174987739685017],"end_effector_yaw_offset_degrees":-0.2796203248996949}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033231199916770532,-0.004738398514069523],"position_m":[0.31632311999167706,-0.12103839851406953,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008996602303916546,-0.004858948975911672],"position_m":[0.30940033976960835,0.08624105102408833,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003344566046061527,-1.389141827727678e-05],"position_m":[0.35844456604606156,0.29668610858172273,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037441238290890364,-0.0027474184125745294],"position_m":[0.24025587617091096,-0.35454741841257453,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07e0d257ff7c7bb842bfe596dbb91a115ad5a4fac23ff58d76d59ddc40588faf","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9450/tex_ceiling_textures_8840/tex_floor_textures_7122/tex_table_textures_7919/tex_wall_textures_1459","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3503396783036901522,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3503396783036901522,"visual_seed":3503396783036901522,"scene_id":"lab_003","finished_at":"2026-09-03T00:23:51"} +{"episode_id":"ep_000028","started_at":"2026-09-03T00:23:54","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.4531244722782436,-1.9873347205292629,0.71338606911949],"aabb_xy":[[-0.5031194832376957,-2.0373347195648552],[-0.4031294613187917,-1.9373347214936718]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.24068618562546923,-0.9877735238687231,0.71338606911949],"aabb_xy":[[-0.28199072868920516,-1.0517735234368402],[-0.1993816425617332,-0.923773524300606]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.3809182913641628,-0.4972252466757072,0.71338606911949],"aabb_xy":[[-0.385874311549044,-0.5197252468778288],[-0.37596227117928166,-0.47472524647358566]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.2767239758263384,1.789746220321962,0.71338606911949],"aabb_xy":[[-0.2827609888270031,1.7837195192530144],[-0.27068696282567367,1.7957729213909106]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.2920272377235471,-1.7657833413788318,0.71338606911949],"aabb_xy":[[0.22702723984189932,-1.8169070050853728],[0.3570272356051949,-1.714659677672291]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.19381504237956437,-0.1640553269382199,0.71338606911949],"aabb_xy":[[-0.23066559031655198,-0.20155532776125362],[-0.15696449444257676,-0.12655532611518616]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.6308005299202475,-0.651166023678929,0.71338606911949],"aabb_xy":[[-0.6908005304281004,-0.7080127573648503],[-0.5708005294123946,-0.5943192899930076]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.5105960959951045,-2.3994019393103256,0.71338606911949],"aabb_xy":[[-0.5409942070942481,-2.4298088413119947],[-0.48019798489596094,-2.3689950373086557]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.528607668110594,-1.718982113416812,0.71338606911949],"aabb_xy":[[0.4486076666804667,-1.7984992684294214],[0.6086076695407211,-1.6394649584042025]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.13396264207867126,0.4743037491358937,0.71338606911949],"aabb_xy":[[-0.1712939186039139,0.43965069434104137],[-0.09663136555342866,0.5089568039307459]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.2991763840844368,-2.0039419202590647,0.71338606911949],"aabb_xy":[[0.2904624150345022,-2.0264419209182525],[0.3078903531343712,-1.9814419195998763]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.26631581342166444,0.3346261704045448,0.71338606911949],"aabb_xy":[[-0.31631581508315915,0.2846277281488421],[-0.21631581176016965,0.3846246126602475]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.26731819666155987,1.2873499317991235,0.71338606911949],"aabb_xy":[[0.212318198459815,1.246827965172686],[0.32231819486330465,1.327871898425561]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.012276682851406484,1.1355633594014476,0.71338606911949],"aabb_xy":[[-0.0622766842122937,1.0855854548260317],[0.037723318509480734,1.185541263976863]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.035921717087789795,-2.3825416516613833,0.71338606911949],"aabb_xy":[[-0.04407828318581718,-2.4554911994870996],[0.11592171736139678,-2.309592103835666]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.20687458354599164,1.200126824443307,0.71338606911949],"aabb_xy":[[-0.25468075115976024,1.135126821736248],[-0.15906841593222296,1.265126827150366]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.6803483019752121,-2.1073310673526353,0.71338606911949],"aabb_xy":[[0.6460513909574714,-2.141627953562576],[0.7146452129929526,-2.0730341811426936]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.07436060153233037,-1.022765212653447,0.71338606911949],"aabb_xy":[[0.010360599482598362,-1.062859695742755],[0.13836060358206237,-0.982670729564139]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.5257593221897934,-0.8762099735292701,0.71338606911949],"aabb_xy":[[-0.5482557436236575,-0.8987099733360175],[-0.5032629007559293,-0.8537099737225227]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.3855114854906192,1.741637263966442,0.71338606911949],"aabb_xy":[[0.3592226611701785,1.7153658303117907],[0.4118003098110598,1.7679086976210932]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.5812204462672281,0.8318601997675135,0.71338606911949],"aabb_xy":[[-0.6162204445779236,0.8241451848439677],[-0.5462204479565327,0.839575214691059]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[0.02291776197947959,1.3119263353071031,0.71338606911949],"aabb_xy":[[-0.04108224123915827,1.2652032234080948],[0.08691776519811745,1.3586494472061115]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.04742737272752673,-0.7524101948029549,0.71338606911949],"aabb_xy":[[0.009927372621933777,-0.759232356655936],[0.08492737283311969,-0.7455880329499738]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.06764982363410876,-1.4704673915352198,0.71338606911949],"aabb_xy":[[0.06133772409777033,-1.4762343307884387],[0.0739619231704472,-1.4647004522820009]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[-0.17437807908674374,-1.9103739288251909,0.71338606911949],"aabb_xy":[[-0.2581003045868262,-2.000373932359887],[-0.09065585358666128,-1.8203739252904947]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.14330242004358174,0.19720639465842016,0.71338606911949],"aabb_xy":[[-0.1512959098388638,0.18920826271794453],[-0.13530893024829974,0.20520452659889585]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.38209450689111923,-2.258518931589942,0.71338606911949],"aabb_xy":[[0.30209450830379975,-2.3378345335281026],[0.4620945054784386,-2.1792033296517808]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964294586666472,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2386.png","name":"2386"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3516.png","name":"3516"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7139.png","name":"7139"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":821.9914148385594,"rotation_z_degrees":159.48046150667665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010384639719115744,-0.010896299608690922,-0.017090453138161345]},{"name":"camera_2","offset_m":[-0.006488824544983918,0.015309023954246315,-0.0012373694564726673]},{"name":"camera_3","offset_m":[-0.0018914986332023397,0.012193321822248106,0.0019661074614494185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015553688622754378,-0.00024397968641415757,0.0007423863859241549],"end_effector_yaw_offset_degrees":-0.3367418657426615},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001259483942238212,0.0018258851793254865,-0.0019618365554545025],"end_effector_yaw_offset_degrees":0.24730250839170065},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00016868929437664597,-0.00028199021187795114,0.0005343553233210668],"end_effector_yaw_offset_degrees":-0.8288718527629235}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004093046365893607,0.002165694637046028],"position_m":[0.3089069536341064,-0.11413430536295398,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004792005626053207,0.0003353285801353549],"position_m":[0.3150920056260532,0.09143532858013535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026709459844705963,0.004825482846771717],"position_m":[0.3577709459844706,0.3015254828467717,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031395124004607424,0.002992899485588442],"position_m":[0.24086048759953926,-0.34880710051441155,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6089b7df5ded63db0f10d7f7a1e8e9effc5cfd4d513b981abf176eb9cc8667cd","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9446/tex_ceiling_textures_7139/tex_floor_textures_3516/tex_table_textures_2590/tex_wall_textures_2386","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2634943380255687891,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2634943380255687891,"visual_seed":2634943380255687891,"scene_id":"lab_003","finished_at":"2026-09-03T00:26:29"} +{"episode_id":"ep_000029","started_at":"2026-09-03T00:26:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.4867077002435767,1.4252472642873273,0.71338606911949],"aabb_xy":[[-0.5079857083870489,1.360247261961254],[-0.46542969210010443,1.4902472666134001]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.35153922793285686,-0.8804372143268004,0.71338606911949],"aabb_xy":[[0.3450375914248523,-0.8902050363531102],[0.35804086444086153,-0.8706693923004907]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.21291726119720433,-1.5452064668509178,0.71338606911949],"aabb_xy":[[-0.2479172611737002,-1.5546710828985344],[-0.17791726122070853,-1.5357418508033012]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.6464520245291872,-1.0816175991179255,0.71338606911949],"aabb_xy":[[0.6214520245966694,-1.088500267338849],[0.6714520244617052,-1.0747349308970024]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.1046492390379482,-0.8431723945264042,0.71338606911949],"aabb_xy":[[-0.11276289371132532,-0.8512782109804332],[-0.09653558436457112,-0.835066578072375]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.6707545780639352,-2.2720162131207897,0.71338606911949],"aabb_xy":[[-0.6777948879974722,-2.3520162125204616],[-0.6637142681303982,-2.1920162137211188]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.2125508601014292,0.6255173160113165,0.71338606911949],"aabb_xy":[[0.1625508591508964,0.593968169007795],[0.262550861051962,0.6570664630148378]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.465329711941855,-1.1513336774103584,0.71338606911949],"aabb_xy":[[-0.4853881235550953,-1.171398764319516],[-0.4452713003286147,-1.1312685905012008]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.47807300003013453,-1.8811691548337537,0.71338606911949],"aabb_xy":[[0.41407299681149673,-1.927892266732762],[0.5420730032487724,-1.8344460429347453]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.4093212129872825,1.404040031004977,0.71338606911949],"aabb_xy":[[0.39685385487754693,1.3915747063716535],[0.42178857109701823,1.4165053556383005]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.25053327866389735,0.4525561338369659,0.71338606911949],"aabb_xy":[[-0.25866096685721063,0.4436425254262583],[-0.2424055904705842,0.4614697422476736]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.6463889973114079,-0.2919078036929843,0.71338606911949],"aabb_xy":[[0.6362359817572583,-0.32797734526572453],[0.656542012865557,-0.25583826212024385]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[-0.4505164820236609,-1.7266814349684567,0.71338606911949],"aabb_xy":[[-0.5205164854152229,-1.7619972086718874],[-0.3805164786320989,-1.6913656612650256]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.12271166149041668,-1.785944932153969,0.71338606911949],"aabb_xy":[[-0.1677042482088671,-1.8309449314284176],[-0.07771907477196625,-1.7409449328795201]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.04366201758575772,1.7813558477423723,0.71338606911949],"aabb_xy":[[-0.10866201574167678,1.75505960319246],[0.02133798057016134,1.8076520922922843]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.6994635768495345,-1.3815316941901343,0.71338606911949],"aabb_xy":[[0.6860170502154911,-1.3950015458432254],[0.7129101034835778,-1.3680618425370432]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.11680492328875991,0.1929318130630957,0.71338606911949],"aabb_xy":[[-0.13348205928185541,0.17623188908916546],[-0.1001277872956644,0.209631737037026]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.16671597881395284,0.879108732870248,0.71338606911949],"aabb_xy":[[0.14482623122501204,0.7891087355809989],[0.18860572640289364,0.9691087301594972]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.23175624790705185,0.6743789098427442,0.71338606911949],"aabb_xy":[[-0.25425624743075925,0.6518829623921233],[-0.20925624838334445,0.6968748572933648]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.21679857656471468,-2.5211115628071514,0.71338606911949],"aabb_xy":[[-0.23390065452308284,-2.538218368338421],[-0.19969649860634653,-2.5040047572758817]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.606259437519739,0.49595845472284017,0.71338606911949],"aabb_xy":[[0.5717969595066511,0.48929477753991735],[0.6407219155328266,0.502622131905763]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.004820040302299211,-1.4362905417186178,0.71338606911949],"aabb_xy":[[-0.04073354472728889,-1.4722040499353721],[0.03109346412269047,-1.400377033501863]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.5240128139463445,-0.7882843250359752,0.71338606911949],"aabb_xy":[[-0.5465128137602469,-0.7927589414064559],[-0.5015128141324421,-0.7838097086654944]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[-0.5749066412822471,-1.347351879800021,0.71338606911949],"aabb_xy":[[-0.6649066449591651,-1.408784286377125],[-0.4849066376053287,-1.2859194732229162]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[0.21766615337287576,-0.9455078757271087,0.71338606911949],"aabb_xy":[[0.1951661533627275,-0.959604095366712],[0.24016615338302408,-0.9314116560875054]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.49921620080540263,-0.5289647271716191,0.71338606911949],"aabb_xy":[[0.44422072298474313,-0.5839647286055261],[0.5542116786260619,-0.4739647257377122]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[0.48733439688901736,0.8869177703711668,0.71338606911949],"aabb_xy":[[0.4754623138775162,0.8019177706775164],[0.4992064799005184,0.971917770064817]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.18192185205052613,-0.19636389394462128,0.71338606911949],"aabb_xy":[[-0.2124061021775563,-0.24636389372611722],[-0.15143760192349598,-0.14636389416312534]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[0.16584130776281203,-1.2099896432564445,0.71338606911949],"aabb_xy":[[0.14292559487776213,-1.2328939403928683],[0.18875702064786196,-1.1870853461200213]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[-0.29233255552976006,-1.2999808431598783,0.71338606911949],"aabb_xy":[[-0.2996148719064236,-1.389980846769387],[-0.2850502391530963,-1.209980839550369]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_30","position":[0.20445455181484506,1.3526714320863493,0.71338606911949],"aabb_xy":[[0.17945455254288276,1.336326068490187],[0.22945455108680732,1.3690167956825117]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_31","position":[-0.5994485588238144,1.3639728695434412,0.71338606911949],"aabb_xy":[[-0.6103543349113771,1.2839728731446118],[-0.5885427827362517,1.4439728659422701]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902880775460715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8524.png","name":"8524"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5778.png","name":"5778"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7316.png","name":"7316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/836.png","name":"836"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":615.8134536763188,"rotation_z_degrees":70.39222933254588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013583722562648549,-0.009597263585087355,0.01791157616892403]},{"name":"camera_2","offset_m":[-0.019630744923942237,0.005669250076318931,0.01386081352710718]},{"name":"camera_3","offset_m":[-0.012719562314180838,0.01663736034497713,-0.014683387658261177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.492228007210673e-06,0.0010743958805588894,0.0012735599083242431],"end_effector_yaw_offset_degrees":0.5579428713658943},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001571894739328992,-0.0018731349232120875,0.0001668274856566291],"end_effector_yaw_offset_degrees":-0.0666149848082882},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.329133629126313e-05,-0.001979707116634199,0.0008868081291217326],"end_effector_yaw_offset_degrees":-0.41047417866231495}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027189725530985154,0.004495324254943238],"position_m":[0.3102810274469015,-0.11180467574505676,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002514530338455958,0.0014689211352055887],"position_m":[0.3077854696615441,0.0925689211352056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004165771489999887,0.004859779385678297],"position_m":[0.3509342285100001,0.3015597793856783,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036228944422474754,-0.0026033605635398947],"position_m":[0.24037710555775252,-0.3544033605635399,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62cfc372a9924bff80240009337f65957db53824081887b6e7b75b3b83fd41f6","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6694/tex_ceiling_textures_836/tex_floor_textures_7316/tex_table_textures_8524/tex_wall_textures_5778","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4065668949988878514,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4065668949988878514,"visual_seed":4065668949988878514,"scene_id":"lab_003","finished_at":"2026-09-03T00:29:07"} +{"episode_id":"ep_000030","started_at":"2026-09-03T00:29:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.3765885033544485,-2.4186426112497372,0.71338606911949],"aabb_xy":[[0.3390885049310481,-2.4318068252175675],[0.4140885017778488,-2.405478397281906]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.563039164663691,0.7365034574591776,0.71338606911949],"aabb_xy":[[0.5130391650873564,0.6865228785070717],[0.6130391642400258,0.7864840364112836]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.42629447174134216,1.1002695134862313,0.71338606911949],"aabb_xy":[[0.37629447079080935,1.0687203664827096],[0.47629447269187497,1.1318186604897524]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.4113425994898914,1.2411001721986836,0.71338606911949],"aabb_xy":[[0.4036394088158143,1.2333908014999453],[0.41904579016396837,1.2488095428974215]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.5824949114758033,-0.1533853521754711,0.71338606911949],"aabb_xy":[[0.5599984900419392,-0.17588535198221855],[0.6049913329096674,-0.13088535236872367]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[0.3883131740071071,0.492874646443886,0.71338606911949],"aabb_xy":[[0.37747269578059217,0.4756883651532372],[0.399153652233622,0.5100609277345348]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.15253765165338062,-0.8522081295380681,0.71338606911949],"aabb_xy":[[-0.18753765084619886,-0.8631751755357308],[-0.11753765246056233,-0.8412410835404055]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.38600400392573425,-2.422230657238972,0.71338606911949],"aabb_xy":[[-0.4660040043959503,-2.4305413648533207],[-0.30600400345551837,-2.413919949624624]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.161350202870308,-0.6390526428935432,0.71338606911949],"aabb_xy":[[0.09735020556796156,-0.6834190698613999],[0.22535020017265436,-0.5946862159256864]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.5210536397560337,0.4546398722040528,0.71338606911949],"aabb_xy":[[0.4860536414859137,0.44756574450906456],[0.5560536380261535,0.4617139998990409]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.11862888089459656,-1.10516024293681,0.71338606911949],"aabb_xy":[[-0.13605959597360304,-1.1224323576006605],[-0.10119816581559003,-1.0878881282729589]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.6974492096689966,-0.7607953918009023,0.71338606911949],"aabb_xy":[[0.6771649069455977,-0.781078016943611],[0.7177335123923952,-0.7405127666581933]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.2646755547055015,-2.024515469505607,0.71338606911949],"aabb_xy":[[0.23123537950948184,-2.0579590953365363],[0.298115729901521,-1.9910718436746762]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.4835821578658096,-0.1963466970783334,0.71338606911949],"aabb_xy":[[-0.48848145017237304,-0.22402361638090215],[-0.47868286555924605,-0.1686697777757646]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.4825250906370433,1.6179995017232733,0.71338606911949],"aabb_xy":[[-0.4905190792147467,1.6099994216281828],[-0.4745311020593399,1.6259995818183635]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.160500524559412,-1.507282605991554,0.71338606911949],"aabb_xy":[[0.15074453505023808,-1.5170451400507883],[0.17025651406858586,-1.4975200719323194]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.591999385668944,-0.9910556014741085,0.71338606911949],"aabb_xy":[[-0.60336112032223,-1.0024240678803966],[-0.5806376510156577,-0.9796871350678205]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.2474804606877049,0.6596569595970379,0.71338606911949],"aabb_xy":[[0.21699621056067475,0.6096569598155419],[0.27796471081473506,0.7096569593785338]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.09988753181497145,1.475303553342704,0.71338606911949],"aabb_xy":[[-0.1798875320885784,1.4023540055169872],[-0.019887531541364464,1.5482531011684206]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.5934822837929683,-1.674018493218436,0.71338606911949],"aabb_xy":[[0.5294822830894992,-1.7200368756913575],[0.6574822844964379,-1.6280001107455155]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[-0.502655868623369,0.12836227846721338,0.71338606911949],"aabb_xy":[[-0.5251558684372715,0.12388766209673269],[-0.4801558688094667,0.13283689483769406]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.5853246437627069,0.08026833996229144,0.71338606911949],"aabb_xy":[[0.5812464858556572,0.07618735971402812],[0.5894028016697566,0.08434932021055475]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.03799032084437581,-0.3208504821445408,0.71338606911949],"aabb_xy":[[-0.0739038252693655,-0.35676399036129536],[-0.002076816419386132,-0.28493697392778616]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.34523356946652634,-1.3497403526614942,0.71338606911949],"aabb_xy":[[-0.35465104403638903,-1.3591565297992132],[-0.33581609489666353,-1.3403241755237751]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[-0.5306957265366671,-0.053470703162394884,0.71338606911949],"aabb_xy":[[-0.5348116766487396,-0.057586258195240374],[-0.5265797764245943,-0.04935514812954938]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[-0.5217003563637507,0.9712850812868679,0.71338606911949],"aabb_xy":[[-0.5793308252510214,0.9112850823601572],[-0.4640698874764797,1.0312850802135785]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.2280807588723739,-1.3243358506565939,0.71338606911949],"aabb_xy":[[0.2148498133376926,-1.3375632696785933],[0.24131170440705518,-1.3111084316345945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693998475936071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9211.png","name":"9211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7397.png","name":"7397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/291.png","name":"291"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.7932972167152,"rotation_z_degrees":91.90327255563626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018051067034764258,-0.0052528687064511866,-0.008486180362813714]},{"name":"camera_2","offset_m":[0.005361639992591351,-0.019549476556792837,0.007642513239721628]},{"name":"camera_3","offset_m":[-0.001415869966056884,0.012613627996482,-0.014319465902821637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017107398923141303,-0.0003763132833574398,-0.000723527804831218],"end_effector_yaw_offset_degrees":-0.09289206663568894},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016104949475476138,0.0008247335641882372,-0.0007309408194807606],"end_effector_yaw_offset_degrees":-0.14152468446663957},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009104201934188021,9.084156779884823e-05,-0.00016227845130609717],"end_effector_yaw_offset_degrees":0.9466569093221533}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027479782516803067,0.0031443353367123046],"position_m":[0.31574797825168033,-0.11315566466328769,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013601884264175653,-0.0022930390998914508],"position_m":[0.3116601884264176,0.08880696090010855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012161686243021474,0.0022346552042383757],"position_m":[0.35631616862430215,0.2989346552042384,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016871317252225662,-0.00409615719354533],"position_m":[0.24231286827477744,-0.35589615719354534,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"87a16324a0c371a4cbadc1328f9567cfe73c2572400903dfb8e13fc268c76e83","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2952/tex_ceiling_textures_291/tex_floor_textures_7397/tex_table_textures_4570/tex_wall_textures_9211","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6329909553246086693,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6329909553246086693,"visual_seed":6329909553246086693,"scene_id":"lab_003","finished_at":"2026-09-03T00:31:51"} +{"episode_id":"ep_000031","started_at":"2026-09-03T00:34:52","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.10400986670407308,-2.420494333329943,0.71338606911949],"aabb_xy":[[-0.19400986612244397,-2.453869830174132],[-0.014009867285702193,-2.3871188364857527]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.509176336902943,-2.0655930579583366,0.71338606911949],"aabb_xy":[[0.4451763336132349,-2.1089279769622538],[0.5731763401926511,-2.0222581389544185]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.1254739645062758,0.9100944392924117,0.71338606911949],"aabb_xy":[[-0.13251427443981278,0.8300944398927405],[-0.1184336545727388,0.9900944386920832]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.5081068708295282,-0.3907166572344454,0.71338606911949],"aabb_xy":[[0.4856068708193799,-0.4048128768740486],[0.5306068708396765,-0.37662043759484204]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.5290411916920403,0.562415586234851,0.71338606911949],"aabb_xy":[[0.5184737120339413,0.5518705561218424],[0.5396086713501393,0.5729606163478596]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.5434370933129868,-1.465364992352352,0.71338606911949],"aabb_xy":[[-0.6074370956557883,-1.5103058435964845],[-0.4794370909701852,-1.4204241411082195]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.43942209166606117,1.4075284539777577,0.71338606911949],"aabb_xy":[[0.37442209351014216,1.3812322094278455],[0.5044220898219802,1.43382469852767]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.5139934872913048,0.927764951680873,0.71338606911949],"aabb_xy":[[0.45399348564838293,0.8757648023889288],[0.5739934889342266,0.9797651009728172]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.34560707587181727,-2.4707691047862346,0.71338606911949],"aabb_xy":[[-0.40060707549356306,-2.5257527975737073],[-0.29060707625007137,-2.415785411998762]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.523895381562393,-0.5143754381710486,0.71338606911949],"aabb_xy":[[-0.5878953788480417,-0.5558821571238927],[-0.45989538427674437,-0.4728687192182047]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.3384722202343491,-0.39672084885524805,0.71338606911949],"aabb_xy":[[-0.3609369902057542,-0.41922084973410856],[-0.31600745026294397,-0.37422084797638755]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.4643439844751214,-1.746047359041702,0.71338606911949],"aabb_xy":[[0.4143491515471798,-1.7960473579369458],[0.514338817403063,-1.6960473601464587]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.47941816166418516,1.2357298476289844,0.71338606911949],"aabb_xy":[[-0.5394181615107521,1.1789112254359457],[-0.41941816181761843,1.292548469822023]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.5762670389711264,1.172709233730778,0.71338606911949],"aabb_xy":[[0.5122670396769582,1.1087230933619237],[0.6402670382652946,1.236695374099632]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.47505518866576457,-1.7426329413631663,0.71338606911949],"aabb_xy":[[-0.5120892980938242,-1.7770101486968755],[-0.4380210792377047,-1.7082557340294566]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.05819667264013595,-1.6375792961281952,0.71338606911949],"aabb_xy":[[-0.005803327633842281,-1.6876453963254832],[0.12219667291411418,-1.5875131959309072]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.07725876020416711,-2.2666722340332663,0.71338606911949],"aabb_xy":[[0.041345255779177414,-2.3025857422500215],[0.11317226462915678,-2.230758725816512]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.2325254446022219,0.790975173815466,0.71338606911949],"aabb_xy":[[-0.28252544417855663,0.7409945948633603],[-0.1825254450258872,0.8409557527675722]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.6573985179087988,-1.0378978025641843,0.71338606911949],"aabb_xy":[[-0.6948985184061571,-1.0418664861123026],[-0.6198985174114406,-1.033929119016066]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.6725802275987571,-0.04177367670427934,0.71338606911949],"aabb_xy":[[0.6225802263149172,-0.09175253109490145],[0.7225802288825971,0.00820517768634276]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[0.0015791192759088135,-1.0959648225018779,0.71338606911949],"aabb_xy":[[-0.007118843014806477,-1.1080897968093528],[0.010277081566624104,-1.0838398481944034]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.03160750638285792,-0.8335254714106466,0.71338606911949],"aabb_xy":[[-0.04839249227402809,-0.8480303303349094],[0.11160750503974393,-0.8190206124863838]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.13597535247946235,-1.1891922017752738,0.71338606911949],"aabb_xy":[[-0.19360582136673313,-1.2491922007019842],[-0.07834488359219145,-1.129192202848563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903288576637434,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1483.png","name":"1483"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1483.png","name":"1483"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4331.png","name":"4331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2470.png","name":"2470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5161.png","name":"5161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9273.png","name":"9273"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":503.8771710490756,"rotation_z_degrees":282.92747391411893,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013286790346238146,-0.005466653734465306,-0.01726091240488973]},{"name":"camera_2","offset_m":[0.008479642089136066,0.015076938738367487,0.001343484084346834]},{"name":"camera_3","offset_m":[-0.019961362968469933,-0.009775349007979304,-0.001591662833446996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019136090134780556,0.00012195754216975593,-0.0018873377716299316],"end_effector_yaw_offset_degrees":0.9681299531003316},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001469239502098249,-0.0014478604796158462,0.0010476981408489064],"end_effector_yaw_offset_degrees":0.45937327894955304},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0013291087549551252,0.0012256681488892738,0.0001316642259689216],"end_effector_yaw_offset_degrees":0.6595104281006887}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022229996872945245,0.0024590229812979257],"position_m":[0.3107770003127055,-0.11384097701870208,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015013690651824972,0.0009164395810690815],"position_m":[0.3118013690651825,0.09201643958106909,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007436135429861645,-0.0021952954256347457],"position_m":[0.35435638645701384,0.2945047045743653,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003001991913109785,0.0006538923948891506],"position_m":[0.2409980080868902,-0.35114610760511084,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe7122744c9d70043ca9e62964f101ef75d878ed5fc6321169777e6505225abe","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1483/tex_ceiling_textures_9273/tex_floor_textures_5161/tex_table_textures_4331/tex_wall_textures_2470","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5592244534810512133,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5592244534810512133,"visual_seed":5592244534810512133,"scene_id":"lab_003","finished_at":"2026-09-03T00:37:32"} +{"episode_id":"ep_000032","started_at":"2026-09-03T00:37:35","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.1909284411532316,-1.8166699276331997,0.71338606911949],"aabb_xy":[[0.17342850771924823,-1.8341699275534344],[0.20842837458721497,-1.7991699277129654]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.44277811439770587,-1.5372842920445708,0.71338606911949],"aabb_xy":[[0.3876529087681151,-1.5972842934858578],[0.49790332002729665,-1.4772842906032835]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.4192855058659349,0.46178925240922775,0.71338606911949],"aabb_xy":[[-0.4517472067478623,0.43165642029432505],[-0.38682380498400737,0.49192208452413033]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.39270169743077044,-1.7085767522155668,0.71338606911949],"aabb_xy":[[-0.4210314073793107,-1.7130374944092843],[-0.36437198748223026,-1.7041160100218502]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.3774869650902908,-0.9908331230816914,0.71338606911949],"aabb_xy":[[0.36425601955560943,-1.0040605421036908],[0.390717910624972,-0.9776057040596918]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.18160236335321978,-0.2030846486222342,0.71338606911949],"aabb_xy":[[-0.27160236307639396,-0.226158001157414],[-0.0916023636300456,-0.18001129608705432]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.5809322543744443,-0.38676818858993833,0.71338606911949],"aabb_xy":[[-0.6449322560524416,-0.4352855800692525],[-0.5169322526964469,-0.33825079711062406]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.4131428241957178,-2.1706659627411473,0.71338606911949],"aabb_xy":[[-0.4631216327060337,-2.2206659627468657],[-0.3631640156854019,-2.120665962735428]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.6093530667477152,0.33695823431150984,0.71338606911949],"aabb_xy":[[-0.6893530639072905,0.32541063335369275],[-0.5293530695881399,0.3485058352693268]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.3406322887256926,-1.9613078126799461,0.71338606911949],"aabb_xy":[[-0.3877616677275283,-2.025307813724348],[-0.29350290972385695,-1.8973078116355442]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.07042698002385928,-0.06192588847687963,0.71338606911949],"aabb_xy":[[-0.07576455568986384,-0.08692588940601942],[-0.06508940435785471,-0.03692588754773984]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.5085938503378203,1.033292428074449,0.71338606911949],"aabb_xy":[[-0.5725938507153541,0.9835471612236366],[-0.44459384996028684,1.0830376949252611]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.23625160327866196,-0.6710026254932415,0.71338606911949],"aabb_xy":[[-0.2396922795187192,-0.6748640584676059],[-0.23281092703860484,-0.6671411925188769]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.6265391904992308,0.8421110246210604,0.71338606911949],"aabb_xy":[[0.6221085611443907,0.836662652886378],[0.6309698198540711,0.8475593963557432]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.0004221794998333639,-2.1468679843936336,0.71338606911949],"aabb_xy":[[-0.022074241934030736,-2.169367984200381],[0.022918600933697464,-2.124367984586886]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.25331282266206007,0.34531352479395405,0.71338606911949],"aabb_xy":[[-0.31731281977416576,0.2962811549995435],[-0.18931282554995438,0.3943458945883647]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.224876253376451,-2.229099801449117,0.71338606911949],"aabb_xy":[[-0.2747589502541472,-2.2790998006953918],[-0.17499355649875478,-2.1790998022028423]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.14005241259119716,-1.4665030414895321,0.71338606911949],"aabb_xy":[[0.07605241528885076,-1.5108694684573887],[0.20405240989354356,-1.4221366145216752]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.446084645149484,0.24372115915233694,0.71338606911949],"aabb_xy":[[0.41609298241561365,0.21372115981553644],[0.4760763078833543,0.2737211584891375]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.6155387633670217,-1.3765164769315335,0.71338606911949],"aabb_xy":[[0.5555387628591687,-1.4333632106174545],[0.6755387638748745,-1.319669743245612]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918802482778191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6514.png","name":"6514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":723.6961166239703,"rotation_z_degrees":147.3809642890061,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01250051446536658,-0.016980944407916136,0.004432069324624682]},{"name":"camera_2","offset_m":[0.010976192984713248,-0.006131610004553881,0.006293578236385957]},{"name":"camera_3","offset_m":[0.00950648343803211,-0.009557710366819482,-0.014480458443475609]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016125197151144197,0.0017202983857599972,-0.0011921973647950825],"end_effector_yaw_offset_degrees":0.2761110000719156},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000860905368239284,0.0017553756678494988,0.0006497271058409442],"end_effector_yaw_offset_degrees":0.3206677359803798},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00023597571129870681,-0.0014573846235804203,0.0009363175772543961],"end_effector_yaw_offset_degrees":0.26894946234408224}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021945862270406832,0.002219086445332883],"position_m":[0.31519458622704066,-0.11408091355466712,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032061280502594493,-0.002671453431917984],"position_m":[0.3070938719497406,0.08842854656808202,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011888743971569006,-0.0026583187291003177],"position_m":[0.35628887439715695,0.2940416812708997,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024567112230694955,0.003175753387414641],"position_m":[0.2415432887769305,-0.34862424661258534,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"75b518e6da0eeac41507fc0371b29124c4336ad88b42a3a49ee29c3c7bac0ead","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1884/tex_ceiling_textures_9679/tex_floor_textures_6514/tex_table_textures_7326/tex_wall_textures_5271","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4388666012357961521,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4388666012357961521,"visual_seed":4388666012357961521,"scene_id":"lab_003","finished_at":"2026-09-03T00:40:24"} +{"episode_id":"ep_000033","started_at":"2026-09-03T00:40:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.22425969933156642,-2.4793107912768075,0.71338606911949],"aabb_xy":[[0.19925969939904853,-2.4861934594977306],[0.2492596992640843,-2.4724281230558844]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.014950194033582664,1.547323849249444,0.71338606911949],"aabb_xy":[[-0.008331648164548676,1.4623238479522156],[0.038232036231714,1.6323238505466717]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.25408984068408924,-2.03626103917588,0.71338606911949],"aabb_xy":[[0.23658984140600237,-2.053599139242226],[0.2715898399621761,-2.018922939109534]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.39299752254843345,1.4729910305942027,0.71338606911949],"aabb_xy":[[-0.3994991590564381,1.463223208567893],[-0.3864958860404289,1.4827588526205124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.09977483735386905,-1.4645954631082712,0.71338606911949],"aabb_xy":[[0.029774835545123612,-1.4859492318724585],[0.1697748391626145,-1.4432416943440838]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.4039890889130201,-0.4839464175517305,0.71338606911949],"aabb_xy":[[-0.44523789994293483,-0.5389464170639477],[-0.36274027788310537,-0.42894641803951294]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.3499282897866883,-0.9017429600267588,0.71338606911949],"aabb_xy":[[-0.4099282902945412,-0.9585896937126801],[-0.28992828927883535,-0.8448962263408375]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.5551796333607242,-0.6154615019572356,0.71338606911949],"aabb_xy":[[0.551738957120667,-0.6193229349316001],[0.5586203096007814,-0.6116000689828711]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.6565959520034423,-1.9438068602040253,0.71338606911949],"aabb_xy":[[0.5915959508974991,-1.9687722332721536],[0.7215959531093856,-1.918841487135897]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.489936712979504,0.6533758813923756,0.71338606911949],"aabb_xy":[[-0.5539367132534821,0.6033097811950875],[-0.42593671270552563,0.7034419815896634]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.15069607175505095,1.4223234398579794,0.71338606911949],"aabb_xy":[[-0.16226505250198753,1.3973234397410477],[-0.13912709100811438,1.447323439974911]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.4412568405653854,1.3179009144499747,0.71338606911949],"aabb_xy":[[-0.5012568422083072,1.2659007651580305],[-0.3812568389224636,1.369901063741919]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.2067424684906155,-0.17416186861412086,0.71338606911949],"aabb_xy":[[-0.21283709637873385,-0.18273126316578958],[-0.2006478406024972,-0.16559247406245214]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.4146302471940846,0.4540279535703333,0.71338606911949],"aabb_xy":[[0.37713024600929174,0.4496097308742728],[0.45213024837887733,0.45844617626639383]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.18779622266110518,-2.11902621000739,0.71338606911949],"aabb_xy":[[0.17029622240176856,-2.133117752196163],[0.20529622292044183,-2.104934667818618]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[-0.38139946498857236,1.6587996306281378,0.71338606911949],"aabb_xy":[[-0.4308798862025311,1.594799632715286],[-0.3319190437746135,1.7227996285409897]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.021374339250498364,-2.134172289967052,0.71338606911949],"aabb_xy":[[-0.028608610936980968,-2.184172289609612],[0.07135728943797769,-2.0841722903244913]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.15224581688493244,-2.0581964908444634,0.71338606911949],"aabb_xy":[[-0.16104787219390515,-2.0660078169993925],[-0.14344376157595973,-2.0503851646895344]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.4137461509168634,-1.5850847011230806,0.71338606911949],"aabb_xy":[[0.37671204148880366,-1.6194619084567898],[0.45078026034492313,-1.550707493789371]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.22616964059987965,1.639628287371559,0.71338606911949],"aabb_xy":[[-0.25116963987184193,1.6232829237753967],[-0.2011696413279174,1.6559736509677214]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.6219963418355741,1.086342176745501,0.71338606911949],"aabb_xy":[[-0.6919963444721604,1.0662373117496355],[-0.5519963391989877,1.1064470417413665]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950027702968776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7553.png","name":"7553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7553.png","name":"7553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5711.png","name":"5711"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9320.png","name":"9320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1244.png","name":"1244"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":788.9809428565478,"rotation_z_degrees":354.5853947430896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004607132424599088,-0.017621199100397406,0.011576300517484133]},{"name":"camera_2","offset_m":[0.01869658031948856,0.006787272086686228,-0.004626520015202718]},{"name":"camera_3","offset_m":[-0.013996080607854275,0.0004055573870429402,-0.008536220437219312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001142602353186506,0.0019384704017759895,0.001033354326774601],"end_effector_yaw_offset_degrees":-0.4593098699756033},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009824171529679892,-0.0008529237866187667,-0.0015730255984400356],"end_effector_yaw_offset_degrees":-0.013799735347224118},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0014421648364667434,0.0008383907476976608,0.000599407574244328],"end_effector_yaw_offset_degrees":0.47396271394363043}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004532253338849111,-0.003180960517480189],"position_m":[0.3175322533388491,-0.1194809605174802,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006188236360325809,-0.003583951408985391],"position_m":[0.3109188236360326,0.08751604859101461,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035371725477296246,-0.0003148746606200714],"position_m":[0.35863717254772964,0.29638512533937994,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018297381689732148,0.0022372190333932],"position_m":[0.24582973816897322,-0.3495627809666068,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bd8c01aff30155c3103e72eff341ec9666c903c8d5124c40afa7177ea8abe223","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7553/tex_ceiling_textures_7925/tex_floor_textures_1244/tex_table_textures_5711/tex_wall_textures_9320","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6554761073546431786,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6554761073546431786,"visual_seed":6554761073546431786,"scene_id":"lab_003","finished_at":"2026-09-03T00:43:05"} +{"episode_id":"ep_000034","started_at":"2026-09-03T00:43:09","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.28909942393520904,0.6505898962862289,0.71338606911949],"aabb_xy":[[0.23409942573346423,0.6100679296597911],[0.3440994221369539,0.6911118629126662]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.4973702268115592,1.4093364436785398,0.71338606911949],"aabb_xy":[[0.4333702295259106,1.3678297247256959],[0.5613702240972078,1.4508431626313838]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.45332523206205555,0.4934791725541148,0.71338606911949],"aabb_xy":[[0.44628378111130795,0.48645242081632023],[0.46036668301280315,0.5005059242919093]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.1529447975837418,-1.7305194491816525,0.71338606911949],"aabb_xy":[[-0.1660960435550312,-1.7555194489383394],[-0.13979355161245247,-1.7055194494249664]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.26092968555815793,-1.8317681907023458,0.71338606911949],"aabb_xy":[[-0.28877472233876506,-1.8625526894406574],[-0.2330846487775508,-1.800983691964034]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.1967430815668716,-0.530769850300397,0.71338606911949],"aabb_xy":[[0.1926271314547989,-0.5348854053332425],[0.20085903167894423,-0.5266542952675514]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[-0.07453660282731545,1.04827605024896,0.71338606911949],"aabb_xy":[[-0.1295288534628264,0.9932760485056475],[-0.019544352191804493,1.103276051992273]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.09374440140383966,-0.3768460058145897,0.71338606911949],"aabb_xy":[[-0.11624353713006665,-0.3993460065928527],[-0.0712452656776127,-0.35434600503632674]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.5974345183589758,-1.1885040772501008,0.71338606911949],"aabb_xy":[[0.5334345212468701,-1.2375364470445112],[0.6614345154710815,-1.13947170745569]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.2647809581148934,1.4389075613184548,0.71338606911949],"aabb_xy":[[-0.32978096075268687,1.3874279626190076],[-0.1997809554770999,1.4903871600179015]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.5346640844049213,0.5755417564723739,0.71338606911949],"aabb_xy":[[-0.5986640847824548,0.5257964896215617],[-0.4706640840273876,0.6252870233231862]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.2861551164098758,-1.6736715247691478,0.71338606911949],"aabb_xy":[[0.21615511999991396,-1.6941094604208293],[0.3561551128198375,-1.6532335891174659]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.10884642470272088,1.2121730119101701,0.71338606911949],"aabb_xy":[[-0.16286202098462088,1.148173009017913],[-0.05483082842082086,1.2761730148024273]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.005274527595530043,-1.1935729659502332,0.71338606911949],"aabb_xy":[[-0.08527452499912345,-1.2735655371484158],[0.07472546980806337,-1.1135803947520502]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[0.2862429102060021,-1.578070970512241,0.71338606911949],"aabb_xy":[[0.278129255532625,-1.58617678696627],[0.2943565648793792,-1.5699651540582118]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.39338557088501025,-0.6624374773874799,0.71338606911949],"aabb_xy":[[0.3837539346645807,-0.6720747901671889],[0.4030172071054399,-0.652800164607771]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.3031103015785828,1.2438864213098721,0.71338606911949],"aabb_xy":[[-0.3406103019268105,1.2320950257287884],[-0.265610301230355,1.2556778168909555]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.44878199694116594,0.08094659592282705,0.71338606911949],"aabb_xy":[[-0.45373801712604717,0.05844659572070543],[-0.4438259767562848,0.10344659612494868]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.22544712082537854,-2.3062081534280363,0.71338606911949],"aabb_xy":[[0.18794712003338307,-2.3125759943862265],[0.262947121617374,-2.299840312469846]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.5312876209415118,1.1427057336651942,0.71338606911949],"aabb_xy":[[0.5088228509701067,1.1202057327863337],[0.553752390912917,1.1652057345440547]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.5750424452669326,-0.7820858606937278,0.71338606911949],"aabb_xy":[[-0.6250253954544118,-0.8320858603362882],[-0.5250594950794532,-0.7320858610511674]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.5242651078960735,-0.18628474821480534,0.71338606911949],"aabb_xy":[[-0.5431494916645837,-0.20517067299515812],[-0.5053807241275633,-0.16739882343445256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968366237747453,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9385.png","name":"9385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9385.png","name":"9385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4500.png","name":"4500"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.8438734068473,"rotation_z_degrees":103.66976340695523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0050380373607994515,0.011802574817627493,-0.015760312196256822]},{"name":"camera_2","offset_m":[0.003362368594867618,-0.005475683632380539,0.017534911827316087]},{"name":"camera_3","offset_m":[0.009110624781765986,0.011424388941542223,0.0054291921560510915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002574086594694263,0.0011923351674532358,-0.001242160517811339],"end_effector_yaw_offset_degrees":0.005972817820929288},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00025349707995182195,-0.0008405105310927085,-0.001047431688710701],"end_effector_yaw_offset_degrees":-0.10783106061661152},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010571925389855487,-0.00036049509212485544,-0.0017905905863598664],"end_effector_yaw_offset_degrees":-0.3528146476811964}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004583398198521839,0.0023239682381565683],"position_m":[0.3175833981985218,-0.11397603176184343,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00437116292807535,-0.002220870842485605],"position_m":[0.31467116292807534,0.08887912915751439,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030881227821051927,0.004897329480593679],"position_m":[0.3581881227821052,0.3015973294805937,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037397963861132144,-0.004015334795748818],"position_m":[0.24026020361388678,-0.35581533479574884,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"62d06308358b5ebf4b4a0b6db01b70afba75522ae6169a3f405fa62a3de73d61","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9385/tex_ceiling_textures_4500/tex_floor_textures_4817/tex_table_textures_9982/tex_wall_textures_3964","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1734762733831546099,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1734762733831546099,"visual_seed":1734762733831546099,"scene_id":"lab_003","finished_at":"2026-09-03T00:45:58"} +{"episode_id":"ep_000035","started_at":"2026-09-03T00:46:01","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.07319608158790536,0.467539354490738,0.71338606911949],"aabb_xy":[[-0.08248969982505593,0.4300393560026041],[-0.06390246335075477,0.5050393529788719]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.4032521516568712,-1.1364249264270019,0.71338606911949],"aabb_xy":[[0.34812694602728045,-1.1964249278682888],[0.458377357286462,-1.0764249249857145]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.18873100687838618,-0.8349844909006436,0.71338606911949],"aabb_xy":[[0.18459515054568598,-0.8724844903450008],[0.19286686321108637,-0.7974844914562867]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.2739901881682583,-2.1489134049010747,0.71338606911949],"aabb_xy":[[-0.3389901867253311,-2.1786659383149574],[-0.20899018961118543,-2.119160871487192]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.27833923226020985,1.262034518669596,0.71338606911949],"aabb_xy":[[0.2604701245057543,1.248201610692385],[0.2962083400146653,1.275867426646807]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.5088793347305605,1.0192752762646298,0.71338606911949],"aabb_xy":[[0.428879336143241,0.9399596743264688],[0.5888793333178798,1.0985908782027904]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.48554220087108413,1.535761935185032,0.71338606911949],"aabb_xy":[[-0.5024529333074258,1.5222897295924174],[-0.4686314684347423,1.5492341407776467]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.5025886632770036,-2.223222873363947,0.71338606911949],"aabb_xy":[[-0.5264248809176086,-2.3132228741724337],[-0.4787524456363985,-2.1332228725554607]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.04381790795093199,-1.4272684695080868,0.71338606911949],"aabb_xy":[[-0.011182091670813854,-1.4822521622955598],[0.09881790757267783,-1.3722847767206143]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.0185347533240362,-0.8272497786726529,0.71338606911949],"aabb_xy":[[-0.07146524341157401,-0.8804332419899473],[0.10853475005964641,-0.7740663153553583]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.3789918200745957,-1.2219820896019504,0.71338606911949],"aabb_xy":[[-0.41013873891817887,-1.2919820882887574],[-0.34784490123101264,-1.151982090915143]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.5727410269026698,1.5649598018019897,0.71338606911949],"aabb_xy":[[0.565458710526006,1.47495979819248],[0.5800233432793334,1.654959805411498]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.539125835090254,-0.1611039965742842,0.71338606911949],"aabb_xy":[[-0.5741258342202097,-0.1668492176499483],[-0.5041258359602984,-0.1553587754986201]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.21573088323845646,1.6746310389511492,0.71338606911949],"aabb_xy":[[0.16573088287789037,1.624651051741546],[0.26573088359902247,1.724611026160752]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.4633985151661142,-0.34752988339895774,0.71338606911949],"aabb_xy":[[0.4537668789456845,-0.3571671961786666],[0.47303015138654375,-0.33789257061924877]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.6312029010956357,-1.2089948341233274,0.71338606911949],"aabb_xy":[[0.6239591350493904,-1.2889948323269296],[0.638446667141881,-1.1289948359197248]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.6543787806963515,-2.2391740216444274,0.71338606911949],"aabb_xy":[[0.6369480656173447,-2.2564461363082775],[0.6718094957753578,-2.2219019069805763]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[-0.16616441872557297,1.4528958760557695,0.71338606911949],"aabb_xy":[[-0.16960509496563014,1.4490344430814053],[-0.1627237424855158,1.4567573090301342]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.20906276866280726,1.7839617823079057,0.71338606911949],"aabb_xy":[[-0.2730627708832143,1.7395886981826174],[-0.1450627664424002,1.828334866433194]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.06194044814171629,1.311942237033604,0.71338606911949],"aabb_xy":[[0.019756033980885546,1.2479422367563928],[0.10412486230254703,1.3759422373108152]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.4820785117607811,-2.571662610719397,0.71338606911949],"aabb_xy":[[0.4595785119468787,-2.5761372270898777],[0.5045785115746835,-2.5671879943489166]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.627290147802468,-1.6739351437796879,0.71338606911949],"aabb_xy":[[-0.634330457736005,-1.7539351431793595],[-0.6202498378689311,-1.5939351443800167]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.3299111587163188,-0.5551539094086246,0.71338606911949],"aabb_xy":[[0.3198294516377453,-0.6351539073007392],[0.33999286579489224,-0.4751539115165099]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[0.05071680266328982,1.0346079340269023,0.71338606911949],"aabb_xy":[[0.030432499939891052,1.0143253088841933],[0.07100110538668856,1.054890559169611]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.07100502942716702,-0.687267390231945,0.71338606911949],"aabb_xy":[[0.06704454565743265,-0.6949352548174655],[0.0749655131969014,-0.6795995256464243]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[-0.06463731733173284,0.7048412158440756,0.71338606911949],"aabb_xy":[[-0.06855119052715535,0.6960922004375187],[-0.0607234441363103,0.7135902312506324]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_26","position":[0.5230913173563634,-1.8654856492817409,0.71338606911949],"aabb_xy":[[0.48454562453116223,-1.9040314203379296],[0.5616370101815643,-1.8269398782255521]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.38413965394763966,-0.04099451814847743,0.71338606911949],"aabb_xy":[[-0.4066396544596802,-0.06348637651387579],[-0.361639653435599,-0.01850265978307908]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[-0.11552865837358317,1.1143149258388423,0.71338606911949],"aabb_xy":[[-0.13541969825392342,1.1016591145541457],[-0.09563761849324294,1.1269707371235393]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[-0.5207111150749412,-1.1780780527119046,0.71338606911949],"aabb_xy":[[-0.526677654015677,-1.1840391973712685],[-0.5147445761342053,-1.1721169080525407]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.5600753368305376,-1.5014354299136528,0.71338606911949],"aabb_xy":[[0.5149040189823687,-1.5654354270581916],[0.6052466546787066,-1.4374354327691146]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_31","position":[-0.19904851163094966,0.11794458179771494,0.71338606911949],"aabb_xy":[[-0.2790485087905249,0.1063969808398979],[-0.11904851447137435,0.12949218275553198]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_32","position":[0.36762457542671556,-0.8563012675509052,0.71338606911949],"aabb_xy":[[0.28762457216270243,-0.8698612998598185],[0.4476245786907287,-0.8427412352419918]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_33","position":[0.400396696415829,-1.945114091263735,0.71338606911949],"aabb_xy":[[0.3875247929148888,-2.0251140916775707],[0.41326859991676906,-1.8651140908498989]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_34","position":[-0.1612095560800889,-0.6063434585698433,0.71338606911949],"aabb_xy":[[-0.17709404934541403,-0.6206963988686673],[-0.14532506281476373,-0.5919905182710192]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950493353440005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1417.png","name":"1417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1417.png","name":"1417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7548.png","name":"7548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9741.png","name":"9741"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1710.png","name":"1710"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":538.1464286929622,"rotation_z_degrees":208.06835699588206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013836926032636396,0.008903529228861458,0.010953250648006091]},{"name":"camera_2","offset_m":[-0.010241744353289008,-0.01927088103406522,0.0070780422420307215]},{"name":"camera_3","offset_m":[-0.012459498485931232,0.008164928221857156,0.016340321863272524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008630699921603239,0.001011405253375871,-0.0004904708000341036],"end_effector_yaw_offset_degrees":-0.07050112054835767},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007330604424508019,-0.00021853012117226686,-0.0009933419951930569],"end_effector_yaw_offset_degrees":0.5103223598080742},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00045973003888839597,0.00041712979354873846,0.0014690426943444407],"end_effector_yaw_offset_degrees":0.07226956031478093}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013082504472877801,0.0016946715197544808],"position_m":[0.3143082504472878,-0.11460532848024552,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003235446358222445,0.004148993374434448],"position_m":[0.31353544635822245,0.09524899337443445,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004335561900535591,-0.001904412395857055],"position_m":[0.3594355619005356,0.294795587604143,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006171345542688843,0.0016610999673019825],"position_m":[0.24461713455426887,-0.35013890003269804,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d45ebe0a6e7c1729b61e66fc97e27607b177921df4d55eddd96d91bd0b0e0d87","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1417/tex_ceiling_textures_1710/tex_floor_textures_9741/tex_table_textures_7548/tex_wall_textures_1266","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4401040550606679244,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4401040550606679244,"visual_seed":4401040550606679244,"scene_id":"lab_003","finished_at":"2026-09-03T00:48:37"} +{"episode_id":"ep_000036","started_at":"2026-09-03T00:48:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.49805465671285093,-1.4147600672275855,0.71338606911949],"aabb_xy":[[-0.5115011833468943,-1.4282299188806769],[-0.4846081300788076,-1.4012902155744942]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.19288374503874828,-1.2011493531661495,0.71338606911949],"aabb_xy":[[-0.2568837443329165,-1.2651354935350037],[-0.12888374574458003,-1.1371632127972953]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.5300030053724136,0.4738840410604328,0.71338606911949],"aabb_xy":[[-0.5525021410986406,0.4513840402821698],[-0.5075038696461867,0.4963840418386957]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.14642486693918133,0.2938668827834934,0.71338606911949],"aabb_xy":[[-0.21642486907061081,0.27110491715779766],[-0.07642486480775174,0.316628848409189]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.0342377873665165,1.7757655063084257,0.71338606911949],"aabb_xy":[[0.01732705493017472,1.7622933007158108],[0.051148519802858276,1.78923771190104]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.5423379547594862,-0.5190215481311662,0.71338606911949],"aabb_xy":[[-0.5923167632698021,-0.569021548136885],[-0.4923591462491703,-0.4690215481254474]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.13071367282014823,-2.2640098764883305,0.71338606911949],"aabb_xy":[[0.1082136723081076,-2.2865017348537284],[0.1532136733321888,-2.2415180181229317]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.40989655142191483,0.4380768425975208,0.71338606911949],"aabb_xy":[[0.36712984454249464,0.37407683917571827],[0.452663258301335,0.5020768460193232]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.6387553150256863,1.4474734345240123,0.71338606911949],"aabb_xy":[[-0.6513821023128825,1.4379273608224392],[-0.6261285277384898,1.457019508225585]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.567018843310741,0.9735815532397227,0.71338606911949],"aabb_xy":[[-0.5711347934228135,0.969465998206877],[-0.5629028931986682,0.9776971082725681]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.5653464448988418,-0.9158128936269001,0.71338606911949],"aabb_xy":[[-0.5749780811192714,-0.925450206406609],[-0.5557148086784122,-0.9061755808471912]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.6323435597854841,-0.028538684896911803,0.71338606911949],"aabb_xy":[[0.601196640941901,-0.09853868358371898],[0.6634904786290672,0.04146131378989537]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.34302280696590737,0.6666445282387663,0.71338606911949],"aabb_xy":[[-0.36190719073441757,0.6477586034584135],[-0.32413842319739716,0.6855304530191191]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.2765392243744792,-1.4501670886646534,0.71338606911949],"aabb_xy":[[0.24153922439798342,-1.45963170471227],[0.3115392243509751,-1.4407024726170368]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[0.24318258950033778,-2.2422204142436524,0.71338606911949],"aabb_xy":[[0.23910443159328804,-2.2463013944919155],[0.24726074740738752,-2.2381394339953893]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[0.3209112151155751,-0.4796523030772506,0.71338606911949],"aabb_xy":[[0.31298793487682675,-0.502152303315254],[0.3288344953543234,-0.45715230283924724]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.3888600753623075,1.0580128188180447,0.71338606911949],"aabb_xy":[[0.3818186244115599,1.0509860670802502],[0.3959015263130551,1.065039570555839]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.4779547918165179,-1.2148202541533821,0.71338606911949],"aabb_xy":[[0.3979609682379597,-1.2948202567462237],[0.5579486153950761,-1.1348202515605406]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.2357185365683378,-1.0435585952969892,0.71338606911949],"aabb_xy":[[-0.31571853983235093,-1.0571186276059024],[-0.15571853330432467,-1.0299985629880757]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.23164173095511165,-1.5801409785370313,0.71338606911949],"aabb_xy":[[0.15164173379553633,-1.5916885794948483],[0.31164172811468693,-1.5685933775792142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873013225887681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/839.png","name":"839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4629.png","name":"4629"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5980.png","name":"5980"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":707.3977932637623,"rotation_z_degrees":11.538105214159353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016669578710296663,0.011385605113486675,0.017035209586964025]},{"name":"camera_2","offset_m":[-0.009176773541073132,0.00844591869971022,0.010162759301786825]},{"name":"camera_3","offset_m":[0.006898298626451305,-0.01296647911852146,-0.005463882665021775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015517377731898642,-0.0003652831835883564,0.0008235565820543999],"end_effector_yaw_offset_degrees":0.33631749923833043},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021911710229241196,-0.0014629567860651948,0.00011665144458235764],"end_effector_yaw_offset_degrees":-0.4199928921506835},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008131107473313076,-0.0006634783133958506,-0.0010547398259670927],"end_effector_yaw_offset_degrees":0.658549568505262}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034039909914753276,0.0013393609966158163],"position_m":[0.3095960090085247,-0.11496063900338419,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007444485378336595,-0.004755258919169133],"position_m":[0.30955555146216635,0.08634474108083087,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003110526302103337,-0.004275327144173639],"position_m":[0.3519894736978967,0.2924246728558264,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009604916738265587,-0.0021149509099306265],"position_m":[0.24303950832617344,-0.35391495090993064,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5185378622b26e1dac7f48c00268438b7415be94a8d6c179168fdfa10e3af9e6","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3711/tex_ceiling_textures_5980/tex_floor_textures_2004/tex_table_textures_839/tex_wall_textures_4629","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1039060103342620933,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1039060103342620933,"visual_seed":1039060103342620933,"scene_id":"lab_003","finished_at":"2026-09-03T00:51:19"} +{"episode_id":"ep_000037","started_at":"2026-09-03T00:51:23","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.6030760826681758,0.18863362093390634,0.71338606911949],"aabb_xy":[[0.5830176710549354,0.1685685340247488],[0.623134494281416,0.20869870784306388]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.10839334395008393,-2.2243995105843046,0.71338606911949],"aabb_xy":[[-0.1633855945855949,-2.279399512327618],[-0.053401093314573,-2.1693995088409923]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.609173530981711,0.6051308036351495,0.71338606911949],"aabb_xy":[[0.51917353156334,0.5717553067909598],[0.6991735304000818,0.6385063004793392]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.04544115782074176,-1.4814151312770754,0.71338606911949],"aabb_xy":[[-0.10944115510639041,-1.5229218502299195],[0.01855883946490689,-1.4399084123242316]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.1450633706967981,-1.4135608978169287,0.71338606911949],"aabb_xy":[[0.13702703599551325,-1.4215990171213453],[0.15309970539808293,-1.4055227785125117]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.1255785417176104,-2.5120574149320998,0.71338606911949],"aabb_xy":[[-0.13438059702658312,-2.5198687410870284],[-0.1167764864086377,-2.5042460887771703]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.5546173858286647,-1.2573304571080581,0.71338606911949],"aabb_xy":[[-0.5722930164172629,-1.2750106733874609],[-0.5369417552400663,-1.2396502408286554]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.5475705872418303,-1.5691897608761096,0.71338606911949],"aabb_xy":[[-0.5510112634818874,-1.5730511938504743],[-0.5441299110017731,-1.5653283279017454]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.22357242707294922,0.5515234685420536,0.71338606911949],"aabb_xy":[[0.2127208208240736,0.5406641778144026],[0.2344240333218248,0.5623827592697046]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.5959491274204561,0.08135277237552652,0.71338606911949],"aabb_xy":[[-0.6263472385195996,0.050945870373857],[-0.5655510163213124,0.11175967437719601]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.3189624070350936,1.4605212749085132,0.71338606911949],"aabb_xy":[[0.27771359600517875,1.4055212753962956],[0.3602112180650082,1.5155212744207305]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.42511140495165134,0.25017625411244593,0.71338606911949],"aabb_xy":[[-0.5051114060247717,0.2403982077750615],[-0.345111403878531,0.25995430044983037]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.4732109955630208,-2.209263040790732,0.71338606911949],"aabb_xy":[[0.4357109950656626,-2.21323172433885],[0.5107109960603791,-2.205294357242613]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.34302458608146913,0.6332576214063241,0.71338606911949],"aabb_xy":[[0.325922508123101,0.6161508158750544],[0.3601266640398373,0.6503644269375939]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.20884654141143455,-1.603236424282186,0.71338606911949],"aabb_xy":[[0.1251243159113521,-1.6932364278168817],[0.292568766911517,-1.5132364207474898]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.41364348678378193,-2.4499832532615406,0.71338606911949],"aabb_xy":[[0.39072777389873214,-2.472887550397964],[0.43655919966883194,-2.427078956125117]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.2473108851131336,-2.314043658417829,0.71338606911949],"aabb_xy":[[0.1923108859365441,-2.369033333192786],[0.3023108842897231,-2.259053983642871]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.48723421834689984,-1.0812899434975811,0.71338606911949],"aabb_xy":[[-0.5522342209846933,-1.132769542197028],[-0.4222342157091064,-1.0298103447981342]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.5098464711501894,-1.8397401844309256,0.71338606911949],"aabb_xy":[[-0.5331283133483207,-1.9247401857281536],[-0.48656462895205804,-1.7547401831336975]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.22584424035080575,1.3860791179626832,0.71338606911949],"aabb_xy":[[-0.29584424195308523,1.3726463247610257],[-0.1558442387485263,1.3995119111643408]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.28847181052832666,0.12449545478262847,0.71338606911949],"aabb_xy":[[-0.34344553256465954,0.0694954552183953],[-0.23349808849199377,0.17949545434686165]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.18298297856799906,1.7050040597968361,0.71338606911949],"aabb_xy":[[-0.24698298048034145,1.649092910538826],[-0.11898297665565677,1.7609152090548468]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[0.7074780935153333,1.5359065390146163,0.71338606911949],"aabb_xy":[[0.6994846037200514,1.5279084070741407],[0.7154715833106154,1.5439046709550919]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[0.3351549647511318,-0.6081001416898253,0.71338606911949],"aabb_xy":[[0.31487066202773295,-0.628382766832534],[0.3554392674745305,-0.5878175165471163]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.677200386985975,0.037208049514666275,0.71338606911949],"aabb_xy":[[-0.6825329016405879,0.03188372126943068],[-0.671867872331362,0.04253237775990188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878450342668868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/629.png","name":"629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7676.png","name":"7676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/171.png","name":"171"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1949.png","name":"1949"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":539.4640912544456,"rotation_z_degrees":94.8956550413069,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002311617450209972,-0.0032579597339281556,0.003687893430159798]},{"name":"camera_2","offset_m":[-0.016234312567242982,0.008788303470558229,-0.012741069192362548]},{"name":"camera_3","offset_m":[-0.019548186405097416,0.018552236411385873,-0.0068840875874427495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00047058744711001195,-0.0013600486010864402,-0.0005804447654982768],"end_effector_yaw_offset_degrees":-0.7260716049355749},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013942053986962404,-0.0015698254012146548,-0.001375754859327857],"end_effector_yaw_offset_degrees":0.9272267937287861},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005536988395521277,0.00046122625270707653,-0.0009295637964288654],"end_effector_yaw_offset_degrees":-0.5406672954629677}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014048827520023468,0.0002146934852640418],"position_m":[0.31159511724799765,-0.11608530651473596,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005518993676023268,-0.0015458355505165331],"position_m":[0.3108518993676023,0.08955416444948347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042551294020415084,-0.0005878177177897062],"position_m":[0.3508448705979585,0.2961121822822103,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00124296428200867,0.0036848047752972854],"position_m":[0.24524296428200867,-0.3481151952247027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d24f401b4d09a8465f731484da5282752150318ecfc0292553f0ec587a323575","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4748/tex_ceiling_textures_1949/tex_floor_textures_171/tex_table_textures_629/tex_wall_textures_7676","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7853626709375426227,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7853626709375426227,"visual_seed":7853626709375426227,"scene_id":"lab_003","finished_at":"2026-09-03T00:54:05"} +{"episode_id":"ep_000038","started_at":"2026-09-03T00:54:10","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.13370246485852733,1.0138113112490137,0.71338606911949],"aabb_xy":[[-0.19770246511899808,0.9688025118960858],[-0.06970246459805647,1.0588201106019417]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.07504878945381199,1.5655558548673763,0.71338606911949],"aabb_xy":[[-0.12504878981437806,1.5155758676577733],[-0.025048789093245937,1.6155358420769792]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.6226964827014353,-1.2004508935379101,0.71338606911949],"aabb_xy":[[-0.6324524722106092,-1.2102134275971446],[-0.6129404931922614,-1.1906883594786757]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.5440755764287915,1.427481453958697,0.71338606911949],"aabb_xy":[[0.46407557499866425,1.3479642989460876],[0.6240755778589187,1.5069986089713066]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.4983769346967464,0.550343976001034,0.71338606911949],"aabb_xy":[[0.4913354837459988,0.5433172242632395],[0.505418385647494,0.5573707277388286]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[0.4479062894128325,-0.34718984384094265,0.71338606911949],"aabb_xy":[[0.43023065882423417,-0.3648700601203454],[0.46558192000143084,-0.3295096275615399]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.5270632921148295,-2.2387186794173246,0.71338606911949],"aabb_xy":[[0.5190269574135447,-2.246756798721741],[0.5350996268161143,-2.230680560112907]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.1872719011591143,-1.9812659685930074,0.71338606911949],"aabb_xy":[[0.12227190260204149,-2.0110185020068903],[0.25227189971618713,-1.9515134351791248]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.2569084765915082,1.629227597081686,0.71338606911949],"aabb_xy":[[0.2509419376507724,1.6232664524223221],[0.26287501553224396,1.6351887417410504]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[-0.5998106926062472,-2.382520175999046,0.71338606911949],"aabb_xy":[[-0.6072231481476357,-2.388371386420674],[-0.5923982370648587,-2.376668965577418]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.23538995239803973,1.329712085819084,0.71338606911949],"aabb_xy":[[-0.25288988583202304,1.3122120858988493],[-0.2178900189640563,1.3472120857393184]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.2551811512456188,-1.4081003260588278,0.71338606911949],"aabb_xy":[[0.17518115265829934,-1.4874159279969885],[0.3351811498329382,-1.3287847241206667]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.6235642840159569,-0.469573706816091,0.71338606911949],"aabb_xy":[[-0.6610642838329904,-0.47421191812723285],[-0.5860642841989233,-0.46493549550494917]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.49954024195635416,-2.102597182786669,0.71338606911949],"aabb_xy":[[0.4095402425379833,-2.1359726796308585],[0.589540241374725,-2.069221685942479]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.4545117844454447,-0.41599800064419323,0.71338606911949],"aabb_xy":[[0.44809797080225977,-0.4224078208918616],[0.46092559808862965,-0.4095881803965249]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.6198555032819425,-0.6820670784737621,0.71338606911949],"aabb_xy":[[-0.6448555025539048,-0.6984124420699245],[-0.5948555040099802,-0.6657217148775998]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.5593067172395745,-1.3513737509598247,0.71338606911949],"aabb_xy":[[0.541806716980238,-1.3654652931485975],[0.5768067174989112,-1.3372822087710523]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.592189111888439,-1.9955951549654363,0.71338606911949],"aabb_xy":[[0.5845648437982608,-2.00322837850198],[0.5998133799786173,-1.9879619314288925]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.4473750640893048,1.2222719335692047,0.71338606911949],"aabb_xy":[[-0.4534120770899696,1.2162452325002568],[-0.44133805108864016,1.228298634638153]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.20462598825146805,0.7010483544678867,0.71338606911949],"aabb_xy":[[0.18574160448295782,0.6821624296875339],[0.22351037201997823,0.7199342792482395]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.07189018356351728,-2.485124089469447,0.71338606911949],"aabb_xy":[[-0.10435188444544473,-2.5152569215843488],[-0.03942848268158982,-2.454991257354543]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.38362202650548843,1.104868575356437,0.71338606911949],"aabb_xy":[[-0.39088327407589585,1.0920815650929276],[-0.376360778935081,1.1176555856199466]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.3787085122069632,-1.7524529619923004,0.71338606911949],"aabb_xy":[[-0.4065535489875703,-1.783237460730612],[-0.35086347542635604,-1.7216684632539887]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.025856178431151178,-0.30334789361996917,0.71338606911949],"aabb_xy":[[-0.04776486057050222,-0.3252485604400599],[-0.003947496291800134,-0.28144722679987844]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.33326366917990646,-2.5023631921358023,0.71338606911949],"aabb_xy":[[0.2732636683190936,-2.5537896221422884],[0.3932636700407192,-2.450936762129315]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.466077030233776,0.7385884762765023,0.71338606911949],"aabb_xy":[[0.45430884343911854,0.6535884763712808],[0.4778452170284336,0.823588476181724]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[0.6170861187674916,0.7610752221582682,0.71338606911949],"aabb_xy":[[0.5979738114095127,0.7419404432810262],[0.6361984261254704,0.7802100010355102]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.11208978924847335,1.2491529388529905,0.71338606911949],"aabb_xy":[[0.07458978890024559,1.237361543271907],[0.1495897895967011,1.260944334434074]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[0.5259517830321545,0.21075414007198434,0.71338606911949],"aabb_xy":[[0.5151788091107867,0.17575414185294536],[0.5367247569535223,0.24575413829102333]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[-0.24305045147446314,-1.5910031903016946,0.71338606911949],"aabb_xy":[[-0.26554687290832724,-1.613503190108442],[-0.220554030040599,-1.5685031904949471]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[0.05785003417040824,-2.222299824640075,0.71338606911949],"aabb_xy":[[0.04776832709183475,-2.302299822532189],[0.0679317412489817,-2.14229982674796]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[-0.2210875506794563,1.7775319001288552,0.71338606911949],"aabb_xy":[[-0.2660875521456852,1.732532043267375],[-0.17608754921322747,1.8225317569903363]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_32","position":[0.48122010122612546,1.1565219045958623,0.71338606911949],"aabb_xy":[[0.43140332176129065,1.106521906111559],[0.5310368806909602,1.2065219030801657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934895670601094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9318.png","name":"9318"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9318.png","name":"9318"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/640.png","name":"640"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6261.png","name":"6261"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2525.png","name":"2525"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":748.5685499635265,"rotation_z_degrees":324.4918767491795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017896560171399244,-0.0018057238710716336,-0.01774482216565827]},{"name":"camera_2","offset_m":[-0.0042103174212240815,-0.009507315043513334,-0.009072152221940053]},{"name":"camera_3","offset_m":[-0.00673108407887049,0.003686434839118017,-0.011366702682993708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011060984887327134,0.0014653541507636723,0.0007566904761639581],"end_effector_yaw_offset_degrees":-0.3285597264051392},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002581172794436496,0.0007218792969569863,0.0002487664421396687],"end_effector_yaw_offset_degrees":0.47303688836974755},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006355020930024339,-0.0011002226690029024,0.0008307461607935372],"end_effector_yaw_offset_degrees":-0.1817299229347873}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032427605766246334,0.0049553937874871655],"position_m":[0.31624276057662465,-0.11134460621251284,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001169109711220283,-0.004160071751320428],"position_m":[0.3114691097112203,0.08693992824867958,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-5.34908819692162e-05,0.003707436073973087],"position_m":[0.3550465091180308,0.30040743607397313,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00461057072360689,0.004078558946032636],"position_m":[0.24861057072360687,-0.34772144105396735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93c50875e1f03f40e15bc9c0b00cd70a6645cf60fe8795d6d3da1ae38aec0439","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9318/tex_ceiling_textures_2525/tex_floor_textures_6261/tex_table_textures_3322/tex_wall_textures_640","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6509198960445478421,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6509198960445478421,"visual_seed":6509198960445478421,"scene_id":"lab_003","finished_at":"2026-09-03T00:56:46"} +{"episode_id":"ep_000039","started_at":"2026-09-03T00:56:49","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[0.2524694345676871,-0.7897897025083838,0.71338606911949],"aabb_xy":[[0.19246943431628588,-0.8440710275448484],[0.31246943481908823,-0.7355083774719191]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.4748335685704552,-2.4147676298676983,0.71338606911949],"aabb_xy":[[0.410833569276287,-2.4787537702365525],[0.5388335678646234,-2.350781489498844]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.008302210976769975,-2.3785701532239636,0.71338606911949],"aabb_xy":[[-0.07169778949344598,-2.386880860838312],[0.08830221144698593,-2.3702594456096153]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.2145146994707549,1.5059850997221917,0.71338606911949],"aabb_xy":[[-0.2645147011322496,1.4559866574664888],[-0.16451469780926012,1.5559835419778942]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[-0.31207088158411755,-1.6744078651140848,0.71338606911949],"aabb_xy":[[-0.3488655147090238,-1.7113137402106668],[-0.2752762484592113,-1.6375019900175023]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.5037258283521288,-2.283576278740675,0.71338606911949],"aabb_xy":[[-0.5262258285956442,-2.295780913400447],[-0.48122582810861336,-2.271371644080903]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.6597356972459638,1.0452777916102605,0.71338606911949],"aabb_xy":[[0.6097527470584843,0.9952777919676999],[0.7097186474334429,1.0952777912528207]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.6225016051744577,0.6554798054091902,0.71338606911949],"aabb_xy":[[-0.6343736881859589,0.5704798057155398],[-0.6106295221629566,0.7404798051028405]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.08758888699242384,-0.5603786435362466,0.71338606911949],"aabb_xy":[[-0.104690964950792,-0.5774854490675162],[-0.07048680903405569,-0.5432718380049767]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.07289710569490426,0.7089806373126786,0.71338606911949],"aabb_xy":[[0.047897106143165766,0.6988381534475437],[0.09789710524664273,0.7191231211778132]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.4148045796728878,-1.5450090988377023,0.71338606911949],"aabb_xy":[[-0.4228308503035138,-1.553760593815055],[-0.4067783090422618,-1.5362576038603497]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.04315984558923691,-1.2423446187065763,0.71338606911949],"aabb_xy":[[-0.020840156753564643,-1.2872854699507086],[0.10715984793203848,-1.1974037674624436]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.49023568465349854,0.47250921480912966,0.71338606911949],"aabb_xy":[[0.4552356854606802,0.461542168811467],[0.5252356838463168,0.48347626080679224]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.2925159412594665,-0.7486716682368975,0.71338606911949],"aabb_xy":[[-0.32751593957016195,-0.7563866831604431],[-0.25751594294877106,-0.7409566533133518]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.31085275721006345,-1.4337681513278566,0.71338606911949],"aabb_xy":[[0.29651833208389994,-1.4458283668823952],[0.32518718233622684,-1.4217079357733176]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.37398620595938553,-0.434289252312122,0.71338606911949],"aabb_xy":[[-0.39589488809873646,-0.45618991913221263],[-0.3520775238200344,-0.41238858549203117]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.1635760324256802,-1.7811339581603076,0.71338606911949],"aabb_xy":[[-0.1727359113695568,-1.787665176203845],[-0.1544161534818036,-1.7746027401167708]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.3965275820174795,-2.2698654795025015,0.71338606911949],"aabb_xy":[[-0.4190240034513436,-2.292365479309249],[-0.3740311605836154,-2.247365479695754]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.14484810623021238,1.6963728863928593,0.71338606911949],"aabb_xy":[[-0.19484311718966443,1.6463728873572678],[-0.09485309527076036,1.7463728854284513]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.041509470468228615,-1.5040588808217512,0.71338606911949],"aabb_xy":[[0.03446916053469162,-1.584058880221423],[0.048549780401765615,-1.42405888142208]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.27595418198530597,0.9973055700669904,0.71338606911949],"aabb_xy":[[0.2059541855753441,0.9768676344153086],[0.34595417839526765,1.017743505718672]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.5607630964077064,-2.528632141335962,0.71338606911949],"aabb_xy":[[-0.6257630973648336,-2.5805803532696676],[-0.4957630954505792,-2.4766839294022565]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.24638036562974608,0.7475051870103289,0.71338606911949],"aabb_xy":[[0.22388036610603868,0.7250092395597081],[0.2688803651534535,0.7700011344609496]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.4964553682855893,-0.02044461906216588,0.71338606911949],"aabb_xy":[[-0.5463380651632854,-0.07044461830844063],[-0.4465726714078931,0.029555380184108866]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.562687043346342,0.25838958735143613,0.71338606911949],"aabb_xy":[[0.5026870427503258,0.2035771148062126],[0.6226870439423582,0.31320205989665956]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.017826798169774616,0.3922739955484582,0.71338606911949],"aabb_xy":[[-0.02790850524834809,0.3122739976563435],[-0.007745091091201136,0.4722739934405728]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.39864134036060994,-1.0223619740689909,0.71338606911949],"aabb_xy":[[-0.4786413389479293,-1.1016775760071518],[-0.31864134177329045,-0.9430463721308301]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[0.5427505391764957,-2.247494831297548,0.71338606911949],"aabb_xy":[[0.5271947697662306,-2.2630452645419554],[0.5583063085867611,-2.231944398053141]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[0.17450805485054055,-2.254460128456504,0.71338606911949],"aabb_xy":[[0.1370080545023128,-2.266251524037587],[0.2120080551987683,-2.24266873287542]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.20351354650816034,1.2104177959396782,0.71338606911949],"aabb_xy":[[0.19088675922096396,1.2008717222381053],[0.21614033379535666,1.2199638696412511]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_30","position":[-0.2903669047939582,1.0367881189868844,0.71338606911949],"aabb_xy":[[-0.3331336116733784,0.9727881155650817],[-0.24760019791453802,1.1007881224086866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892119630908508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3389.png","name":"3389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2492.png","name":"2492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9885.png","name":"9885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4912.png","name":"4912"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.7847886442121,"rotation_z_degrees":214.34083970418652,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000739075783372966,-0.01974871480050196,-0.017687344492251816]},{"name":"camera_2","offset_m":[-0.013778533407293882,-0.0008051092345543777,0.008582744700535817]},{"name":"camera_3","offset_m":[0.005202147878710699,0.007396520852763395,0.01931642416784998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022535792372949267,-0.0005124210783341453,0.0014967854742261506],"end_effector_yaw_offset_degrees":-0.8503596911835212},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000658964230129536,-0.0006529596017587679,0.0006149379442520627],"end_effector_yaw_offset_degrees":-0.5204982413362815},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012427987372530206,-0.0005128701085712244,-0.0007032014264130985],"end_effector_yaw_offset_degrees":0.6414752477379853}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004928938004046014,-0.0017102294707670028],"position_m":[0.30807106199595397,-0.118010229470767,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003640818987569716,-0.004669983181947482],"position_m":[0.3066591810124303,0.08643001681805251,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004412356025340854,0.0028996751770918186],"position_m":[0.3506876439746592,0.29959967517709185,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001232296354083825,-0.004489016287742842],"position_m":[0.24276770364591618,-0.35628901628774284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f357da6de197e7e3e3ee0a40525c525e113cd3444b9102ef0a67ca377902cb20","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8597/tex_ceiling_textures_4912/tex_floor_textures_9885/tex_table_textures_3389/tex_wall_textures_2492","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8024255250365393404,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8024255250365393404,"visual_seed":8024255250365393404,"scene_id":"lab_003","finished_at":"2026-09-03T00:59:25"} +{"episode_id":"ep_000040","started_at":"2026-09-03T00:59:28","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.3392626518231576,-0.769876710732518,0.71338606911949],"aabb_xy":[[0.3057834845621167,-0.803355824103625],[0.37274181908419857,-0.7363975973614111]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.5877718944813308,-0.7456995237898723,0.71338606911949],"aabb_xy":[[0.5784248868990356,-0.7600031460075163],[0.5971189020636261,-0.7313959015722282]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.5138302950451465,-1.7317942893619018,0.71338606911949],"aabb_xy":[[-0.551330295837142,-1.7381621303200916],[-0.4763302942531511,-1.7254264484037112]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.36309620393089515,0.5435667272685532,0.71338606911949],"aabb_xy":[[0.31321350705319895,0.4935667280222785],[0.4129789008085914,0.593566726514828]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.35041245872682236,-1.2290847386981671,0.71338606911949],"aabb_xy":[[-0.38791245715022266,-1.2422489526659977],[-0.31291246030342196,-1.2159205247303366]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.5296472959901232,-1.5630529740337327,0.71338606911949],"aabb_xy":[[-0.6096472939709081,-1.5706545149955844],[-0.44964729800933806,-1.5554514330718805]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.6668183160015274,0.8295653287780542,0.71338606911949],"aabb_xy":[[-0.678586502796185,0.7445653288728327],[-0.65505012920687,0.9145653286832759]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.45854328807599787,1.6433066623955015,0.71338606911949],"aabb_xy":[[-0.5085432890265307,1.6117575153919796],[-0.408543287125465,1.6748558093990225]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.5776449973991297,1.2596203360120999,0.71338606911949],"aabb_xy":[[-0.6144396305240359,1.2227144609155176],[-0.5408503642742234,1.2965262111086822]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.6187774434272162,-0.6351466145436324,0.71338606911949],"aabb_xy":[[0.6044430183010527,-0.6472068300981714],[0.6331118685533796,-0.6230863989890937]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.005632265003276626,-2.1568614033285125,0.71338606911949],"aabb_xy":[[-0.018881359093729233,-2.181125996630549],[0.030145889100282486,-2.132596810026476]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.006161085443176617,-1.7926737538301953,0.71338606911949],"aabb_xy":[[-0.07383891782083651,-1.806233786139109],[0.08616108870718975,-1.7791137215212822]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.4438313129834149,-0.1476453684554766,0.71338606911949],"aabb_xy":[[-0.4517545932221632,-0.17014536869347996],[-0.43590803274466655,-0.12514536821747324]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.22265222008849983,0.7607782006048525,0.71338606911949],"aabb_xy":[[0.15865221786809283,0.7164051164795641],[0.28665222230890686,0.8051512847301406]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.11723123480855624,1.7100596887309352,0.71338606911949],"aabb_xy":[[0.02723123830768449,1.6641480463124767],[0.207231231309428,1.7559713311493932]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.5109852736719549,-0.7476738220000092,0.71338606911949],"aabb_xy":[[0.5029419137459997,-0.8326738230953754],[0.5190286335979101,-0.6626738209046426]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.5810185519886744,1.655471879523748,0.71338606911949],"aabb_xy":[[0.5640084546986237,1.639337391025474],[0.598028649278725,1.671606368022022]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.3143374247976648,-1.8792248110630911,0.71338606911949],"aabb_xy":[[-0.3239690610180944,-1.8888621238428],[-0.3047057885772352,-1.8695874982833822]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.42873228501435884,0.9939888728670834,0.71338606911949],"aabb_xy":[[-0.5087322836016782,0.9146732709289225],[-0.34873228642703935,1.0733044748052443]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.6535486262437764,-0.03233902162085878,0.71338606911949],"aabb_xy":[[0.5835486228522143,-0.06765479532428964],[0.7235486296353383,0.00297675208257208]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.5636892844993331,1.3337884008590364,0.71338606911949],"aabb_xy":[[0.5261892842071583,1.3297469254584329],[0.6011892847915079,1.33782987625964]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.044651853965070876,-0.05134124717793487,0.71338606911949],"aabb_xy":[[-0.05555763005263358,-0.13134124357676402],[-0.033746077877508156,0.028658749220894286]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[0.2032429177229681,-1.1363138115636056,0.71338606911949],"aabb_xy":[[0.11355584141485264,-1.226313811818056],[0.29292999403108355,-1.046313811309155]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.342237561672542,-1.9879977609072639,0.71338606911949],"aabb_xy":[[-0.3523905772266913,-2.024067302480004],[-0.33208454611839255,-1.9519282193345233]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.179169923329914,-1.7555580321426703,0.71338606911949],"aabb_xy":[[0.16400705035297694,-1.7707234894377895],[0.19433279630685113,-1.740392574847552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915454745023624,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7512.png","name":"7512"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7512.png","name":"7512"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3324.png","name":"3324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7872.png","name":"7872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7565.png","name":"7565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":776.5976270139233,"rotation_z_degrees":211.13026310358026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016943070046375637,-0.011187698407511562,0.00875625498035959]},{"name":"camera_2","offset_m":[0.009879156517320457,0.013342713544280387,-0.0037555884389894045]},{"name":"camera_3","offset_m":[0.00385992366645967,-0.005682554577697755,0.0022177321475569736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00111560408035812,-0.0010843354228655343,-0.00024474646993181927],"end_effector_yaw_offset_degrees":-0.0710774921744175},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004944604519842239,0.0017046196465162148,9.048856879888961e-05],"end_effector_yaw_offset_degrees":-0.24133630527668593},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006390397136447818,0.0008219262094555538,-0.001681045479794876],"end_effector_yaw_offset_degrees":0.8529508027604962}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00034330087983145633,0.0048492407041060255],"position_m":[0.3126566991201685,-0.11145075929589397,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00414929109805468,-0.0044055337000983045],"position_m":[0.30615070890194535,0.0866944662999017,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001112321424099476,0.0014182766970735486],"position_m":[0.3539876785759006,0.2981182766970736,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011515156931004634,0.0032598059954308542],"position_m":[0.24284848430689954,-0.34854019400456915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b954fc01f79a7c43d7c9424d3db41f553664399a3a5f14855091c62a92cef862","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7512/tex_ceiling_textures_7935/tex_floor_textures_7565/tex_table_textures_3324/tex_wall_textures_7872","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5725212543168675041,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5725212543168675041,"visual_seed":5725212543168675041,"scene_id":"lab_003","finished_at":"2026-09-03T01:02:04"} +{"episode_id":"ep_000041","started_at":"2026-09-03T01:03:37","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.17742272782277269,1.0501045612534647,0.71338606911949],"aabb_xy":[[-0.23241497845828366,0.9951045595101522],[-0.12243047718726174,1.1051045629967777]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.11337599017343214,-1.2362238114551316,0.71338606911949],"aabb_xy":[[-0.12266960841058272,-1.2737238099432657],[-0.10408237193628156,-1.198723812966998]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.6380508396771234,0.8174397545849734,0.71338606911949],"aabb_xy":[[0.5740508425650177,0.7684073847905628],[0.7020508367892291,0.866472124379384]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[-0.5484130115760697,-1.491453791906474,0.71338606911949],"aabb_xy":[[-0.5983918200863855,-1.5414537919121927],[-0.4984342030657537,-1.441453791900755]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.1255072421914879,-1.8146321927287221,0.71338606911949],"aabb_xy":[[-0.2055072436216151,-1.8941493477413316],[-0.0455072407613607,-1.7351150377161126]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.5503379908063637,1.085527995765231,0.71338606911949],"aabb_xy":[[-0.5862514952313532,1.0496144875484765],[-0.514424486381374,1.1214415039819856]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.06954230159050134,-1.4851940757681137,0.71338606911949],"aabb_xy":[[-0.1592293778986168,-1.5751940760225642],[0.02014477471761411,-1.3951940755136631]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.6071070786394843,-1.7096303226385916,0.71338606911949],"aabb_xy":[[0.5889012549782368,-1.7206557232205832],[0.6253129023007321,-1.6986049220566]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.5149169395025519,-1.4893079934483828,0.71338606911949],"aabb_xy":[[0.5093352678684231,-1.5018079932661583],[0.5204986111366807,-1.4768079936306073]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.4862891250181054,-1.0511766111837209,0.71338606911949],"aabb_xy":[[0.45128912366662366,-1.0715363471405417],[0.5212891263695871,-1.0308168752269]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.043317180904328345,-0.9273597758081196,0.71338606911949],"aabb_xy":[[-0.08011181402923462,-0.9642656509047018],[-0.006522547779422065,-0.8904539007115373]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.3842707694255554,1.6790812516156044,0.71338606911949],"aabb_xy":[[0.36177076990184787,1.6565853041649834],[0.4067707689492627,1.701577199066225]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.4046638285976578,-1.49688019914275,0.71338606911949],"aabb_xy":[[0.3708882694069648,-1.510918694355915],[0.43843938778835073,-1.4828417039295847]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.6776635368899013,1.041136087039967,0.71338606911949],"aabb_xy":[[0.6668119306410257,1.0302767963123158],[0.6885151431387769,1.0519953777676179]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.48542558298886407,-2.498449084718732,0.71338606911949],"aabb_xy":[[0.42042558483294495,-2.524745329268644],[0.5504255811447831,-2.4721528401688198]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.09044381440024984,1.5725163357437437,0.71338606911949],"aabb_xy":[[-0.1279438142172834,1.5678781244326019],[-0.052943814583216287,1.5771545470548856]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.04234805373453254,-2.5217056825074526,0.71338606911949],"aabb_xy":[[0.004848053442357725,-2.5257471579080564],[0.07984805402670736,-2.517664207106849]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.532213006301638,-2.463896800084788,0.71338606911949],"aabb_xy":[[-0.5497129397356213,-2.4813968000050224],[-0.5147130728676546,-2.4463968001645533]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.3962424509155931,-1.7271886444957416,0.71338606911949],"aabb_xy":[[-0.41952429311372447,-1.8121886457929695],[-0.3729606087174618,-1.6421886431985133]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.29884502166797655,1.457895311190192,0.71338606911949],"aabb_xy":[[-0.3233586457649824,1.4336307178881555],[-0.2743313975709707,1.4821599044922285]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.5427486909690018,-0.1477644735483521,0.71338606911949],"aabb_xy":[[-0.6067486902631701,-0.21175061391720626],[-0.4787486916748337,-0.08377833317949787]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.46395298303559507,0.8286227873323799,0.71338606911949],"aabb_xy":[[0.4088277774060043,0.7686227858910928],[0.5190781886651858,0.8886227887736671]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.4854914890098442,-2.097602641982167,0.71338606911949],"aabb_xy":[[-0.5470822482338371,-2.1616026400912145],[-0.4239007297858514,-2.0336026438731207]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.5011794658280719,0.3123205528661499,0.71338606911949],"aabb_xy":[[-0.5105264734103672,0.2980169306485059],[-0.4918324582457767,0.32662417508379393]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.14262431621511762,-1.1150657807184374,0.71338606911949],"aabb_xy":[[0.09264689934986402,-1.165065782207686],[0.19260173308037118,-1.0650657792291889]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[-0.10560022201304264,-1.0862464202356459,0.71338606911949],"aabb_xy":[[-0.1856002224832586,-1.0945571278499941],[-0.025600221542826714,-1.0779357126212976]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.09706508404205727,0.13739372200963196,0.71338606911949],"aabb_xy":[[-0.17706508431566423,0.06444417418391525],[-0.01706508376845028,0.21034326983534868]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[-0.23089638799919138,1.328992700441562,0.71338606911949],"aabb_xy":[[-0.2683963879429578,1.3206996104067255],[-0.19339638805542497,1.3372857904763986]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_28","position":[-0.36932355659783817,-1.5844531970693485,0.71338606911949],"aabb_xy":[[-0.37874103116770086,-1.5938693742070673],[-0.35990608202797536,-1.5750370199316293]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_29","position":[-0.3071159571276424,-2.042691602034785,0.71338606911949],"aabb_xy":[[-0.36711595772365857,-2.0975040745800086],[-0.2471159565316262,-1.9878791294895617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924758361691793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1299.png","name":"1299"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1299.png","name":"1299"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6632.png","name":"6632"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7395.png","name":"7395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/723.png","name":"723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7161.png","name":"7161"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":693.1495845180965,"rotation_z_degrees":258.4865784249415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013626596952545398,0.01557849627871,0.018522175457518098]},{"name":"camera_2","offset_m":[-0.008041833312008863,0.011264875561445457,-0.011339938956081026]},{"name":"camera_3","offset_m":[0.016651180207417005,0.005851750899000523,-0.008332247059208698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006621435063271825,0.0003357690999555851,-0.0009773928347387075],"end_effector_yaw_offset_degrees":-0.04573437463794083},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017285763663555899,0.0012410069547760562,0.0018989316362238435],"end_effector_yaw_offset_degrees":0.8704643986534355},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0001784227692222134,-0.0007560941449809336,-0.001639145276030745],"end_effector_yaw_offset_degrees":-0.1741926117581689}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008260553682819353,0.00016594907652175452],"position_m":[0.31382605536828195,-0.11613405092347824,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004535135054459666,0.0021026504907220656],"position_m":[0.3148351350544597,0.09320265049072207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020538217560636925,-0.003100180385432841],"position_m":[0.3571538217560637,0.29359981961456716,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004699236449092991,-0.00012855107402737296],"position_m":[0.23930076355090701,-0.3519285510740274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f62a93e5768ac6d93d1bff1dc7b96a62101b60eb1a94b8aee97e5a8857aa6b6b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1299/tex_ceiling_textures_7161/tex_floor_textures_723/tex_table_textures_6632/tex_wall_textures_7395","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5983456566061997040,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5983456566061997040,"visual_seed":5983456566061997040,"scene_id":"lab_003","finished_at":"2026-09-03T01:06:17"} +{"episode_id":"ep_000042","started_at":"2026-09-03T01:06:20","dimensions":{"distractor":{"count":24,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.22178033493051275,-1.9632762492695235,0.71338606911949],"aabb_xy":[[-0.22906265130717637,-2.0532762528790323],[-0.21449801855384906,-1.8732762456600143]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.4020526055138869,-0.6003915164336562,0.71338606911949],"aabb_xy":[[0.38942581822669053,-0.609937590135229],[0.41467939280108324,-0.5908454427320832]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.6276997271077499,-2.3752088488954746,0.71338606911949],"aabb_xy":[[-0.6737848183624813,-2.4392088461480297],[-0.5816146358530183,-2.3112088516429194]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.49584400089404984,-1.7016433562114184,0.71338606911949],"aabb_xy":[[-0.5089952468653391,-1.726643355968105],[-0.4826927549227605,-1.6766433564547318]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.040567489510792476,-1.8513329505847818,0.71338606911949],"aabb_xy":[[-0.09458308579269248,-1.915332953477039],[0.013448106771107533,-1.7873329476925246]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.14466841154613808,-1.2654004410535309,0.71338606911949],"aabb_xy":[[0.1412277353060809,-1.2692618740278951],[0.14810908778619525,-1.2615390080791662]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.5819979359752652,-0.9836679897560354,0.71338606911949],"aabb_xy":[[0.569126032474325,-1.0636679901698716],[0.5948698394762053,-0.9036679893421994]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.6190394172687632,-0.5075744041782779,0.71338606911949],"aabb_xy":[[-0.6515011181506905,-0.5377072362931803],[-0.5865777163868355,-0.4774415720633751]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.1623192654398895,-0.024195535180371763,0.71338606911949],"aabb_xy":[[-0.18237767705312977,-0.0442606220895293],[-0.1422608538266492,-0.0041304482712142265]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.49388333308453863,-0.7412305814437983,0.71338606911949],"aabb_xy":[[-0.5115589636731369,-0.758910797723201],[-0.47620770249594024,-0.7235503651643955]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.3499649431040379,0.7832496950932248,0.71338606911949],"aabb_xy":[[0.29496494392744843,0.7282600203182671],[0.4049649422806274,0.8382393698681824]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.4990232594688049,-2.4861563464496865,0.71338606911949],"aabb_xy":[[0.48201316217875423,-2.50229083494796],[0.5160333567588555,-2.470021857951412]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.35910966065504923,1.7482402582624172,0.71338606911949],"aabb_xy":[[0.3409038369938016,1.7372148576804256],[0.37731548431629697,1.7592656588444089]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.4253482252264904,0.36279641212464364,0.71338606911949],"aabb_xy":[[-0.43781558333622606,0.3503310874913202],[-0.41288086711675476,0.3752617367579672]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.6322844984600476,1.7797601467506925,0.71338606911949],"aabb_xy":[[-0.6387861349680523,1.769992324724383],[-0.625782861952043,1.7895279687770025]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.6097179256315572,0.6638130065243995,0.71338606911949],"aabb_xy":[[-0.6402021757585873,0.6138130067429036],[-0.579233675504527,0.7138130063058955]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.022042942656963938,0.773470469688867,0.71338606911949],"aabb_xy":[[0.004542943522596764,0.7635908426512791],[0.0395429417913311,0.7833500967264547]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.4956624377394072,-2.181435132905664,0.71338606911949],"aabb_xy":[[0.4859064482302333,-2.1911976669648983],[0.5054184272485811,-2.1716725988464294]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.4077198094996033,0.503633297158876,0.71338606911949],"aabb_xy":[[0.39979652926085496,0.4811332969208726],[0.4156430897383516,0.5261332973968793]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.20585370372896106,0.1139215954553845,0.71338606911949],"aabb_xy":[[-0.24031618174204883,0.10725791827246169],[-0.17139122571587329,0.12058527263830733]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.3454858173862938,-0.8581230947615004,0.71338606911949],"aabb_xy":[[0.2854858167902776,-0.9129355673067239],[0.40548581798231,-0.8033106222162769]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.42291595372082297,0.5292536181558294,0.71338606911949],"aabb_xy":[[-0.4347880367323241,0.44425361846217903],[-0.41104387070932186,0.6142536178494797]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.6513110967514802,-0.300570703512121,0.71338606911949],"aabb_xy":[[-0.6791561335320875,-0.3313552022504327],[-0.6234660599708732,-0.2697862047738093]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.20023711036318914,-0.8659530297284312,0.71338606911949],"aabb_xy":[[-0.255237109984935,-0.920936722515904],[-0.1452371107414433,-0.8109693369409585]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870665229185426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7299.png","name":"7299"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7299.png","name":"7299"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9038.png","name":"9038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9404.png","name":"9404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2224.png","name":"2224"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":730.3152288917489,"rotation_z_degrees":14.485491226126545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001534200682609458,0.007463762405349631,-0.016544103325571106]},{"name":"camera_2","offset_m":[0.010693605123189995,0.013826029788019108,-0.008369680578271614]},{"name":"camera_3","offset_m":[-0.013092544198086054,-0.007337253585372513,0.01829994928073325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018131711274862248,-0.0005858595504511662,0.0002225972503725332],"end_effector_yaw_offset_degrees":-0.4116285724099116},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000273074122707373,-0.0019948264133924096,-0.0004920167849965535],"end_effector_yaw_offset_degrees":0.2585026270335573},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.000744060908214311,0.0008089172432007618,-0.0013351035946251315],"end_effector_yaw_offset_degrees":-0.7528298355973069}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008328035105436291,0.0037325047950933785],"position_m":[0.31216719648945634,-0.11256749520490662,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004022306925136822,0.002251765464925554],"position_m":[0.31432230692513685,0.09335176546492556,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004491507729186673,-0.001902623960269194],"position_m":[0.35060849227081337,0.29479737603973083,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020765801419463446,0.004263471960344258],"position_m":[0.24192341985805366,-0.34753652803965573,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dfc765d9871f616bc077d27ce0e82f1bc2ad14ebc54d8f1702fb5a5937fce40b","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7299/tex_ceiling_textures_7442/tex_floor_textures_2224/tex_table_textures_9038/tex_wall_textures_9404","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8842193341311667709,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8842193341311667709,"visual_seed":8842193341311667709,"scene_id":"lab_003","finished_at":"2026-09-03T01:08:51"} +{"episode_id":"ep_000043","started_at":"2026-09-03T01:08:54","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.42863729246769294,1.45881169357297,0.71338606911949],"aabb_xy":[[-0.4629535696423108,1.4088116935997923],[-0.39432101529307495,1.5088116935461477]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.20112101049987352,0.31623179741051466,0.71338606911949],"aabb_xy":[[-0.21120271757844697,0.23623179951839995],[-0.19103930342130002,0.39623179530262925]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.29146211738513006,-1.9803316385569065,0.71338606911949],"aabb_xy":[[0.2579829501240891,-2.0138107519280135],[0.324941284646171,-1.9468525251857995]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.636023482725242,-1.4324175041745506,0.71338606911949],"aabb_xy":[[0.5865430615112832,-1.4964175020874024],[0.6855039039392008,-1.3684175062616988]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.699132360728768,1.7631414630081976,0.71338606911949],"aabb_xy":[[0.6912090804900197,1.7406414627701943],[0.7070556409675164,1.785641463246201]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.5831169480330619,0.2791295457702083,0.71338606911949],"aabb_xy":[[-0.6471169483070401,0.22906344557292035],[-0.5191169477590837,0.3291956459674963]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.2325669193273705,1.0448080147723235,0.71338606911949],"aabb_xy":[[-0.2965669157229436,0.98084472635359],[-0.1685669229317974,1.108771303191057]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.35835279785024077,1.1794142571095727,0.71338606911949],"aabb_xy":[[0.3408527975909042,1.1653227149208003],[0.3758527981095775,1.1935057992983455]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.6385194876527795,-0.9133196355828335,0.71338606911949],"aabb_xy":[[0.6210194885184123,-0.923199262620421],[0.6560194867871466,-0.9034400085452453]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.38921357381549093,-1.9014682687915472,0.71338606911949],"aabb_xy":[[-0.4392128489839271,-1.9514682700674946],[-0.33921429864705477,-1.8514682675156002]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.055996365180228214,-1.3045306964786738,0.71338606911949],"aabb_xy":[[-0.008003637040178813,-1.348903780603962],[0.11999636740063524,-1.2601576123533855]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.1763060050261981,0.49600397085105463,0.71338606911949],"aabb_xy":[[-0.18042195513827075,0.4918884158182091],[-0.17219005491412542,0.5001195258839002]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.18597195567007996,1.2643477894167514,0.71338606911949],"aabb_xy":[[-0.22347195424570077,1.2516114937531932],[-0.14847195709445915,1.2770840850803091]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[0.5029243763301199,-0.5285555685057974,0.71338606911949],"aabb_xy":[[0.4854936612511133,-0.5458276831696481],[0.5203550914091263,-0.5112834538419465]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.2478433203322294,-0.9588796828395065,0.71338606911949],"aabb_xy":[[-0.31184332174022,-1.010668634363431],[-0.1838433189242387,-0.9070907313155818]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.6685404447766212,-1.7762378484333576,0.71338606911949],"aabb_xy":[[-0.6860404440547081,-1.7935759484997038],[-0.6510404454985343,-1.758899748367012]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.26587099036597384,-1.5280570773592537,0.71338606911949],"aabb_xy":[[0.22059237548482452,-1.5920570767074371],[0.31114960524712304,-1.4640570780110698]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.3166826831554331,-0.7521638451415176,0.71338606911949],"aabb_xy":[[-0.357987226219169,-0.8161638447096345],[-0.27537814009169703,-0.6881638455734004]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.24972996040278495,1.789534813294742,0.71338606911949],"aabb_xy":[[0.21726825952085746,1.7594019811798391],[0.28219166128471235,1.8196676454096443]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.07269551615593794,-1.5205944271244392,0.71338606911949],"aabb_xy":[[-0.10769551442605783,-1.527668554819427],[-0.03769551788581803,-1.5135202994294508]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.6178776827057896,-0.5644414043825834,0.71338606911949],"aabb_xy":[[-0.6553776838905822,-0.5688596270786437],[-0.5803776815209966,-0.5600231816865227]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.01883296345963814,1.2310846081239535,0.71338606911949],"aabb_xy":[[-0.045167036917895476,1.1813393412731412],[0.08283296383717176,1.2808298749747657]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.3162749642638998,-1.8396308582676677,0.71338606911949],"aabb_xy":[[0.2661775002828261,-1.9036308587774795],[0.36637242824497335,-1.775630857757856]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[0.4680546569092785,0.33660656241471854,0.71338606911949],"aabb_xy":[[0.46164084326609345,0.3301967421670502],[0.47446847055246333,0.3430163826623869]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.45734201488182535,0.20797553892747844,0.71338606911949],"aabb_xy":[[-0.4646243312584889,0.11797553531796941],[-0.4500596985051616,0.2979755425369873]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.33088889133205646,1.7461928182933941,0.71338606911949],"aabb_xy":[[-0.4158888897494797,1.6613185228311094],[-0.24588889291463323,1.8310671137556793]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.5534346355476343,0.6001575505383321,0.71338606911949],"aabb_xy":[[0.4884346345905071,0.5482093386046265],[0.6184346365047615,0.6521057624720377]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[-0.3995325772563826,0.49151784801224574,0.71338606911949],"aabb_xy":[[-0.4208105853998548,0.4265178456861727],[-0.3782545691129103,0.5565178503383188]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.29255533037675663,0.5307164129759485,0.71338606911949],"aabb_xy":[[-0.3005493189544599,0.5227163328808581],[-0.2845613417990531,0.5387164930710387]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.7115659230778606,-1.0372315420047578,0.71338606911949],"aabb_xy":[[0.702851954027926,-1.0597315426639455],[0.720279892127795,-1.014731541345569]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_30","position":[0.42657786203571657,1.6013964639686118,0.71338606911949],"aabb_xy":[[0.3890778620919501,1.593103373933775],[0.4640778619794829,1.6096895540034482]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_31","position":[0.5335937998505902,1.7123515061218035,0.71338606911949],"aabb_xy":[[0.5282562241845857,1.6873515051926637],[0.5389313755165949,1.7373515070509433]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_32","position":[-0.614301873451424,1.5061806870221282,0.71338606911949],"aabb_xy":[[-0.6643018747352637,1.456201832631506],[-0.5643018721675838,1.5561595414127503]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_33","position":[-0.4478361923091517,-2.360549284481373,0.71338606911949],"aabb_xy":[[-0.46299906528608886,-2.3757147417764917],[-0.4326733193322147,-2.345383827186254]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943832819889958,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2938.png","name":"2938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2938.png","name":"2938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6066.png","name":"6066"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6041.png","name":"6041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":800.8462569728829,"rotation_z_degrees":198.73686845204307,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015288243257724245,0.010295628487206596,-0.015208343304273196]},{"name":"camera_2","offset_m":[0.0026402992608407228,0.014170630669913125,-0.002793400629679095]},{"name":"camera_3","offset_m":[-0.011181084701115993,-0.010008143192068757,0.00307015944777422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001561199187912571,0.0003086059493597015,0.001338811481989566],"end_effector_yaw_offset_degrees":-0.6903691977354407},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008465080516452388,-0.0009091745278080906,-0.0013287517877848458],"end_effector_yaw_offset_degrees":-0.22927778574521107},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008552018789084906,9.897327127416419e-05,0.0008072279569090934],"end_effector_yaw_offset_degrees":0.1609843362513217}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021320848317160092,-0.0035445020091805835],"position_m":[0.310867915168284,-0.11984450200918058,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002464048467883894,0.0007811709583349855],"position_m":[0.3127640484678839,0.09188117095833498,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030941142673087422,-0.0008279269242583319],"position_m":[0.3581941142673088,0.2958720730757417,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004180121954634808,0.0020076236798642778],"position_m":[0.2481801219546348,-0.3497923763201357,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4231234b680904bbb466f9eb8d877cff4dd4bf87268daf8ce237a1ba61953b2c","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2938/tex_ceiling_textures_1127/tex_floor_textures_6041/tex_table_textures_3116/tex_wall_textures_6066","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6728475425676995441,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6728475425676995441,"visual_seed":6728475425676995441,"scene_id":"lab_003","finished_at":"2026-09-03T01:11:12"} +{"episode_id":"ep_000044","started_at":"2026-09-03T01:11:16","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.12614689798716172,-1.69512567723051,0.71338606911949],"aabb_xy":[[-0.17113948470561213,-1.7401256765049589],[-0.08115431126871131,-1.6501256779560614]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.041982015697671016,0.6999365131422248,0.71338606911949],"aabb_xy":[[-0.12198201435455702,0.685431654217962],[0.03801798295921499,0.7144413720664876]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.12746667794177557,0.04540347430718894,0.71338606911949],"aabb_xy":[[-0.1924666789422761,-0.005382890847485999],[-0.06246667694127506,0.09618983946186388]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[-0.42201362472022147,1.5790848241482647,0.71338606911949],"aabb_xy":[[-0.4860136250977551,1.5293395572974524],[-0.35801362434268785,1.628830090999077]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[0.5907308270593898,0.35622753426044707,0.71338606911949],"aabb_xy":[[0.5827368384816863,0.3482274541653567],[0.5987248156370931,0.3642276143555374]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.2026485636303027,-2.0999239156984157,0.71338606911949],"aabb_xy":[[0.13864856041166485,-2.146647027597424],[0.26664856684894056,-2.0532008037994074]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.6589717886461164,-1.3296451272496403,0.71338606911949],"aabb_xy":[[0.5989717877853034,-1.3810715572561263],[0.718971789506929,-1.2782186972431535]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.23038110391110078,1.0241221308313966,0.71338606911949],"aabb_xy":[[0.20041354700127512,0.9941221305335108],[0.26034866082092645,1.0541221311292823]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.27272191288849124,1.56630732246423,0.71338606911949],"aabb_xy":[[0.2671402412543624,1.5538073226464546],[0.27830358452261994,1.5788073222820056]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.6836577176430825,1.143521045192594,0.71338606911949],"aabb_xy":[[0.6775630897549643,1.1349516506409252],[0.6897523455312009,1.1520904397442626]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.28819311019820465,-1.4400531853836755,0.71338606911949],"aabb_xy":[[-0.3224900212159452,-1.4743500715936166],[-0.25389619918046397,-1.405756299173734]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.20232814163022644,-0.9215785241002243,0.71338606911949],"aabb_xy":[[-0.2823219652087847,-1.001578526693066],[-0.12233431805166825,-0.8415785215073829]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.06044029875780854,1.504634199971575,0.71338606911949],"aabb_xy":[[-0.06785275429919702,1.4987829895499474],[-0.05302784321642006,1.5104854103932033]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.48079891914735473,-2.3051866625826625,0.71338606911949],"aabb_xy":[[0.39579892045528003,-2.3371725259775413],[0.5657989178394294,-2.2732007991877836]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.6294207099704046,0.8277343376838315,0.71338606911949],"aabb_xy":[[0.611627203035488,0.8099345920880338],[0.6472142169053209,0.8455340832796291]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.3989010605703327,1.102034401719831,0.71338606911949],"aabb_xy":[[0.34891811038285336,1.0520344020772703],[0.44888401075781204,1.152034401362391]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.2948915022710029,1.1883951216619733,0.71338606911949],"aabb_xy":[[0.284051024044488,1.1712088403713243],[0.3057319804975178,1.2055814029526217]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.10460377502104135,-1.5375129262672498,0.71338606911949],"aabb_xy":[[-0.14210377653667303,-1.5487396992833948],[-0.06710377350540961,-1.5262861532511047]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.30003930950333957,-1.6879520365301617,0.71338606911949],"aabb_xy":[[0.2695550593763094,-1.7379520363116576],[0.3305235596303697,-1.6379520367486657]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.21589308178368205,-0.8276598732473368,0.71338606911949],"aabb_xy":[[0.17839308183991567,-0.8359529632821732],[0.25339308172744845,-0.8193667832125]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.04376463391530816,0.8467352158333754,0.71338606911949],"aabb_xy":[[0.006264633250729456,0.8310481578331532],[0.08126463457988685,0.8624222738335976]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.0686434461704255,1.1424228593908916,0.71338606911949],"aabb_xy":[[-0.0213565532479454,1.1090473625467017],[0.1586434455887964,1.175798356235081]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.6373602093844214,-2.3057346202334594,0.71338606911949],"aabb_xy":[[-0.6606420515825527,-2.390734621530687],[-0.61407836718629,-2.220734618936231]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.4170918194189659,-0.4039958766578131,0.71338606911949],"aabb_xy":[[0.3884424870585496,-0.4326414359348889],[0.44574115177938206,-0.3753503173807373]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.1399717471611709,-1.9760938099133667,0.71338606911949],"aabb_xy":[[0.13512815239994092,-1.9809454623923508],[0.14481534192240086,-1.9712421574343826]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.5228605613388337,1.6665848556803708,0.71338606911949],"aabb_xy":[[0.4588605594264914,1.6106737064223606],[0.5868605632511761,1.7224960049383815]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.48331387264665054,-0.2979936035530488,0.71338606911949],"aabb_xy":[[-0.4979572782006835,-0.31265232320983305],[-0.4686704670926175,-0.2833348838962645]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[-0.0796030382423536,0.3656683878316138,0.71338606911949],"aabb_xy":[[-0.10411666233935946,0.3414037945295774],[-0.05508941414534774,0.3899329811336503]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[0.28339147955616273,-1.0722860916436199,0.71338606911949],"aabb_xy":[[0.193391483055291,-1.118197734062078],[0.3733914760570345,-1.0263744492251614]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.6136163775283807,-1.0646099584113153,0.71338606911949],"aabb_xy":[[-0.6355250596677317,-1.0865106252314058],[-0.5917076953890296,-1.0427092915912244]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.06522145383157918,-2.464722983687009,0.71338606911949],"aabb_xy":[[-0.14522145430179514,-2.473033691301357],[0.014778546638636762,-2.4564122760726605]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_31","position":[-0.028283695814859677,-1.9973297155974192,0.71338606911949],"aabb_xy":[[-0.05186881927875453,-2.062329717842851],[-0.004698572350964825,-1.9323297133519874]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913172527038365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9414.png","name":"9414"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9414.png","name":"9414"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2306.png","name":"2306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2394.png","name":"2394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2093.png","name":"2093"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3779.png","name":"3779"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.6597832535423,"rotation_z_degrees":341.11533459731385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00921091691171831,0.0007024611375654882,0.003849522958349394]},{"name":"camera_2","offset_m":[-0.01388003769438269,-0.013532742307635376,0.014354805667654482]},{"name":"camera_3","offset_m":[0.009212483602785846,0.0122108567645068,-0.014479965087818045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016635175237596873,0.0003532873568706219,0.0008244251392849375],"end_effector_yaw_offset_degrees":-0.3624643943913568},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012009909591664016,-0.0019374118160933823,-0.0004683533786858649],"end_effector_yaw_offset_degrees":-0.7183798302586588},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014916106211489322,-0.00116647302345506,-2.5751809163155823e-05],"end_effector_yaw_offset_degrees":-0.8822457098008682}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004993202742218541,-0.0028782015153575933],"position_m":[0.30800679725778146,-0.11917820151535759,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00012395761829554937,-0.0008887381603179742],"position_m":[0.31042395761829555,0.09021126183968203,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002761424346199629,0.004321972263224905],"position_m":[0.3523385756538004,0.3010219722632249,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004108020969705065,0.00290179158558694],"position_m":[0.23989197903029494,-0.34889820841441305,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"220eb593128bf82618b20d56f5070953f97e8d3c465de1c3692b362365e03a2e","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9414/tex_ceiling_textures_3779/tex_floor_textures_2093/tex_table_textures_2306/tex_wall_textures_2394","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4855809120417968846,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4855809120417968846,"visual_seed":4855809120417968846,"scene_id":"lab_003","finished_at":"2026-09-03T01:13:27"} +{"episode_id":"ep_000045","started_at":"2026-09-03T01:13:30","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[-0.3021035113225282,1.2759949106789605,0.71338606911949],"aabb_xy":[[-0.3055441875625854,1.2721334777045965],[-0.29866283508247105,1.2798563436533255]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.5952498296511575,-0.8559516139352217,0.71338606911949],"aabb_xy":[[0.5567041368259564,-0.8944973849914103],[0.6337955224763585,-0.8174058428790331]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.35563292108706057,-1.5006854575087734,0.71338606911949],"aabb_xy":[[-0.42563292372364686,-1.5207903225046389],[-0.28563291845047417,-1.4805805925129079]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.027950626105879395,-2.177552483697916,0.71338606911949],"aabb_xy":[[0.017797610551730014,-2.2136220252706558],[0.038103641660028775,-2.141482942125175]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.17676034487443926,1.656297123990543,0.71338606911949],"aabb_xy":[[0.1727998611047049,1.6486292594050225],[0.18072082864417366,1.6639649885760637]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.6894037661778485,1.300692495166731,0.71338606911949],"aabb_xy":[[0.6615587293972415,1.2699079964284192],[0.7172488029584557,1.3314769939050426]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.04452785627323641,-1.92494389824828,0.71338606911949],"aabb_xy":[[0.022031434839372317,-1.9474438980550275],[0.06702427770710051,-1.9024438984415326]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.06858628837328784,-2.3850656669570776,0.71338606911949],"aabb_xy":[[0.05681810157863032,-2.4700656668622996],[0.08035447516794536,-2.3000656670518564]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.4282787447981301,-1.9832306888255125,0.71338606911949],"aabb_xy":[[-0.4457787440762169,-2.000568788891858],[-0.4107787455200432,-1.965892588759166]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.0976108470914947,0.752957194023256,0.71338606911949],"aabb_xy":[[0.033610846817516485,0.7028910938259681],[0.16161084736547293,0.8030232942205441]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.37265820688888635,0.2921683276156797,0.71338606911949],"aabb_xy":[[-0.4366582101075242,0.24544521571667133],[-0.3086582036702485,0.33889143951468803]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.31730054110402767,-0.25067194435886053,0.71338606911949],"aabb_xy":[[-0.3673005423878676,-0.3006507987494826],[-0.26730053982018764,-0.2006930899682384]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[0.46608214428212547,-2.1541968008965346,0.71338606911949],"aabb_xy":[[0.448582144037076,-2.171696588736101],[0.4835821445271748,-2.1366970130569674]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.5658075682869614,-2.240909983075664,0.71338606911949],"aabb_xy":[[-0.6558075650225715,-2.2940934463929583],[-0.4758075715513511,-2.1877265197583693]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.05089226195636565,1.6430826462055967,0.71338606911949],"aabb_xy":[[-0.05720436149270409,1.6373157069523776],[-0.04458016242002722,1.6488495854588154]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.5646254896846734,0.0008748971520886606,0.71338606911949],"aabb_xy":[[0.5146323775754815,-0.049125103522106986],[0.6146186017938653,0.05087489782628431]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[-0.13176811149952317,-0.5642443122506369,0.71338606911949],"aabb_xy":[[-0.15165915137986344,-0.5769001235353338],[-0.11187707161918295,-0.5515885009659401]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.18506528615819962,-1.4319173912354504,0.71338606911949],"aabb_xy":[[-0.22256528650642735,-1.4437087868165337],[-0.14756528580997183,-1.4201259956543666]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.11992665469893893,-1.3622768279617712,0.71338606911949],"aabb_xy":[[0.10437088528867369,-1.3778272612061782],[0.13548242410920422,-1.3467263947173638]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.28309370440961723,0.784180400903792,0.71338606911949],"aabb_xy":[[0.24879679339187655,0.7498835146938507],[0.3173906154273578,0.8184772871137334]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.3559581590763585,-0.47924047623348276,0.71338606911949],"aabb_xy":[[-0.36395214765406186,-0.48724055632857305],[-0.3479641704986551,-0.47124039613839236]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.5406232879290652,-1.8000980137840226,0.71338606911949],"aabb_xy":[[-0.5651369120260711,-1.824362607086059],[-0.5161096638320594,-1.7758334204819861]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.6120792392308163,-0.2967723752687177,0.71338606911949],"aabb_xy":[[-0.6321376508440566,-0.3168374621778752],[-0.592020827617576,-0.2767072883595601]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.36241261297789634,-2.465002218315678,0.71338606911949],"aabb_xy":[[-0.4084977042326278,-2.529002215568233],[-0.31632752172316486,-2.4010022210631226]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.6279088022346397,0.9014113764591007,0.71338606911949],"aabb_xy":[[-0.6622250794092577,0.851411376485923],[-0.5935925250600218,0.9514113764322785]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.39147155048228544,-1.5758083775735316,0.71338606911949],"aabb_xy":[[0.32147154835085584,-1.598570343199227],[0.4614715526137149,-1.5530464119478358]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[-0.5424702146613852,-0.1696511358886723,0.71338606911949],"aabb_xy":[[-0.5649702151734257,-0.19214299425407066],[-0.5199702141493445,-0.14715927752327396]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[-0.03409536250395728,1.29231442768606,0.71338606911949],"aabb_xy":[[-0.08407417101427317,1.242314427680341],[0.015883446006358604,1.3423144276917787]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[0.6082179852022933,0.3504022895254262,0.71338606911949],"aabb_xy":[[0.54321798409635,0.32543691645729794],[0.6732179863082366,0.37536766259355453]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[-0.16677143137503148,-1.2590452601545654,0.71338606911949],"aabb_xy":[[-0.2267714318828844,-1.3158919938404867],[-0.10677143086717857,-1.2021985264686441]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_30","position":[-0.4891490100338478,-0.5838598900991068,0.71338606911949],"aabb_xy":[[-0.5691490086211671,-0.6631754920372676],[-0.4091490114465283,-0.5045442881609458]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[0.6713921055716454,-1.4004940879397223,0.71338606911949],"aabb_xy":[[0.6632784508982683,-1.4085999043937514],[0.6795057602450225,-1.3923882714856932]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_32","position":[-0.1642094547604901,0.37825903868612,0.71338606911949],"aabb_xy":[[-0.1714707023308975,0.36547202842261056],[-0.15694820719008268,0.3910460489496295]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_33","position":[-0.5458325430594453,0.2588644261957489,0.71338606911949],"aabb_xy":[[-0.5910038609076143,0.19486442905121049],[-0.5006612252112763,0.3228644233402873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941567306057022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4427.png","name":"4427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4427.png","name":"4427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9710.png","name":"9710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2315.png","name":"2315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":773.7417958676474,"rotation_z_degrees":107.22888232698007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005015452305170882,0.009369955890844626,0.01303517907204008]},{"name":"camera_2","offset_m":[0.0045750507428959745,0.01306174159186713,-0.01326535429152426]},{"name":"camera_3","offset_m":[-0.011258146282404095,-0.005795561615990321,0.011079644893193203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013379608826180828,0.0011939129548640313,0.0005410907999583272],"end_effector_yaw_offset_degrees":-0.9716507692735361},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[1.816104407769293e-05,0.0010705478103661325,0.001948002459480503],"end_effector_yaw_offset_degrees":-0.8916512498843545},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009322923880940195,0.0009426848209572597,-0.0009933796957792035],"end_effector_yaw_offset_degrees":0.2804206969263414}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010992831257719184,0.000501079401643614],"position_m":[0.3119007168742281,-0.11579892059835639,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003915433837775672,0.0044380182275818745],"position_m":[0.31421543383777567,0.09553801822758187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004258492521814338,-0.0038494561533161135],"position_m":[0.35935849252181434,0.2928505438466839,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004340027472877264,-0.0010459313964630177],"position_m":[0.24834002747287726,-0.35284593139646303,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50a32582c295c48bfbf9d433e2ed7b4d16d503baa6c3887acfc9954443b20987","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0057.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4427/tex_ceiling_textures_8786/tex_floor_textures_2315/tex_table_textures_9710/tex_wall_textures_9758","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2781342691971924095,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2781342691971924095,"visual_seed":2781342691971924095,"scene_id":"lab_003","finished_at":"2026-09-03T01:16:07"} +{"episode_id":"ep_000046","started_at":"2026-09-03T01:16:11","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.05412334634975546,-1.3814221338780208,0.71338606911949],"aabb_xy":[[0.008844731468606197,-1.4454221332262045],[0.09940196123090472,-1.3174221345298371]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.14516422885805103,-1.3372057001477546,0.71338606911949],"aabb_xy":[[-0.2351642282764219,-1.3705811969919441],[-0.05516422943968011,-1.3038302033035647]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.6639606117244152,-1.0913318287758031,0.71338606911949],"aabb_xy":[[0.6139657787964736,-1.1413318276710467],[0.7139554446523568,-1.0413318298805596]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.4103187022432084,-0.7014267854766356,0.71338606911949],"aabb_xy":[[-0.4142325754386309,-0.7101758008831924],[-0.40640482904778585,-0.6926777700700788]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.4156104582944066,-2.0892568366850064,0.71338606911949],"aabb_xy":[[-0.4806104564503257,-2.115553081234918],[-0.35061046013848757,-2.0629605921350938]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.018126502123620658,-1.076847082575812,0.71338606911949],"aabb_xy":[[-0.08212650434402768,-1.1212201667011004],[0.04587350009678637,-1.0324739984505238]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.2055937197414271,0.2328833464331166,0.71338606911949],"aabb_xy":[[-0.21488733797857767,0.19538334794498266],[-0.19630010150427651,0.2703833449212505]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.707538179558941,1.6217487373663615,0.71338606911949],"aabb_xy":[[0.7025821593740599,1.5992487371642403],[0.7124941997438222,1.6442487375684836]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.45689079489937745,-0.1181438864087836,0.71338606911949],"aabb_xy":[[0.4222997120453322,-0.1831438866938146],[0.4914818777534226,-0.053143886123752516]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.04454315595690683,1.0153441504769125,0.71338606911949],"aabb_xy":[[-0.05216742404708508,1.0077109269403688],[-0.03691888786672859,1.0229773740134562]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.0159788555920668,-0.7930278449617782,0.71338606911949],"aabb_xy":[[-0.07597885584346797,-0.8473091699982429],[0.04402114465933438,-0.7387465199253136]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.29490099331328934,0.8298774761579191,0.71338606911949],"aabb_xy":[[-0.3599009911949371,0.7787538124513783],[-0.22990099543164155,0.88100113986446]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.14294325795631457,-2.27409524848491,0.71338606911949],"aabb_xy":[[-0.15962039394941008,-2.29079517245884],[-0.12626612196321907,-2.2573953245109792]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.2665502179481232,-2.0301040036994813,0.71338606911949],"aabb_xy":[[-0.2737939839943685,-2.1101040019030837],[-0.25930645190187784,-1.950104005495879]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.5253143118255015,-0.22435615060843705,0.71338606911949],"aabb_xy":[[-0.5893143120994797,-0.274422250805725],[-0.46131431155152325,-0.1742900504111491]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.2712217392713873,0.36539623343549055,0.71338606911949],"aabb_xy":[[-0.3362217403773306,0.3404308603673623],[-0.20622173816544404,0.3903616065036189]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.6098115989664483,-0.5902897562030434,0.71338606911949],"aabb_xy":[[0.5248116002743737,-0.6222756195979222],[0.694811597658523,-0.5583038928081645]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.5770717419960945,-2.0980418880159912,0.71338606911949],"aabb_xy":[[-0.5989804241354454,-2.1199425548360815],[-0.5551630598567433,-2.0761412211959]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.15595329844024486,-2.118112594255267,0.71338606911949],"aabb_xy":[[-0.16408098663355808,-2.1270262026659754],[-0.14782561024693164,-2.10919898584456]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.3505747968767816,-0.4948847316696292,0.71338606911949],"aabb_xy":[[-0.4305748001407947,-0.5084447639785425],[-0.2705747936127684,-0.48132469936071587]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[-0.5782025270530569,0.18510282319483062,0.71338606911949],"aabb_xy":[[-0.5952126243431075,0.1689683346965567],[-0.5611924297630062,0.20123731169310455]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.3035787398295011,0.6802036818065842,0.71338606911949],"aabb_xy":[[0.26911639243135926,0.6457097994087613],[0.33804108722764287,0.7146975642044067]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.18629480137737353,1.1731839163513782,0.71338606911949],"aabb_xy":[[-0.2197739686384145,1.1397048029802712],[-0.15281563411633262,1.2066630297224852]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.5645697902248996,-1.760532010780151,0.71338606911949],"aabb_xy":[[-0.6445697876284929,-1.840524581978334],[-0.48456979282130613,-1.6805394395819684]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.1680623187637834,-0.1984751115781327,0.71338606911949],"aabb_xy":[[-0.21586848637755202,-0.26347511428519166],[-0.12025615115001473,-0.13347510887107372]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.10060844868850027,0.7093401001985074,0.71338606911949],"aabb_xy":[[-0.10938967583573651,0.7005603529099773],[-0.09182722154126405,0.7181198474870376]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.2590646869722888,-2.3131813008511455,0.71338606911949],"aabb_xy":[[0.2439018139953517,-2.3283467581462642],[0.2742275599492259,-2.2980158435560267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894454638056516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4932.png","name":"4932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4932.png","name":"4932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7272.png","name":"7272"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7428.png","name":"7428"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2211.png","name":"2211"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5310.png","name":"5310"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.9255791129647,"rotation_z_degrees":82.42638630152922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004778869380583809,-0.01978276120253104,-0.01453661676386209]},{"name":"camera_2","offset_m":[-0.0031435517904799537,0.010896390193568375,-0.013043398514704778]},{"name":"camera_3","offset_m":[0.012516708242055991,-0.01775286123055583,0.0012917986353014471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005933148947232412,-0.0007676601222749572,0.0009783431356053265],"end_effector_yaw_offset_degrees":0.8664679983624499},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005403432313168953,0.0017527794685533163,-0.001443828228074942],"end_effector_yaw_offset_degrees":-0.3509212452680366},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[2.0719887157609734e-05,-0.0006643261696074173,-0.0003043572037874126],"end_effector_yaw_offset_degrees":0.9209087106306952}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004726152255821205,0.0027667275191316544],"position_m":[0.3082738477441788,-0.11353327248086835,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00020201871391387592,0.0006069707918880361],"position_m":[0.3105020187139139,0.09170697079188804,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025660255271492327,-0.00041215882001517483],"position_m":[0.3525339744728508,0.29628784117998486,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026116792614180938,-0.003053293991287749],"position_m":[0.2413883207385819,-0.35485329399128773,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7878dd5c75d74ab805a445b8d0f3f2b434786e32455dc0a3e8c3026a3cabc149","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4932/tex_ceiling_textures_5310/tex_floor_textures_2211/tex_table_textures_7272/tex_wall_textures_7428","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6497390405847560805,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6497390405847560805,"visual_seed":6497390405847560805,"scene_id":"lab_003","finished_at":"2026-09-03T01:18:44"} +{"episode_id":"ep_000047","started_at":"2026-09-03T01:21:51","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[-0.631704300681438,1.007174304378975,0.71338606911949],"aabb_xy":[[-0.6562179247784439,0.9829097110769385],[-0.6071906765844322,1.0314388976810114]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.48563190360681385,0.8752603294360726,0.71338606911949],"aabb_xy":[[-0.5406273814274731,0.8202603280021655],[-0.43063642578615435,0.9302603308699794]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.4283437015220803,0.4714949792021659,0.71338606911949],"aabb_xy":[[-0.463343702873562,0.451135243245345],[-0.39334370017059855,0.49185471515898666]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.05889585792086527,-1.3565714392041766,0.71338606911949],"aabb_xy":[[-0.031104144413153796,-1.434053793789289],[0.14889586025488433,-1.2790890846190637]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.20825263218628604,-1.443951291914825,0.71338606911949],"aabb_xy":[[-0.23016131432563705,-1.4658519587349155],[-0.18634395004693496,-1.422050625094734]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.2585007557196295,1.4700847682656275,0.71338606911949],"aabb_xy":[[-0.29529538884453577,1.4331788931690452],[-0.22170612259472322,1.5069906433622098]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.018472772765062873,0.557771634301861,0.71338606911949],"aabb_xy":[[-0.022550930672112612,0.5536906540535977],[-0.014394614858013133,0.5618526145501244]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.574176015527175,-0.8869534960755319,0.71338606911949],"aabb_xy":[[-0.6084729265449155,-0.9212503822854731],[-0.5398791045094343,-0.8526566098655904]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.23473148488960066,-1.2667543307541618,0.71338606911949],"aabb_xy":[[-0.27223148331300095,-1.279918544721992],[-0.19723148646620028,-1.253590116786331]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.10380890856941438,0.7155696859674325,0.71338606911949],"aabb_xy":[[0.09256385299879653,0.7043278882433374],[0.1150539641400322,0.7268114836915279]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.6452964839647795,-1.8028614668383673,0.71338606911949],"aabb_xy":[[0.5802964854077067,-1.83261400025225],[0.7102964825218524,-1.7731089334244847]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.566516994679406,0.22704983994274253,0.71338606911949],"aabb_xy":[[-0.6241474635666767,0.16704984101603193],[-0.508886525792135,0.2870498388694531]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.3686684652037629,-1.0583927107394793,0.71338606911949],"aabb_xy":[[-0.3723717265329017,-1.0620947290481968],[-0.364965203874624,-1.0546906924307613]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.0016023800568496505,-0.8551789048394787,0.71338606911949],"aabb_xy":[[-0.04378679421768039,-0.91917890511669],[0.04058203410398109,-0.7911789045622676]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.5198278572099848,-0.47768340761843886,0.71338606911949],"aabb_xy":[[0.4548278571756821,-0.5243840842987662],[0.5848278572442875,-0.43098273093811157]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.11975009571534845,-0.5221350819784032,0.71338606911949],"aabb_xy":[[-0.19974391929390667,-0.6021350845712448],[-0.03975627213679023,-0.4421350793855616]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.45497343131133317,0.6551848267249492,0.71338606911949],"aabb_xy":[[-0.4710353587698508,0.5701848249123572],[-0.4389115038528155,0.7401848285375409]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.6404355024601127,0.22884793131482883,0.71338606911949],"aabb_xy":[[0.6179707324887075,0.20634793043596833],[0.6629002724315177,0.25134793219368934]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.3709960895691329,1.4888450221341851,0.71338606911949],"aabb_xy":[[0.31599608994738704,1.4338613293467126],[0.4259960891908787,1.543828714921658]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.5673289715617309,-1.196030353325343,0.71338606911949],"aabb_xy":[[0.5613624326209952,-1.2019914979847068],[0.5732955105024666,-1.190069208665979]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.16243801774385236,0.9649806902046936,0.71338606911949],"aabb_xy":[[0.15327813879997576,0.9584494721611564],[0.17159789668772896,0.9715119082482305]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.16571661395666692,-0.9683710852447629,0.71338606911949],"aabb_xy":[[-0.2156954224669828,-1.0183710852504817],[-0.11573780544635104,-0.9183710852390441]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.507766448540595,-0.6344990533594921,0.71338606911949],"aabb_xy":[[0.4277664474674747,-0.6442770996968765],[0.5877664496137154,-0.6247210070221076]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.05030349243555965,-1.9665981261449992,0.71338606911949],"aabb_xy":[[-0.08530349070567955,-1.973672253839987],[-0.015303494165439753,-1.9595239984500106]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.5004049905745862,-0.26262479353387524,0.71338606911949],"aabb_xy":[[0.48725374460329696,-0.2876247932905618],[0.5135562365458757,-0.2376247937771887]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.19944382841243158,0.5787381521812733,0.71338606911949],"aabb_xy":[[-0.2494438278526272,0.528770227696957],[-0.14944382897223596,0.6287060766655896]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.3474130412222033,0.3414592488935928,0.71338606911949],"aabb_xy":[[-0.3570446774426329,0.3318219361138839],[-0.33778140500177367,0.3510965616733017]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866555718180744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3667.png","name":"3667"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8946.png","name":"8946"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1169.png","name":"1169"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8203.png","name":"8203"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.1562239799179,"rotation_z_degrees":149.46894505211012,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010342721337353452,-0.0014369237974860595,0.006216594714273108]},{"name":"camera_2","offset_m":[-0.006699516039435412,0.014515990256232281,-0.011554862697442858]},{"name":"camera_3","offset_m":[-0.019766467312328954,-0.007772062525453443,-0.018486559992029944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000825314634812438,0.0010702102894641122,-0.00010669594178442624],"end_effector_yaw_offset_degrees":-0.028275007633604465},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011995786376359147,0.0007666719057102061,-0.0019123039560142573],"end_effector_yaw_offset_degrees":-0.22430389656320493},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0014166596383441274,0.00034866745656553537,-0.000766414927633411],"end_effector_yaw_offset_degrees":-0.2107601649985944}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002665580054121823,0.0045911134906418466],"position_m":[0.3156655800541218,-0.11170888650935816,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003353202027221035,0.0030093250773925656],"position_m":[0.3136532020272211,0.09410932507739257,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004451112986036774,-0.0029470084587139888],"position_m":[0.35064888701396324,0.29375299154128603,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002905434444659829,0.0022117560907823734],"position_m":[0.24109456555534017,-0.3495882439092176,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a16e51f86d823d18af86ee4d08b1f900a901efa3898d7beae8621368ffdc0c80","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8385/tex_ceiling_textures_8203/tex_floor_textures_1169/tex_table_textures_3667/tex_wall_textures_8946","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2771733840695060432,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2771733840695060432,"visual_seed":2771733840695060432,"scene_id":"lab_003","finished_at":"2026-09-03T01:24:27"} +{"episode_id":"ep_000048","started_at":"2026-09-03T01:24:30","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.5473694492951885,-0.520338056249054,0.71338606911949],"aabb_xy":[[-0.5973644602546406,-0.5703380552846459],[-0.4973744383357366,-0.47033805721346245]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.4420930613458852,-2.1579293609812042,0.71338606911949],"aabb_xy":[[-0.44979625201996226,-2.165638731679942],[-0.4343898706718082,-2.1502199902824657]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.3296417693691299,1.4609457526468517,0.71338606911949],"aabb_xy":[[-0.3936417666547785,1.4194390336940077],[-0.2656417720834812,1.5024524715996956]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.5686726512926603,0.10444018405274225,0.71338606911949],"aabb_xy":[[0.555226124658617,0.09097033239965104],[0.5821191779267036,0.11791003570583349]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.5054625266393804,0.7945483424374715,0.71338606911949],"aabb_xy":[[0.49285982750230395,0.7819529462126059],[0.5180652257764569,0.8071437386623369]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.5000390603420681,-1.472839231586361,0.71338606911949],"aabb_xy":[[-0.5800390617721954,-1.5523563865989705],[-0.42003905891194104,-1.3933220765737515]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.07712485271446101,-0.31512984889306184,0.71338606911949],"aabb_xy":[[-0.09300934597978616,-0.32948278919188584],[-0.06124035944913586,-0.3007769085942377]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.3353394596963251,-2.543081255409469,0.71338606911949],"aabb_xy":[[-0.35313296663124155,-2.5608810010052663],[-0.3175459527614087,-2.525281509813671]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.46741643958339774,0.3003513055539049,0.71338606911949],"aabb_xy":[[0.41741644093747654,0.2504317618944425],[0.5174164382293189,0.35027084921336726]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.3326237425022521,1.1984551353072046,0.71338606911949],"aabb_xy":[[-0.38262374286281814,1.1484751480976014],[-0.282623742141686,1.2484351225168073]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.0999280816073903,-1.6450104860761365,0.71338606911949],"aabb_xy":[[-0.1033687578474475,-1.6488719190505012],[-0.09648740536733316,-1.6411490531017723]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.3371142311419646,-1.9654129619953142,0.71338606911949],"aabb_xy":[[0.2771142312953978,-2.0222315841883525],[0.3971142309885314,-1.9085943398022753]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[0.2427784026634897,-2.5078285694370313,0.71338606911949],"aabb_xy":[[0.23744082699748514,-2.532828570366171],[0.24811597832949428,-2.4828285685078915]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.5285376376157869,-1.0275604566714962,0.71338606911949],"aabb_xy":[[0.4685376373643857,-1.0818417817079606],[0.588537637867188,-0.9732791316350313]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.4078540788221028,-1.4905117638774459,0.71338606911949],"aabb_xy":[[0.34385407952793456,-1.5544979042463003],[0.471854078116271,-1.426525623508592]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.049641826650307586,1.3314126153742971,0.71338606911949],"aabb_xy":[[-0.13964183032722574,1.2699802087971923],[0.0403581770266106,1.392845021951401]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.12138429195865974,0.019339741138264088,0.71338606911949],"aabb_xy":[[-0.13888429221799636,0.0052481989494914645],[-0.10388429169932313,0.03343128332703671]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.16418732469014774,-1.501246974192871,0.71338606911949],"aabb_xy":[[-0.1688224398423811,-1.5051143092700194],[-0.15955220953791432,-1.497379639115722]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.48065910691141434,-0.29722879377346034,0.71338606911949],"aabb_xy":[[-0.4876994168449514,-0.37722879317313185],[-0.4736187969778774,-0.217228794373789]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.4274634454043261,0.9701318031475847,0.71338606911949],"aabb_xy":[[-0.4735485366590576,0.9061318058950296],[-0.38137835414959464,1.0341318004001399]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.4905904032825421,-0.4407452069712865,0.71338606911949],"aabb_xy":[[0.47309040400445523,-0.45808330703763245],[0.508090402560629,-0.42340710690494054]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[0.5090820483989273,-0.21566972878574786,0.71338606911949],"aabb_xy":[[0.47530648920823426,-0.22970822399891289],[0.5428576075896202,-0.20163123357258284]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.2324102538171845,1.5750201784868847,0.71338606911949],"aabb_xy":[[0.20741025465155136,1.5680679327815283],[0.2574102529828176,1.5819724241922415]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.6268083380361331,1.4095428609515115,0.71338606911949],"aabb_xy":[[0.6227301801290834,1.4054618807032482],[0.6308864959431828,1.4136238411997748]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[-0.2419415054955047,0.5015538637005426,0.71338606911949],"aabb_xy":[[-0.3069415033771525,0.4504301999940018],[-0.17694150761385688,0.5526775274070835]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.42329364724927965,-0.734974816873373,0.71338606911949],"aabb_xy":[[-0.46828623396773006,-0.7799748161478216],[-0.37830106053082924,-0.6899748175989241]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.2758992295513743,-0.1663253767659949,0.71338606911949],"aabb_xy":[[-0.34089923218916773,-0.21780497546544186],[-0.21089922691358076,-0.11484577806654794]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[0.6184482656864496,0.5034131721391057,0.71338606911949],"aabb_xy":[[0.5809482650218708,0.4877261141388834],[0.6559482663510282,0.5191002301393277]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[-0.08266207626204192,0.6688780667489485,0.71338606911949],"aabb_xy":[[-0.14666207794003927,0.6203606752696341],[-0.018662074584044563,0.7173954582282626]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867974057987173,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9151.png","name":"9151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9151.png","name":"9151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7322.png","name":"7322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8007.png","name":"8007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3055.png","name":"3055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8968.png","name":"8968"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":662.1107062332846,"rotation_z_degrees":51.95576382422387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019625641344877442,0.0017212808837646955,0.0038740840735257062]},{"name":"camera_2","offset_m":[-0.013097877210361993,0.0012152836012869553,-0.01069491592770929]},{"name":"camera_3","offset_m":[-0.010590098176167543,-0.004245460142033423,0.00529635413081489]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015906362595604806,-0.0017470803756821657,-0.001458896274427599],"end_effector_yaw_offset_degrees":0.504108601168133},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006925659552285317,-0.0012396601221584893,0.0011478860056514436],"end_effector_yaw_offset_degrees":-0.8562426104314376},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001747912331567604,-0.0014483424586934053,-0.000914585803331382],"end_effector_yaw_offset_degrees":-0.07261607192661668}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004104146121811725,0.0038418417917604883],"position_m":[0.31341041461218117,-0.11245815820823951,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0048936729588617955,0.0030608927924523693],"position_m":[0.30540632704113824,0.09416089279245236,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039060435073610656,-0.003768725296371014],"position_m":[0.35119395649263896,0.292931274703629,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003878967026921216,-0.004617672861307466],"position_m":[0.24012103297307877,-0.3564176728613075,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"09279c2394925103f754f68a391a533fc8f1a415e782182ecdc061f4592ccecd","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9151/tex_ceiling_textures_8968/tex_floor_textures_3055/tex_table_textures_7322/tex_wall_textures_8007","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4715814629833374396,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4715814629833374396,"visual_seed":4715814629833374396,"scene_id":"lab_003","finished_at":"2026-09-03T01:27:15"} +{"episode_id":"ep_000049","started_at":"2026-09-03T01:27:18","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.29578617920366457,1.3464842543381965,0.71338606911949],"aabb_xy":[[-0.3076582622151657,1.2614842546445462],[-0.28391409619216346,1.4314842540318469]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.6572829183587945,0.46941714261784506,0.71338606911949],"aabb_xy":[[-0.682282917910533,0.4592746587527104],[-0.632282918807056,0.47955962648297984]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.4717837145030076,-0.1446937013610734,0.71338606911949],"aabb_xy":[[-0.4939562414796584,-0.16686936851719658],[-0.4496111875263567,-0.12251803420495022]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.24005842517235831,-1.4752430791193103,0.71338606911949],"aabb_xy":[[-0.32974550148047377,-1.5652430793737608],[-0.15037134886424286,-1.3852430788648598]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.6539213192485274,1.0677676763737773,0.71338606911949],"aabb_xy":[[0.6363430170595805,1.050193186799672],[0.6714996214374742,1.0853421659478821]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.4330952024991177,-0.5862523765797141,0.71338606911949],"aabb_xy":[[0.3530952022255107,-0.6592019244054308],[0.5130952027727247,-0.5133028287539974]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.0018908643633720468,-1.731609657684783,0.71338606911949],"aabb_xy":[[-0.07189086699995839,-1.7517145226806483],[0.0681091382732143,-1.7115047926889173]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.568796738864717,-1.9895452077252023,0.71338606911949],"aabb_xy":[[-0.60629673897031,-1.9963673695781832],[-0.5312967387591241,-1.982723045872221]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.5846753294790374,-2.19094954421296,0.71338606911949],"aabb_xy":[[0.49467533006066655,-2.2243250410571496],[0.6746753288974083,-2.15757404736877]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.08237975269431375,-0.602402072214119,0.71338606911949],"aabb_xy":[[-0.1623797506750988,-0.6100036131759708],[-0.0023797547135287057,-0.594800531252267]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.4361063544828411,1.0301633806612434,0.71338606911949],"aabb_xy":[[-0.5161063559129682,0.9506462256486339],[-0.3561063530527138,1.1096805356738528]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.1542428746608363,-2.555254733024015,0.71338606911949],"aabb_xy":[[0.08424287252940674,-2.57801669864971],[0.22424287679226582,-2.532492767398319]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.20866299973653635,0.8731780416949606,0.71338606911949],"aabb_xy":[[0.19673026537470828,0.8607958888871013],[0.22059573409836442,0.8855601945028201]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.32477994796291654,-0.6168280852331942,0.71338606911949],"aabb_xy":[[-0.3398822494239345,-0.6319296068642558],[-0.30967764650189833,-0.6017265636021322]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[0.464334085883892,-0.00908757832707563,0.71338606911949],"aabb_xy":[[0.45088755924984864,-0.022557429980166854],[0.4777806125179353,0.004382273326015597]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.4878039389239587,0.3844377538961248,0.71338606911949],"aabb_xy":[[-0.49171781211938115,0.375688738489568],[-0.4838900657285361,0.39318676930268154]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.28144493789444025,-1.2335734946178953,0.71338606911949],"aabb_xy":[[-0.29660781087137733,-1.2487389519130143],[-0.26628206491750317,-1.2184080373227768]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.4839046971973924,-1.3559902147905238,0.71338606911949],"aabb_xy":[[0.4339096862379404,-1.4059902138261158],[0.5338997081568444,-1.3059902157549323]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.11919112379182206,1.378894007377513,0.71338606911949],"aabb_xy":[[-0.1841911238261248,1.3321933306971856],[-0.05419112375751933,1.4255946840578402]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.6059426567887813,-1.596696413950605,0.71338606911949],"aabb_xy":[[-0.6859426539483566,-1.6082440149084218],[-0.525942659629206,-1.5851488129927878]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.07432002843962027,1.093860320794597,0.71338606911949],"aabb_xy":[[0.06551797313064754,1.0860489946396676],[0.08312208374859296,1.1016716469495258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962264688403517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6995.png","name":"6995"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6995.png","name":"6995"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5814.png","name":"5814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1872.png","name":"1872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6894.png","name":"6894"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":755.5372506675208,"rotation_z_degrees":229.17019547579685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010271997658630204,0.015043421900753643,0.010721459122475095]},{"name":"camera_2","offset_m":[-0.0072824091089506784,-0.010798300020545404,-0.008922455733066407]},{"name":"camera_3","offset_m":[0.0082074600095428,0.011369409776510974,-0.019949890146448497]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011120448837725972,-0.0018375401402781907,0.0010965248535655622],"end_effector_yaw_offset_degrees":0.8366542992112163},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013130858057187932,0.0009893848293210487,-0.0011660952939436333],"end_effector_yaw_offset_degrees":-0.01780980055648529},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0019841513253140144,0.0006312540970314418,0.0015329447872683933],"end_effector_yaw_offset_degrees":-0.14022500349872113}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016999628757283203,-0.003434392668011973],"position_m":[0.3113000371242717,-0.11973439266801197,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011094892057300978,0.003667147985089371],"position_m":[0.310189051079427,0.09476714798508937,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003813376673536948,0.0019624299438714132],"position_m":[0.35891337667353695,0.29866242994387143,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002212122445472871,-0.0035573877334099105],"position_m":[0.24621212244547286,-0.3553573877334099,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6d15e5b2e522e687fec1cfc038147a8b9b704a812d469a6759be6511be461cb0","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6995/tex_ceiling_textures_6894/tex_floor_textures_5374/tex_table_textures_5814/tex_wall_textures_1872","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8931294397251015383,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8931294397251015383,"visual_seed":8931294397251015383,"scene_id":"lab_003","finished_at":"2026-09-03T01:29:50"} +{"episode_id":"ep_000050","started_at":"2026-09-03T01:31:18","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.08102538692731043,-0.29794690026511406,0.71338606911949],"aabb_xy":[[-0.09857208184342936,-0.3354469018293653],[-0.0634786920111915,-0.2604468987008628]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.061656123511828365,1.3780709874107484,0.71338606911949],"aabb_xy":[[-0.08950116029243549,1.347286488672437],[-0.03381108673122125,1.4088554861490603]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.13800987848554436,-0.1321784211419339,0.71338606911949],"aabb_xy":[[-0.17392338291053402,-0.16809192935868852],[-0.10209637406055465,-0.09626491292517927]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.27478160574483024,-0.5246687183762915,0.71338606911949],"aabb_xy":[[-0.29169233818117196,-0.5381409239689059],[-0.2578708733084884,-0.5111965127836768]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.2575601958500082,-1.8963066895223837,0.71338606911949],"aabb_xy":[[0.2075601962736735,-1.9462872684744899],[0.30756019542634294,-1.846326110570278]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.6390417791599954,0.8500787030129731,0.71338606911949],"aabb_xy":[[0.6047448681422548,0.8157818168030315],[0.673338690177736,0.8843755892229141]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.4570564597372463,-1.9558803427988547,0.71338606911949],"aabb_xy":[[-0.5069391566149426,-2.0058803420451294],[-0.4071737628595502,-1.9058803435525802]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.48233747510627456,-1.1944036049156228,0.71338606911949],"aabb_xy":[[0.4183374765197021,-1.2414105683151315],[0.546337473692847,-1.147396641516114]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.38762863297161415,0.4380810178113599,0.71338606911949],"aabb_xy":[[-0.3917067908786639,0.4340000375630966],[-0.3835504750645644,0.4421619980596232]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.5881768320194697,1.1932623847995352,0.71338606911949],"aabb_xy":[[-0.600803619306666,1.1837163110979623],[-0.5755500447322733,1.202808458501108]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.552724357345765,1.2498396039972457,0.71338606911949],"aabb_xy":[[0.5291392338818701,1.184839601751814],[0.5763094808096598,1.3148396062426775]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.28509140346739004,1.0463155445148131,0.71338606911949],"aabb_xy":[[0.26759147003340655,1.0288155445945784],[0.3025913369013733,1.0638155444350474]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.22075529671879335,-1.3873743991873255,0.71338606911949],"aabb_xy":[[-0.250722853628619,-1.4173743994852113],[-0.19078773980896768,-1.3573743988894398]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.323491870487731,-1.366572297052175,0.71338606911949],"aabb_xy":[[0.24349186722371785,-1.3801323293610883],[0.4034918737517441,-1.3530122647432616]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.3048004041717103,1.1328574177275703,0.71338606911949],"aabb_xy":[[-0.3948004078486283,1.0714250111504657],[-0.214800400494792,1.1942898243046745]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.3772579176049088,-0.9369745039012494,0.71338606911949],"aabb_xy":[[-0.4322316396412417,-0.9919745034654827],[-0.32228419556857596,-0.8819745043370163]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.33716765095294954,0.4776771787344338,0.71338606911949],"aabb_xy":[[0.299836374427707,0.44302412393958146],[0.3744989274781922,0.5123302335292861]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.5185541415870902,0.1351846463517714,0.71338606911949],"aabb_xy":[[-0.5598029526170049,0.08018464683955397],[-0.47730533055717544,0.19018464586398887]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.6011179612020827,-2.4786447088018884,0.71338606911949],"aabb_xy":[[0.5832488534476272,-2.4924776167791],[0.6189870689565382,-2.4648118008246778]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.2833091744641444,0.6456099084442775,0.71338606911949],"aabb_xy":[[0.23349239499930963,0.5956099099599741],[0.33312595392897915,0.6956099069285808]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.5804223508215409,1.6466144725596608,0.71338606911949],"aabb_xy":[[-0.6179223493971617,1.6338781768961026],[-0.5429223522459201,1.6593507682232185]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.45276361640356605,-1.1064256146882538,0.71338606911949],"aabb_xy":[[-0.4777636156755283,-1.122770978284416],[-0.4277636171316037,-1.0900802510920913]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.04487714045860325,0.1418041762376525,0.71338606911949],"aabb_xy":[[-0.0823771402756368,0.13716596492651065],[-0.0073771406415696905,0.14644238754879438]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.6123556740488183,-0.8924201917463104,0.71338606911949],"aabb_xy":[[0.5962937465903005,-0.9774201935589021],[0.6284176015073358,-0.8074201899337184]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.2186808598468638,0.16450813381314422,0.71338606911949],"aabb_xy":[[-0.268680858492785,0.11458859015368181],[-0.16868086120094258,0.21442767747260658]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[-0.06120720935204915,-1.564578194675559,0.71338606911949],"aabb_xy":[[-0.06990517164276444,-1.5767031689830342],[-0.05250924706133387,-1.5524532203680848]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.0348326824569698,-1.0681896187144038,0.71338606911949],"aabb_xy":[[-0.07233268088037015,-1.081353832682234],[0.002667315966430557,-1.055025404746573]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.6211279362571218,0.24734477228805174,0.71338606911949],"aabb_xy":[[-0.6312096433356952,0.16734477439593706],[-0.6110462291785482,0.3273447701801664]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_28","position":[0.32432479694106653,-0.6656968387569726,0.71338606911949],"aabb_xy":[[0.254324795338787,-0.6791296319586302],[0.39432479854334596,-0.652264045555315]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[0.584564532647383,1.0678426780031685,0.71338606911949],"aabb_xy":[[0.5195645300095896,1.0163630793037215],[0.6495645352851765,1.1193222767026154]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[-0.4306604773290294,-0.2994582014237577,0.71338606911949],"aabb_xy":[[-0.5106543009075877,-0.37945820401659924],[-0.35066665375047124,-0.2194581988309161]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_31","position":[-0.1744129678868268,-1.2457948974776185,0.71338606911949],"aabb_xy":[[-0.1824392385174528,-1.2545463924549711],[-0.1663866972562008,-1.237043402500266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959551216798507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7969.png","name":"7969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6118.png","name":"6118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":675.4885761721994,"rotation_z_degrees":194.14166327015974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00952610849310772,-0.01851443045350761,0.012004529380765624]},{"name":"camera_2","offset_m":[0.003891889662196335,0.019333633242414206,0.005099501688219474]},{"name":"camera_3","offset_m":[0.0011022494046166557,6.652745006342775e-05,0.019182879944749546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018031995119674317,0.001839724721907415,-0.0013718118610855012],"end_effector_yaw_offset_degrees":-0.47872183288274717},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009617743703917597,0.0006212059704207981,-0.00010417059941367733],"end_effector_yaw_offset_degrees":0.7189512225136172},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001157320726845914,-0.0012033962815865148,-0.0012873242609641958],"end_effector_yaw_offset_degrees":0.8851511616091192}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007105163372756454,0.00432924265644078],"position_m":[0.31371051633727565,-0.11197075734355923,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004221456586126648,-0.0034878494999952296],"position_m":[0.30607854341387336,0.08761215050000477,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023703751671932836,0.004355553371639095],"position_m":[0.3574703751671933,0.30105555337163914,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030780825810006697,-0.0020358300093183657],"position_m":[0.24092191741899932,-0.35383583000931834,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32b2cf6dea9504ea34a3039c600c576ce9c7e16500823e3427772e4ec2684c4f","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6369/tex_ceiling_textures_6057/tex_floor_textures_6118/tex_table_textures_7969/tex_wall_textures_1375","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6366787264490884312,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6366787264490884312,"visual_seed":6366787264490884312,"scene_id":"lab_003","finished_at":"2026-09-03T01:34:01"} +{"episode_id":"ep_000051","started_at":"2026-09-03T01:34:05","dimensions":{"distractor":{"count":26,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.014323833441080791,-1.629003592253821,0.71338606911949],"aabb_xy":[[-0.07067616497634244,-1.713877887716106],[0.09932383185850402,-1.544129296791536]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.37277096801730547,-1.0067736113187025,0.71338606911949],"aabb_xy":[[0.3619979940959377,-1.0417736095377417],[0.38354394193867325,-0.9717736130996637]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.4550403048308017,1.685567929844726,0.71338606911949],"aabb_xy":[[-0.49066946073076145,1.649935263087873],[-0.41941114893084197,1.7212005966015789]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.02636530174239582,0.5568606584208404,0.71338606911949],"aabb_xy":[[-0.043865302001732456,0.5427691162320679],[-0.008865301483059201,0.5709522006096132]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.4262086915132379,-1.5623428724674635,0.71338606911949],"aabb_xy":[[0.3762086919369032,-1.6123234514195697],[0.47620869108957264,-1.5123622935153578]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.4499680183122776,-1.4160269134007744,0.71338606911949],"aabb_xy":[[-0.5039836145941776,-1.4800269162930313],[-0.3959524220303776,-1.352026910508517]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.3944257764449146,1.1865713946031393,0.71338606911949],"aabb_xy":[[0.3665807396643075,1.1557868958648279],[0.42227081322552174,1.2173558933414512]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.015609260969362548,-0.7263822363707777,0.71338606911949],"aabb_xy":[[-0.03078143025099589,-0.7415510932989813],[-0.00043709168772920574,-0.7112133794425746]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.5489060932769516,-0.17392535330935877,0.71338606911949],"aabb_xy":[[-0.586406093220718,-0.18221844334419535],[-0.5114060933331852,-0.16563226327452218]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.22580001619947299,-0.45932699253561005,0.71338606911949],"aabb_xy":[[-0.2858000167073259,-0.5161737262215312],[-0.16580001569162006,-0.4024802588496887]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.5622099516365268,0.6082946822372284,0.71338606911949],"aabb_xy":[[-0.6121941873447041,0.5582946834237328],[-0.5122257159283496,0.658294681050724]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.17868520307935265,-0.758620689625813,0.71338606911949],"aabb_xy":[[0.1587941631990124,-0.77127650091051],[0.19857624295969292,-0.7459648783411162]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.5346007762806884,1.092677457557015,0.71338606911949],"aabb_xy":[[-0.5450123349611721,1.0873317242211167],[-0.5241892176002046,1.0980231908929134]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.45113356203018085,-1.2050718929548234,0.71338606911949],"aabb_xy":[[0.4395645812832443,-1.2300718930717554],[0.4627025427771175,-1.180071892837892]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.45532726425438863,-1.8162286258056222,0.71338606911949],"aabb_xy":[[-0.4836569742029289,-1.8206893679993394],[-0.42699755430584846,-1.8117678836119053]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.45209958508006576,1.7790650300550657,0.71338606911949],"aabb_xy":[[0.37209958642317975,1.7645601711308025],[0.5320995837369518,1.7935698889793283]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.6446104129505577,1.209611861130218,0.71338606911949],"aabb_xy":[[0.5746104111418122,1.1882580923660309],[0.7146104147593031,1.2309656298944056]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.2376515025864182,-1.4166506166075514,0.71338606911949],"aabb_xy":[[-0.2565358863549284,-1.4355365413879042],[-0.218767118817908,-1.3977646918271986]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.4680482243230608,-2.1509143623786495,0.71338606911949],"aabb_xy":[[0.3880482273088128,-2.17104891405206],[0.5480482213373088,-2.130779810705238]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.1561251178077262,0.7281633708116289,0.71338606911949],"aabb_xy":[[0.12564086768069604,0.6781633710301329],[0.18660936793475635,0.7781633705931248]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.23155951850601197,1.3334442867143514,0.71338606911949],"aabb_xy":[[0.19808035124497106,1.2999651733432445],[0.2650386857670529,1.3669234000854584]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.04746346904300325,-0.803476205397736,0.71338606911949],"aabb_xy":[[-0.08246346731312315,-0.8105503330927241],[-0.012463470772883338,-0.7964020777027477]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.28834272012831097,-1.4712206532100172,0.71338606911949],"aabb_xy":[[0.2658427203144086,-1.475695269580498],[0.31084271994221335,-1.4667460368395364]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.40062978557661477,-1.3820652668505473,0.71338606911949],"aabb_xy":[[0.3881624274668792,-1.3945305914838708],[0.4130971436863505,-1.3695999422172238]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[-0.13711202307864923,0.7614204804863909,0.71338606911949],"aabb_xy":[[-0.19211202225523868,0.7064308057114331],[-0.08211202390205971,0.8164101552613484]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.1012435623072675,0.0533256595642273,0.71338606911949],"aabb_xy":[[-0.1462361490257179,0.008325660289778547],[-0.05625097558881709,0.09832565883867606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936210498524712,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6965.png","name":"6965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6038.png","name":"6038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7912.png","name":"7912"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":813.5655231044128,"rotation_z_degrees":35.33829172483314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014373047335024404,0.004755653270318079,-0.01732041339313544]},{"name":"camera_2","offset_m":[-0.005261752972308416,-0.013171057897610538,-4.172894542020175e-05]},{"name":"camera_3","offset_m":[0.007220455736179254,0.008844117003414805,-0.00962094170852872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010879855622883787,-0.00041288971741272325,-0.0008414238246921943],"end_effector_yaw_offset_degrees":0.6598175490707348},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012343770994503735,0.001168048614531264,0.0016248741432030099],"end_effector_yaw_offset_degrees":0.6244445156683007},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0015912461493630557,0.0003381812502666519,0.00013797504846805144],"end_effector_yaw_offset_degrees":-0.9075717991881016}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023377676044084496,-0.003317213735310308],"position_m":[0.31066223239559154,-0.11961721373531031,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012403413454501523,0.00027326866235194945],"position_m":[0.3090596586545499,0.09137326866235194,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002189102330716056,-0.0006957273358968495],"position_m":[0.3572891023307161,0.2960042726641032,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002607768325728719,0.0027659496884039946],"position_m":[0.24660776832572873,-0.349034050311596,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5fe59a2fe6ae594050eef6cb3d45352ddd11ea5cb3ab3be7204bf2b072212eac","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6649/tex_ceiling_textures_7912/tex_floor_textures_6038/tex_table_textures_866/tex_wall_textures_6965","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8996348370853849376,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8996348370853849376,"visual_seed":8996348370853849376,"scene_id":"lab_003","finished_at":"2026-09-03T01:36:38"} +{"episode_id":"ep_000052","started_at":"2026-09-03T01:36:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.5534269716612294,-0.4340507073732316,0.71338606911949],"aabb_xy":[[-0.6174269680885514,-0.48122033119532803],[-0.48942697523390755,-0.38688108355113515]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.41688064164963334,-2.503811175182728,0.71338606911949],"aabb_xy":[[0.4080785863406605,-2.5116225013376567],[0.42568269695860594,-2.4959998490277986]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.4609178403067562,-1.297311405447557,0.71338606911949],"aabb_xy":[[0.3969178417201837,-1.3443183688470657],[0.5249178388933287,-1.2503044420480482]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.06766451632839576,-2.0841797436007745,0.71338606911949],"aabb_xy":[[-0.07943270312305328,-2.1691797435059965],[-0.05589632953373824,-1.9991797436955534]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.5989045968063558,-2.4247143306404895,0.71338606911949],"aabb_xy":[[0.5389045965549546,-2.4789956556769535],[0.658904597057757,-2.3704330056040246]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.5582040989779884,0.057944716101075766,0.71338606911949],"aabb_xy":[[0.5110747199761526,-0.006055284943326203],[0.605333477979824,0.12194471714547771]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.20453634367796458,-0.6660253920762393,0.71338606911949],"aabb_xy":[[0.1844779320647243,-0.6860904789853969],[0.22459475529120487,-0.6459603051670818]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.607527537190397,0.7811308907711934,0.71338606911949],"aabb_xy":[[-0.6147887847608046,0.7683438805076839],[-0.6002662896199896,0.7939179010347028]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.32259810120234933,-1.4683098881692644,0.71338606911949],"aabb_xy":[[0.26100734197835657,-1.5323098862783116],[0.3841888604263422,-1.4043098900602178]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.5964319933048632,-2.1963159117808924,0.71338606911949],"aabb_xy":[[0.5639702924229355,-2.2264487438957947],[0.6288936941867904,-2.166183079665989]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.5316850359196963,-1.6358571533825677,0.71338606911949],"aabb_xy":[[-0.5691850362118711,-1.6398986287831712],[-0.4941850356275215,-1.6318156779819641]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.46754380911824356,0.5047370582781339,0.71338606911949],"aabb_xy":[[-0.5325438072741626,0.47844081372822167],[-0.4025438109623245,0.5310333028280461]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.12827894360049852,1.483371109750315,0.71338606911949],"aabb_xy":[[0.10939455983198834,1.4644851849699625],[0.14716332736900875,1.502257034530668]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.5118011371729692,-0.36568120035027896,0.71338606911949],"aabb_xy":[[0.46180113759663444,-0.415661779302385],[0.5618011367493039,-0.3157006213981731]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.25936519351473253,-2.3026996160279163,0.71338606911949],"aabb_xy":[[-0.3093426103799861,-2.352699617517165],[-0.20938777664947897,-2.2526996145386677]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.5115924945461386,-1.9618602733418458,0.71338606911949],"aabb_xy":[[-0.5465924937389568,-1.9728273193395083],[-0.47659249535332027,-1.9508932273441832]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.04952425068580424,-1.0457630914255462,0.71338606911949],"aabb_xy":[[0.042482799735056635,-1.052789843163341],[0.05656570163655183,-1.038736339687752]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.5691906835230809,0.24682655440353507,0.71338606911949],"aabb_xy":[[-0.6026308587191004,0.21338292857260496],[-0.5357505083270612,0.2802701802344651]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.05438051972479552,-1.1824965655717898,0.71338606911949],"aabb_xy":[[-0.14438051831926546,-1.1987471518852109],[0.03561947886967442,-1.1662459792583688]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.44784449276741617,1.278270609087869,0.71338606911949],"aabb_xy":[[-0.5178444945761616,1.2569168403236817],[-0.3778444909586708,1.2996243778520564]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.6396814048877448,-0.6850848556082925,0.71338606911949],"aabb_xy":[[0.5756857074926482,-0.749084853909001],[0.7036771022828414,-0.6210848573075837]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.6485004503579217,1.7558443331165203,0.71338606911949],"aabb_xy":[[0.5944848540760217,1.6918443302242632],[0.7025160466398217,1.8198443360087775]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.11076520388290656,-2.3535174086765296,0.71338606911949],"aabb_xy":[[-0.16076447905134272,-2.4035174099524768],[-0.06076592871447041,-2.3035174074005824]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.2948932411926244,-0.1418073480246771,0.71338606911949],"aabb_xy":[[-0.32989323946274424,-0.14888147571966523],[-0.25989324292250443,-0.1347332203296889]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.08319616082679648,0.504811049219295,0.71338606911949],"aabb_xy":[[-0.10106526858125199,0.49097814124208405],[-0.065327053072341,0.5186439571965059]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[-0.21629310957455367,-1.041046721572852,0.71338606911949],"aabb_xy":[[-0.2862931059845154,-1.0614846572245333],[-0.14629311316459184,-1.0206087859211699]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[-0.6141189724136609,1.650166319183152,0.71338606911949],"aabb_xy":[[-0.6941189728838769,1.6418556115688039],[-0.534118971943445,1.6584770267975004]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[0.6710294923019711,-1.674291276056551,0.71338606911949],"aabb_xy":[[0.6335294923582047,-1.6825843660913873],[0.7085294922457375,-1.6659981860217141]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.7068046285296783,0.29088209878612314,0.71338606911949],"aabb_xy":[[0.6993921729882897,0.2850308883644952],[0.7142170840710667,0.2967333092077511]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949894696142453,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1674.png","name":"1674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1674.png","name":"1674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9104.png","name":"9104"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9062.png","name":"9062"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9561.png","name":"9561"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":719.6814474780157,"rotation_z_degrees":46.33105521260034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013511726255588222,0.0018748204701043401,0.01991546831223381]},{"name":"camera_2","offset_m":[-0.00018502782150221428,0.019781629105142192,-0.01619872694530059]},{"name":"camera_3","offset_m":[0.00045205556915837997,-0.017277488951541558,-0.0054166107927582415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014256448006923386,0.001280673712945467,0.0018417646794796814],"end_effector_yaw_offset_degrees":-0.5999655176603553},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002513469409342762,-0.00148317716220345,-0.0013227970608811486],"end_effector_yaw_offset_degrees":0.010830568615656011},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001508636049018694,-8.580052839711081e-05,-0.0011694135696171846],"end_effector_yaw_offset_degrees":-0.7641334040525929}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004023683197875637,0.0049813688000324265],"position_m":[0.31702368319787566,-0.11131863119996757,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012444859776716264,-0.0009351402716721883],"position_m":[0.3090555140223284,0.09016485972832781,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00396049444328331,-0.0012456994604951909],"position_m":[0.35906049444328336,0.29545430053950483,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009983949426207086,0.00431120083958799],"position_m":[0.2449983949426207,-0.34748879916041203,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c8a912fe919587a2f6cc9517f0c3ae47f12c56239105a0ce89cee6949c83ed4","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1674/tex_ceiling_textures_9561/tex_floor_textures_9062/tex_table_textures_9104/tex_wall_textures_9200","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":615379920747689342,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":615379920747689342,"visual_seed":615379920747689342,"scene_id":"lab_003","finished_at":"2026-09-03T01:39:23"} +{"episode_id":"ep_000053","started_at":"2026-09-03T01:39:26","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.09833602952043852,-2.5059275416065314,0.71338606911949],"aabb_xy":[[-0.13483185014771726,-2.5424114840332885],[-0.06184020889315976,-2.4694435991797734]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.6140933698265872,-1.8036131748908653,0.71338606911949],"aabb_xy":[[-0.6601784610813187,-1.8676131721434204],[-0.5680082785718558,-1.7396131776383101]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.14781799599178702,-0.3139693269873134,0.71338606911949],"aabb_xy":[[-0.21781799759406653,-0.32740212018897097],[-0.07781799438950757,-0.3005365337856558]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.6073534259050217,-0.5860278820833114,0.71338606911949],"aabb_xy":[[0.5927100203509886,-0.6006866017400956],[0.6219968314590546,-0.5713691624265271]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.2082586743971533,1.3294742090350344,0.71338606911949],"aabb_xy":[[-0.2782586762058987,1.308120440270847],[-0.13825867258840785,1.3508279777992218]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.21858886319194254,1.5748377490155447,0.71338606911949],"aabb_xy":[[-0.24487768751238317,1.5485663153608933],[-0.19230003887150185,1.6011091826701958]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.4719567120924699,1.2410654772951184,0.71338606911949],"aabb_xy":[[0.42195671080862995,1.191086622904496],[0.5219567133763099,1.2910443316857403]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.10254234819410057,-1.890597039887148,0.71338606911949],"aabb_xy":[[0.0951298926527121,-1.8964482503087756],[0.10995480373548905,-1.8847458294655197]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.18807414043634763,1.125088933131297,0.71338606911949],"aabb_xy":[[-0.2255741390119684,1.1123526374677388],[-0.1505741418607268,1.1378252287948547]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.05476847130855034,0.6150621712992055,0.71338606911949],"aabb_xy":[[-0.06080548430921507,0.6090354702302573],[-0.04873145830788562,0.6210888723681537]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.2583096618872843,0.45384957408935334,0.71338606911949],"aabb_xy":[[-0.34830966048175427,0.4375989877759323],[-0.16830966329281438,0.47010016040277436]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.3989640742048963,-0.9971016558976586,0.71338606911949],"aabb_xy":[[0.3864967160951607,-1.0095669805309821],[0.411431432314632,-0.9846363312643351]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.5115473451599366,-0.9559902143241326,0.71338606911949],"aabb_xy":[[0.4620669239459777,-1.0199902122369844],[0.5610277663738953,-0.8919902164112807]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.47508471024583177,-0.816861842186883,0.71338606911949],"aabb_xy":[[-0.4986698337097267,-0.8818618444323147],[-0.45149958678193697,-0.7518618399414512]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.47572057814072655,1.4646421775539111,0.71338606911949],"aabb_xy":[[-0.4838342328141036,1.4565363610998823],[-0.4676069234673494,1.4727479940079404]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.24277467015435789,-2.3146206232302107,0.71338606911949],"aabb_xy":[[-0.2840792132180938,-2.3786206227983278],[-0.20147012709062187,-2.2506206236620936]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.24341300490524453,-1.1150507323983658,0.71338606911949],"aabb_xy":[[0.2048673120800435,-1.1535965034545546],[0.2819586977304456,-1.076504961342177]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.1938409864719024,-2.10988020180522,0.71338606911949],"aabb_xy":[[0.15634098617972758,-2.113921677205824],[0.23134098676407722,-2.1058387264046163]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.46896623995305475,-1.5490764931214056,0.71338606911949],"aabb_xy":[[0.4558149939817654,-1.5740764928780924],[0.4821174859243441,-1.5240764933647193]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.07072509290492346,-0.8880158501193209,0.71338606911949],"aabb_xy":[[-0.09061613278526372,-0.900671661404018],[-0.05083405302458323,-0.8753600388346243]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.4101214404864715,1.6512578824295132,0.71338606911949],"aabb_xy":[[0.36013849029899203,1.6012578827869528],[0.4601043906739507,1.7012578820720736]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.2991892144611494,-0.7102153674854386,0.71338606911949],"aabb_xy":[[-0.3162912924195175,-0.7273221730167083],[-0.28208713650278117,-0.6931085619541688]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.0242631077783777,-1.3857964051510046,0.71338606911949],"aabb_xy":[[-0.0782787040602777,-1.4497964080432617],[0.029752488503522304,-1.3217964022587474]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.5670840734189817,0.7686253962685425,0.71338606911949],"aabb_xy":[[0.5425704493219758,0.7443608029665061],[0.5915976975159876,0.792889989570579]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[0.5650207914105077,-1.213463661974153,0.71338606911949],"aabb_xy":[[0.47502079199213676,-1.2468391588183425],[0.6550207908288785,-1.180088165129963]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.6543919164057883,-2.463097161693755,0.71338606911949],"aabb_xy":[[0.6219302155238606,-2.493229993808657],[0.6868536172877155,-2.4329643295788514]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.5236072115955832,0.3714438844524697,0.71338606911949],"aabb_xy":[[0.46597674270831224,0.311443885525759],[0.581237680482854,0.43144388337918016]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.009774587554169267,-1.8991649056539148,0.71338606911949],"aabb_xy":[[-0.06477458717591511,-1.9541485984413878],[0.045225412067576576,-1.8441812128664423]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[-0.5806658328410835,-2.2018766907309892,0.71338606911949],"aabb_xy":[[-0.5877072837918311,-2.2089034424687837],[-0.5736243818903359,-2.194849938993195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695519072506284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2007.png","name":"2007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2007.png","name":"2007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/454.png","name":"454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2885.png","name":"2885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1014.png","name":"1014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":701.7214068243967,"rotation_z_degrees":81.76613371163083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003033574493233257,0.017566321183952103,0.012680148508541985]},{"name":"camera_2","offset_m":[-0.0013598270903910671,-0.01880417770469751,0.010430385602925307]},{"name":"camera_3","offset_m":[0.005129503039596382,0.014764099736527727,-0.013017386244155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012775667000887803,-0.0009582909081815333,3.482299946124586e-05],"end_effector_yaw_offset_degrees":0.7465658553950065},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004458951881449757,-0.0019098233800934833,-0.0015379440971842856],"end_effector_yaw_offset_degrees":-0.8029287977262853},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00018535358692892828,-0.0006615672137901046,-0.0014299013808630606],"end_effector_yaw_offset_degrees":0.6089263361048185}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004607369955452751,-0.0027719205038373184],"position_m":[0.31760736995545275,-0.11907192050383732,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016880427227600613,-0.0015517282530635047],"position_m":[0.30861195727723995,0.0895482717469365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018950961016029402,0.004338064421574251],"position_m":[0.35699509610160296,0.30103806442157427,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00149240674870464,-0.00044970252736849757],"position_m":[0.24250759325129537,-0.3522497025273685,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0a665f9ac722ef76558f7ccfa80f35c87716ddf731cd48603523a2d466fb7cb1","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2007/tex_ceiling_textures_3538/tex_floor_textures_1014/tex_table_textures_454/tex_wall_textures_2885","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3925514320871702693,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3925514320871702693,"visual_seed":3925514320871702693,"scene_id":"lab_003","finished_at":"2026-09-03T01:41:54"} +{"episode_id":"ep_000054","started_at":"2026-09-03T01:41:58","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.6036816247761607,0.8964047184183954,0.71338606911949],"aabb_xy":[[-0.6142491044342597,0.8858596883053869],[-0.5931141451180617,0.906949748531404]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.3443402431048479,-0.7081109119090752,0.71338606911949],"aabb_xy":[[0.2943402436646522,-0.7580788363933915],[0.39434024254504346,-0.6581429874247589]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.2232169704009606,-1.7892694910252078,0.71338606911949],"aabb_xy":[[-0.27821244822162,-1.844269492459114],[-0.16822149258030122,-1.7342694895913002]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.5147820993289356,-1.8903683669652582,0.71338606911949],"aabb_xy":[[0.47728209915706354,-1.9230691023481654],[0.5522820995008074,-1.857667631582351]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.6114179525612551,-0.9791516820511932,0.71338606911949],"aabb_xy":[[0.5616011730964203,-1.0291516805354965],[0.6612347320260898,-0.9291516835668897]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.4045673199385703,0.8522394515100156,0.71338606911949],"aabb_xy":[[-0.42956731921053254,0.8358940879138532],[-0.379567320666608,0.8685848151061779]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.33643187162580634,1.5890294923520512,0.71338606911949],"aabb_xy":[[0.26643187521584444,1.568591556700369],[0.40643186803576803,1.6094674280037324]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.09914440861639484,-0.31330514786111907,0.71338606911949],"aabb_xy":[[-0.16314441083680187,-0.35767823198640736],[-0.035144406395987815,-0.2689320637358308]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.05162285520954679,0.8979749392691709,0.71338606911949],"aabb_xy":[[-0.09942902282331542,0.8329749365621117],[-0.0038166875957781335,0.9629749419762297]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.05198871819326434,-2.099363974578262,0.71338606911949],"aabb_xy":[[0.014488717528685633,-2.1150510325784837],[0.08948871885784303,-2.0836769165780393]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.023091054750085105,-1.6657546758257422,0.71338606911949],"aabb_xy":[[-0.06190894366733812,-1.7506289712880274],[0.10809105316750833,-1.5808803803634575]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.6680534639084945,-2.5582515117138054,0.71338606911949],"aabb_xy":[[-0.67890507015737,-2.5691108024414566],[-0.6572018576596188,-2.547392220986154]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.4885945211007461,-0.8545091521206531,0.71338606911949],"aabb_xy":[[0.4848912597716072,-0.8582111704293709],[0.492297782429885,-0.8508071338119352]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.19754222274909328,-0.6878830816981452,0.71338606911949],"aabb_xy":[[0.19311159339425313,-0.6933314534328278],[0.20197285210393348,-0.6824347099634626]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.6071634031714177,0.2071885343717037,0.71338606911949],"aabb_xy":[[-0.62844141131489,0.14218853204563062],[-0.5858853950279455,0.27218853669777676]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.5935528077094256,-2.16847458006752,0.71338606911949],"aabb_xy":[[0.5809260204222293,-2.1780206537690927],[0.606179594996622,-2.1589285063659465]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.06628704912703065,1.4420616055921722,0.71338606911949],"aabb_xy":[[0.03999822480658998,1.4157901719375208],[0.0925758734474713,1.4683330392468232]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.4558895099124286,0.11775333430274149,0.71338606911949],"aabb_xy":[[-0.4629298198459657,0.03775333490307011],[-0.4488491999788917,0.19775333370241294]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.008248879132280895,-2.212936143397083,0.71338606911949],"aabb_xy":[[-0.026048031885459726,-2.247233029607024],[0.042545790150021516,-2.1786392571871414]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.38731999352382807,1.5157056037307997,0.71338606911949],"aabb_xy":[[-0.3952432737625764,1.493205603492796],[-0.37939671328507973,1.5382056039688028]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[0.5104308027325266,-1.3445787436879695,0.71338606911949],"aabb_xy":[[0.45043080187171364,-1.3960051736944554],[0.5704308035933392,-1.2931523136814826]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.6531586853911079,0.37719928425685767,0.71338606911949],"aabb_xy":[[-0.6594707849274465,0.37143234500363886],[-0.6468465858547695,0.3829662235100765]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.4859093940462798,-2.0443035212171794,0.71338606911949],"aabb_xy":[[-0.5659093910093188,-2.121379162860953],[-0.40590939708324053,-1.967227879573406]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.12668749183323214,1.15309090352469,0.71338606911949],"aabb_xy":[[-0.17668749311707208,1.1031120491340676],[-0.07668749054939215,1.2030697579153118]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.38384507209545426,-0.6865990465208334,0.71338606911949],"aabb_xy":[[-0.46384506925502955,-0.6981466474786504],[-0.303845074935879,-0.6750514455630163]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.3315447016755933,0.41160743394544275,0.71338606911949],"aabb_xy":[[-0.3540411231094574,0.38910743413869525],[-0.3090482802417292,0.43410743375219013]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.5273214244016537,0.6944122590514192,0.71338606911949],"aabb_xy":[[0.5048566544302485,0.6719122581725587],[0.5497861943730588,0.7169122599302797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[0.23492387443390284,-1.020460027826722,0.71338606911949],"aabb_xy":[[0.14523679812578738,-1.1104600280811725],[0.3246109507420183,-0.9304600275722714]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.36102383362352053,0.13274812015247184,0.71338606911949],"aabb_xy":[[-0.39534011079813847,0.08274812017929412],[-0.3267075564489026,0.18274812012564956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942838155074539,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9354.png","name":"9354"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9354.png","name":"9354"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1303.png","name":"1303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7565.png","name":"7565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4942.png","name":"4942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8407.png","name":"8407"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":506.6530650574805,"rotation_z_degrees":239.20341282614996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012788544895315087,-0.009425036235201602,-0.014834321242747847]},{"name":"camera_2","offset_m":[0.003403083603100581,-0.0009441738456941635,-0.014030560258711171]},{"name":"camera_3","offset_m":[-0.011330364172341513,-0.010391554483173452,0.0013226548424725253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006865800432623421,-0.0010668675051491805,-0.0006726644053759064],"end_effector_yaw_offset_degrees":-0.8805969796910165},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008850330840176654,-0.0008894791204260085,0.00046348682883923763],"end_effector_yaw_offset_degrees":-0.055285723430937406},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008508054438780468,-0.0017729044796224364,0.0009650257597333205],"end_effector_yaw_offset_degrees":0.6314581489052549}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029501405934438925,0.004197806518031343],"position_m":[0.3159501405934439,-0.11210219348196866,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013573589240172702,0.004519643787527813],"position_m":[0.30894264107598274,0.09561964378752781,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004801260298574371,-0.00471642985667659],"position_m":[0.3599012602985744,0.29198357014332343,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003952207451413063,0.00482913026658083],"position_m":[0.24004779254858694,-0.3469708697334192,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b8f978ad44ebb187f12f59c4992b1ed8c3e19b81f86b6c5fbeb6964da1492130","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9354/tex_ceiling_textures_8407/tex_floor_textures_4942/tex_table_textures_1303/tex_wall_textures_7565","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7030818271245385100,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7030818271245385100,"visual_seed":7030818271245385100,"scene_id":"lab_003","finished_at":"2026-09-03T01:44:37"} +{"episode_id":"ep_000055","started_at":"2026-09-03T01:44:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.25430719960385917,-2.036995850042613,0.71338606911949],"aabb_xy":[[0.20482677838990038,-2.100995847955465],[0.30378762081781796,-1.9729958521297615]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.015568062616375888,1.6052417307531557,0.71338606911949],"aabb_xy":[[0.0036959796048747773,1.5202417310595056],[0.027440145627877,1.6902417304468063]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.05398199675694548,0.8174974523696772,0.71338606911949],"aabb_xy":[[-0.01601800663461649,0.7821816786662463],[0.12398200014850747,0.852813226073108]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.40220968458882983,-2.1034645136714163,0.71338606911949],"aabb_xy":[[-0.43783884048878957,-2.139097180428269],[-0.3665805286888701,-2.067831846914563]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.6058703258339736,1.3618773554686125,0.71338606911949],"aabb_xy":[[-0.6113282714709937,1.281877352160953],[-0.6004123801969535,1.4418773587762712]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.5130915731750897,-1.6367934208387058,0.71338606911949],"aabb_xy":[[-0.5248597599697473,-1.7217934207439278],[-0.5013233863804323,-1.5517934209334847]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[-0.12637539114168062,-0.6724997978414553,0.71338606911949],"aabb_xy":[[-0.19037539348448215,-0.7174406490855877],[-0.06237538879887904,-0.6275589465973227]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.14813856920973578,-1.6625895333038687,0.71338606911949],"aabb_xy":[[0.12824752932939557,-1.6752453445885658],[0.16802960909007605,-1.649933722019172]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[0.4741301147007584,1.1279830731496903,0.71338606911949],"aabb_xy":[[0.4659155695850743,1.1193064828520485],[0.48234465981644226,1.1366596634473312]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.374367331828012,-1.6329955306022115,0.71338606911949],"aabb_xy":[[-0.45436733325813916,-1.7125126856148207],[-0.29436733039788476,-1.5534783755896018]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.30185056795523524,-0.5102530092267346,0.71338606911949],"aabb_xy":[[0.22185056748501936,-0.5185637168410829],[0.3818505684254513,-0.5019423016123862]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.6669738468491642,-0.2363596784951647,0.71338606911949],"aabb_xy":[[0.6294738470321306,-0.24099788980630657],[0.7044738466661977,-0.23172146718402284]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.1825927622746799,-0.3300518731509232,0.71338606911949],"aabb_xy":[[-0.21992403879992256,-0.3647049279457755],[-0.1452614857494373,-0.2953988183560709]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.3436738047663132,-0.5308406038243203,0.71338606911949],"aabb_xy":[[-0.3699626290867538,-0.5571120374789713],[-0.3173849804458725,-0.5045691701696688]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.18641049401296794,-1.2176135874851954,0.71338606911949],"aabb_xy":[[0.15141049488301228,-1.2233588085608598],[0.2214104931429236,-1.2118683664095315]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.6768472274105914,0.32617825638231324,0.71338606911949],"aabb_xy":[[-0.687698833659467,0.3153189656546622],[-0.6659956211617158,0.33703754710996425]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.21604074477381663,-2.1633788168104915,0.71338606911949],"aabb_xy":[[-0.24126158163365627,-2.188602567663377],[-0.19081990791397693,-2.138155065957604]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.5426719906472803,0.9026570965942269,0.71338606911949],"aabb_xy":[[0.520171990637132,0.8885608769546236],[0.5651719906574286,0.9167533162338302]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.23081600750340686,1.4122045219610602,0.71338606911949],"aabb_xy":[[-0.28078930150666725,1.3622045214065126],[-0.18084271350014636,1.4622045225156073]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.41557002177066105,1.777687413497263,0.71338606911949],"aabb_xy":[[0.3255700250350508,1.7245039501799682],[0.5055700185062713,1.8308708768145572]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.14361640901362482,0.9003793659850663,0.71338606911949],"aabb_xy":[[-0.22361641227763793,0.886819333676153],[-0.06361640574961167,0.9139393982939796]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.08778725654319652,-1.8662269825929125,0.71338606911949],"aabb_xy":[[-0.1024306620972295,-1.8808857022496965],[-0.07314385098916353,-1.851568262936128]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[0.6405212841862711,-2.0658732730534264,0.71338606911949],"aabb_xy":[[0.6034871747582112,-2.1002504803871354],[0.6775553936143307,-2.0314960657197165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921626400146543,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3228.png","name":"3228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9897.png","name":"9897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6981.png","name":"6981"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6303.png","name":"6303"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":609.4134671318477,"rotation_z_degrees":120.75691119695054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005990127908921679,0.003611017565364142,0.004318157683086896]},{"name":"camera_2","offset_m":[-0.009331206024040029,0.015937376751390796,-0.0038440644090079225]},{"name":"camera_3","offset_m":[-0.010239115796457216,0.009756257693601153,0.0032090479582428215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00035125259525655697,-0.0017195673776278207,-0.0017328630371318651],"end_effector_yaw_offset_degrees":0.4978096071910363},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012304838814703523,-0.0011015573200516041,0.0010241135567038585],"end_effector_yaw_offset_degrees":-0.6650256388912903},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006358440717166894,-0.0009081683113933289,-0.0017550603171439018],"end_effector_yaw_offset_degrees":-0.4785198596065088}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003608219918274196,-0.004791802050066456],"position_m":[0.3093917800817258,-0.12109180205006645,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008187491687396279,-0.003037482986673118],"position_m":[0.3094812508312604,0.08806251701332689,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013431313835723267,0.003327458245931417],"position_m":[0.3537568686164277,0.3000274582459314,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004017223769307723,0.0021397158732405774],"position_m":[0.23998277623069228,-0.3496602841267594,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2dfe5fead90798126f8713459f29a196c0561cc945104a90f0eb06b39b881677","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3228/tex_ceiling_textures_6303/tex_floor_textures_6981/tex_table_textures_242/tex_wall_textures_9897","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4042870631395659654,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4042870631395659654,"visual_seed":4042870631395659654,"scene_id":"lab_003","finished_at":"2026-09-03T01:47:14"} +{"episode_id":"ep_000056","started_at":"2026-09-03T01:47:18","dimensions":{"distractor":{"count":33,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.2726788904712646,-2.2014988770261223,0.71338606911949],"aabb_xy":[[0.18267889373565438,-2.254682340343416],[0.3626788872068748,-2.148315413708827]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.5014921307846519,-0.7462745443503926,0.71338606911949],"aabb_xy":[[-0.5364921321361336,-0.7666342803072135],[-0.46649212943317014,-0.7259148083935718]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.6040646817516641,-1.9591551118158503,0.71338606911949],"aabb_xy":[[-0.6121080416776191,-2.0441551129112163],[-0.5960213218257088,-1.8741551107204837]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.6716780404267166,-0.6047728215578141,0.71338606911949],"aabb_xy":[[0.6660963687925878,-0.6172728213755896],[0.6772597120608455,-0.5922728217400386]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.302788397151065,1.1441212535010008,0.71338606911949],"aabb_xy":[[-0.33656395634175795,1.1300827582878359],[-0.269012837960372,1.1581597487141657]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.6232963470049139,0.7938764963182066,0.71338606911949],"aabb_xy":[[-0.6731790438826101,0.7438764970719318],[-0.5734136501272177,0.8438764955644814]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.39890561855860396,1.4547583392257786,0.71338606911949],"aabb_xy":[[0.33490562213128205,1.4075887154036821],[0.46290561498592586,1.501927963047875]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.006481910355961129,-2.514145125358314,0.71338606911949],"aabb_xy":[[-0.0005595405947864682,-2.521171877096109],[0.013523361306708725,-2.50711837362052]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.5952567951283512,1.106214766871807,0.71338606911949],"aabb_xy":[[0.5336660359043583,1.04221476876276],[0.656847554352344,1.1702147649808539]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.4384907111404368,-0.5527925823528861,0.71338606911949],"aabb_xy":[[0.4165820290010857,-0.5746932491729768],[0.4603993932797878,-0.5308919155327954]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.5535075562730079,-1.3858697371557906,0.71338606911949],"aabb_xy":[[-0.5780537718957586,-1.4161186337048275],[-0.5289613406502571,-1.3556208406067534]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.5627664968343298,-1.4916673011713493,0.71338606911949],"aabb_xy":[[-0.5852664973463703,-1.5141591595367476],[-0.5402664963222891,-1.469175442805951]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.09457576421165059,0.07685100550966029,0.71338606911949],"aabb_xy":[[-0.16457576602039603,0.055497236745472925],[-0.024575762402905155,0.09820477427384768]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.4092121929639059,-1.7639962653686445,0.71338606911949],"aabb_xy":[[0.34921219271250464,-1.818277590405109],[0.469212193215307,-1.7097149403321796]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.07641092722332687,0.19572924645850698,0.71338606911949],"aabb_xy":[[-0.08250555511144521,0.18715985190683826],[-0.07031629933520857,0.2042986410101757]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.5881007071993414,1.6735295851784628,0.71338606911949],"aabb_xy":[[-0.5944128067356798,1.6677626459252441],[-0.581788607663003,1.679296524431682]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.642877069766483,0.5008079773493286,0.71338606911949],"aabb_xy":[[-0.6470129260991831,0.4633079779049717],[-0.6387412134337828,0.5383079767936857]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.4401659631448307,0.5197499330987752,0.71338606911949],"aabb_xy":[[0.410198406235005,0.4897499328008894],[0.4701335200546563,0.5497499333966609]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.48087019678582144,-1.0972253218719494,0.71338606911949],"aabb_xy":[[-0.5151864739604395,-1.1472253218451272],[-0.44655391961120355,-1.0472253218987717]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.16872754274630786,-2.446847153121031,0.71338606911949],"aabb_xy":[[0.08872754167318755,-2.4566251994584154],[0.24872754381942822,-2.4370691067836465]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.45026586439051997,0.16172706417427696,0.71338606911949],"aabb_xy":[[-0.4608333440486189,0.1511820340612684],[-0.4396983847324209,0.17227209428728552]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.5920034449746938,1.3664997412801276,0.71338606911949],"aabb_xy":[[0.5667826081148539,1.3412759904272407],[0.6172242818345333,1.3917234921330142]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.09676132720092889,-0.7550362241556061,0.71338606911949],"aabb_xy":[[-0.16076132911327123,-0.8109473734136167],[-0.03276132528858655,-0.6991250748975958]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[0.5935560459103197,-2.159938646550653,0.71338606911949],"aabb_xy":[[0.5817878591156622,-2.244938646455875],[0.6053242327049773,-2.074938646645432]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[-0.412258275923583,0.39665411071373313,0.71338606911949],"aabb_xy":[[-0.4722582757701498,0.33983548852069445],[-0.3522582760770162,0.4534727329067718]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.13124317827583531,-1.697695478520166,0.71338606911949],"aabb_xy":[[0.12591066362122233,-1.7030198067654014],[0.1365756929304483,-1.6923711502749303]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[-0.40612912552430736,-0.06340318887645235,0.71338606911949],"aabb_xy":[[-0.4559459049891421,-0.11340318736075572],[-0.3563123460594726,-0.01340319039214899]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.44266100855975976,-2.0334750836605044,0.71338606911949],"aabb_xy":[[0.4300342212725634,-2.0430211573620776],[0.4552877958469561,-2.0239290099589313]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[0.6127663859699792,-2.5003705871388804,0.71338606911949],"aabb_xy":[[0.5627889691047255,-2.5503705886281285],[0.6627438028352327,-2.4503705856496314]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[-0.6036984739389525,1.570219197181904,0.71338606911949],"aabb_xy":[[-0.6096650128796882,1.5642580525225398],[-0.5977319349982165,1.576180341841268]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[-0.4941908714340361,-2.185143927541359,0.71338606911949],"aabb_xy":[[-0.5118665020226345,-2.2028241438207616],[-0.4765152408454378,-2.167463711261956]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_31","position":[-0.41630556748187536,-0.4888087147868734,0.71338606911949],"aabb_xy":[[-0.4813055660389482,-0.518561248200756],[-0.3513055689248025,-0.4590561813729908]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[-0.08306219943063187,1.2036091087776684,0.71338606911949],"aabb_xy":[[-0.10217450678861074,1.1844743299004263],[-0.06394989207265302,1.2227438876549104]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695969312020876,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9711.png","name":"9711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9711.png","name":"9711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8790.png","name":"8790"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/889.png","name":"889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8205.png","name":"8205"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":568.9365247134577,"rotation_z_degrees":342.1122613044436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01838871528164744,-0.006784700821744686,-0.004162440232787529]},{"name":"camera_2","offset_m":[0.005850930193434838,-0.01882665650150837,-0.01441972479637741]},{"name":"camera_3","offset_m":[-0.018575783976971568,-0.015098543705243647,-0.01808716928306775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001948203774268869,-0.0012113612800454803,0.0003612256339992582],"end_effector_yaw_offset_degrees":0.9914554212906606},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016355984428193747,-0.0010958698428108326,0.00013534194496820674],"end_effector_yaw_offset_degrees":-0.8647656770548318},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00016797552500172862,-0.00035474216295633236,-0.0003163934127003655],"end_effector_yaw_offset_degrees":-0.7740753755426493}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004794992837461853,0.003801627457500731],"position_m":[0.3082050071625381,-0.11249837254249927,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004379905617669215,-0.0005149512293842777],"position_m":[0.3059200943823308,0.09058504877061573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002882695454702387,0.0033183394547923193],"position_m":[0.3579826954547024,0.30001833945479234,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004096072422734684,-0.00010967785048539031],"position_m":[0.24809607242273468,-0.3519096778504854,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eae41230a235c8e1017d5285f99c737bc4dafcfd9f7266b00d5613e276153ac7","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9711/tex_ceiling_textures_8205/tex_floor_textures_889/tex_table_textures_8790/tex_wall_textures_3600","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7549234216555936695,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7549234216555936695,"visual_seed":7549234216555936695,"scene_id":"lab_003","finished_at":"2026-09-03T01:49:53"} +{"episode_id":"ep_000057","started_at":"2026-09-03T01:51:18","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.4425713899584205,-2.0520744937265643,0.71338606911949],"aabb_xy":[[0.378571391371848,-2.0990814571260734],[0.506571388544993,-2.005067530327056]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.5463169770938701,-1.670789970938796,0.71338606911949],"aabb_xy":[[0.4823169738752323,-1.7175130828378047],[0.610316980312508,-1.624066859039788]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.3393509400034069,-1.1908647332585944,0.71338606911949],"aabb_xy":[[-0.37685094035163463,-1.202656128839678],[-0.3018509396551791,-1.1790733376775109]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.36075833561037474,1.6167435371695569,0.71338606911949],"aabb_xy":[[0.3506053200562253,1.5806739955968159],[0.37091135116452406,1.6528130787422965]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.11906267971005746,-2.41171021151464,0.71338606911949],"aabb_xy":[[0.1142190849488275,-2.4165618639936244],[0.12390627447128745,-2.406858559035656]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.0443188433692977,1.6999641888234387,0.71338606911949],"aabb_xy":[[0.034901368799434944,1.6905480116857197],[0.05373631793916044,1.7093803659611577]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.3503893873076329,0.5980238009304175,0.71338606911949],"aabb_xy":[[0.3431456212613876,0.5180238027268151],[0.35763315335387824,0.6780237991340199]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.25765978299284864,-2.0850170656254883,0.71338606911949],"aabb_xy":[[0.20765978197371338,-2.121483281363316],[0.3076597840119839,-2.0485508498876603]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.0829563502077697,1.1196910015663097,0.71338606911949],"aabb_xy":[[0.06384404284979082,1.1005562226890677],[0.10206865756574855,1.1388257804435518]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.6415236519135651,-0.09380810528938488,0.71338606911949],"aabb_xy":[[-0.656167057467598,-0.10846682494616916],[-0.626880246359532,-0.0791493856326006]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.7054320481190357,-0.30087681668584354,0.71338606911949],"aabb_xy":[[0.6928293489819592,-0.31347221291070904],[0.7180347472561122,-0.28828142046097804]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.14728909955646252,-2.4181503114453493,0.71338606911949],"aabb_xy":[[-0.17593843191687872,-2.4467958707224247],[-0.11863976719604627,-2.389504752168273]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.5859194068002597,-1.0300688083953953,0.71338606911949],"aabb_xy":[[-0.6281038209610904,-1.0940688086726067],[-0.5437349926394289,-0.9660688081181843]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.11708601687584042,1.3055432959260571,0.71338606911949],"aabb_xy":[[-0.1581039602622113,1.2555432952950998],[-0.07606807348946953,1.3555432965570144]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.09789810254699827,-0.9855685089134039,0.71338606911949],"aabb_xy":[[0.033898101139007604,-1.0373574604373283],[0.16189810395498894,-0.9337795573894792]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.5702362626906201,-0.3660645877201141,0.71338606911949],"aabb_xy":[[0.5527362624312836,-0.3801561299088868],[0.5877362629499568,-0.3519730455313415]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[0.16596677373702107,-0.7262869348905483,0.71338606911949],"aabb_xy":[[0.13812173695641394,-0.75707143362886],[0.1938118105176282,-0.6955024361522366]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.2542587149381286,-1.8178815908528452,0.71338606911949],"aabb_xy":[[-0.26748966047280986,-1.8311090098748446],[-0.24102776940344728,-1.8046541718308458]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.4585403716207379,0.1476664179962306,0.71338606911949],"aabb_xy":[[0.45051410099011197,0.13891492301887798],[0.46656664225136396,0.1564179129735832]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.33997821321700517,-0.7213419098585525,0.71338606911949],"aabb_xy":[[-0.35154719396394174,-0.7463419099754843],[-0.3284092324700686,-0.6963419097416209]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.5286484708748498,-1.81339795324722,0.71338606911949],"aabb_xy":[[0.45864846906610435,-1.8347517220114071],[0.5986484726835952,-1.7920441844830324]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[0.17974046926580156,-1.6591583752632413,0.71338606911949],"aabb_xy":[[0.14382696484081187,-1.6950718834799956],[0.21565397369079126,-1.6232448670464865]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.5336080400190526,-0.07035803272760033,0.71338606911949],"aabb_xy":[[0.5228350660976847,-0.10535803094663933],[0.5443810139404203,-0.035358034508561356]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[-0.5577569174056431,-0.2219496689441698,0.71338606911949],"aabb_xy":[[-0.5942527380329218,-0.25843361137092735],[-0.5212610967783643,-0.18546572651741222]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.46063984690114723,0.34931471804905057,0.71338606911949],"aabb_xy":[[0.45301557881096904,0.34168149451250684],[0.46826411499132553,0.3569479415855943]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.46938495065488317,0.6276614835615213,0.71338606911949],"aabb_xy":[[-0.479140940164057,0.6178989495022867],[-0.4596289611457092,0.6374240176207556]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.1577365441484312,0.6005830120743876,0.71338606911949],"aabb_xy":[[0.14082581171208938,0.5871108064817729],[0.17464727658477294,0.614055217667002]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[0.5888178065802965,-1.4048347390029121,0.71338606911949],"aabb_xy":[[0.5732620371700313,-1.4203851722473195],[0.6043735759905619,-1.3892843057585051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965981742622233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/601.png","name":"601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":561.7069306900764,"rotation_z_degrees":217.0258015009271,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018742741511125507,0.010028720890320093,-0.004668280138389597]},{"name":"camera_2","offset_m":[0.01581025159883519,0.004604629159765686,0.009904203783010712]},{"name":"camera_3","offset_m":[0.011217193743489645,-0.009741020502832529,-0.014635592293353735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.513914915593603e-05,-0.0008921436218494515,-0.0005265034649425133],"end_effector_yaw_offset_degrees":-0.04167233886689825},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014918058601210338,0.0014507685231310704,0.0012277739350727746],"end_effector_yaw_offset_degrees":0.8800465842666267},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0008760607194127363,0.00022206220280803586,-0.0018004856839035823],"end_effector_yaw_offset_degrees":0.9638779656141787}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046873296175838,0.0010973850869807527],"position_m":[0.3083126703824162,-0.11520261491301925,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030715267663120583,0.0009376845959782514],"position_m":[0.30722847323368796,0.09203768459597825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031843363464807055,0.0041451355857455635],"position_m":[0.3582843363464807,0.3008451355857456,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016123192342481873,0.0026302968807985373],"position_m":[0.24238768076575182,-0.3491697031192015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f107c2b488d6b5de0218434d0d33572c1aebfff9373fd2201c4fc754cea5136e","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8073/tex_ceiling_textures_8553/tex_floor_textures_3718/tex_table_textures_6934/tex_wall_textures_601","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7033469659822717056,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7033469659822717056,"visual_seed":7033469659822717056,"scene_id":"lab_003","finished_at":"2026-09-03T01:53:56"} +{"episode_id":"ep_000058","started_at":"2026-09-03T01:56:52","dimensions":{"distractor":{"count":20,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.4814104378768229,-0.30488034603591396,0.71338606911949],"aabb_xy":[[0.4440791613515803,-0.33953340083076633],[0.5187417144020655,-0.2702272912410617]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.07837203458085218,0.8567925715582678,0.71338606911949],"aabb_xy":[[-0.11540614400891189,0.8224153642245583],[-0.041337925152792464,0.8911697788919771]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.5367064808016688,-0.9184533798961558,0.71338606911949],"aabb_xy":[[0.503227313540628,-0.9519324932672629],[0.5701856480627099,-0.884974266525049]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.5753382204660994,-0.16057426289133314,0.71338606911949],"aabb_xy":[[-0.6653382241430175,-0.22200666946843745],[-0.4853382167891811,-0.09914185631422875]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[0.2845675632316629,1.2928711181294563,0.71338606911949],"aabb_xy":[[0.2711210365976195,1.279401266476365],[0.29801408986570616,1.3063409697825477]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.3184775489237559,-1.041344479707451,0.71338606911949],"aabb_xy":[[0.23347755050633273,-1.126218775169736],[0.4034775473411792,-0.9564701842451659]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.17083916165966062,-2.4468149861800526,0.71338606911949],"aabb_xy":[[-0.25083916024698,-2.5261305881182134],[-0.09083916307234118,-2.3674993842418917]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.4823099656422216,0.4909572648803793,0.71338606911949],"aabb_xy":[[0.4590281234440903,0.40595726358315126],[0.505591807840353,0.5759572661776073]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.32992942214454235,-1.4996415882264376,0.71338606911949],"aabb_xy":[[-0.3939294213143123,-1.5464082753454],[-0.2659294229747724,-1.452874901107475]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.2571394402567931,-1.3588713458861976,0.71338606911949],"aabb_xy":[[-0.2921394416082748,-1.3792310818430182],[-0.22213943890531138,-1.3385116099293766]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.20107268117211008,-0.7531024290205897,0.71338606911949],"aabb_xy":[[0.17274297122356988,-0.7575631712143067],[0.22940239112065033,-0.7486416868268726]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.33347220230729663,0.41014714619638193,0.71338606911949],"aabb_xy":[[-0.3934722039502185,0.35814699690443774],[-0.2734722006643748,0.4621472954883261]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.6237832864412534,1.6155633993580465,0.71338606911949],"aabb_xy":[[-0.6462797078751175,1.5930633995512995],[-0.6012868650073893,1.6380633991647944]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.667032450144466,1.4569412121622247,0.71338606911949],"aabb_xy":[[0.6631185769490435,1.448192196755668],[0.6709463233398885,1.4656902275687815]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.5383668762723591,0.7134966699317622,0.71338606911949],"aabb_xy":[[-0.5883668766329251,0.6635166827221591],[-0.488366875911793,0.763476657141365]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.016918683796215195,-1.5866251367157205,0.71338606911949],"aabb_xy":[[0.011962663611333996,-1.6091251369178425],[0.021874703981096394,-1.5641251365135993]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.13404838311143463,-1.2488749600945854,0.71338606911949],"aabb_xy":[[-0.16967753901139435,-1.2845076268514382],[-0.09841922721147486,-1.2132422933377323]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[-0.2424978434942019,1.7235051703122601,0.71338606911949],"aabb_xy":[[-0.2924926764221435,1.6735051714170166],[-0.1925030105662603,1.7735051692075037]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.643032768312086,-0.306114489456895,0.71338606911949],"aabb_xy":[[0.6180327683795681,-0.3129971576778183],[0.6680327682446039,-0.2992318212359717]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.28326783458195237,-1.4209147141865106,0.71338606911949],"aabb_xy":[[0.26438345081344217,-1.4398006389668634],[0.3021522183504626,-1.4020287894061578]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688306011027369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4482.png","name":"4482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4482.png","name":"4482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8694.png","name":"8694"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2848.png","name":"2848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5951.png","name":"5951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8930.png","name":"8930"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":577.5832348065892,"rotation_z_degrees":148.87633419841998,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018424866502006577,-0.01227258350124031,-0.018395067581957886]},{"name":"camera_2","offset_m":[0.016962587215896243,-0.0027544388765336388,-0.018181806937818984]},{"name":"camera_3","offset_m":[-0.003145833581413536,-0.015117175327395573,-0.012475080016306754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014709486688356962,-0.0010631859715799909,-0.0010858256117502294],"end_effector_yaw_offset_degrees":0.5769083100576009},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008818654058181706,-0.00048579256787601235,0.00174782887834786],"end_effector_yaw_offset_degrees":0.8477494511363051},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00041906521837004897,0.0013941799742965342,-0.00014941470329085768],"end_effector_yaw_offset_degrees":0.23864086268961393}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004277837515589337,-0.004207647473166888],"position_m":[0.31727783751558936,-0.12050764747316689,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003995401078379587,-0.002395110275172222],"position_m":[0.30630459892162043,0.08870488972482778,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004746974091105216,0.0015067650989071604],"position_m":[0.35035302590889483,0.2982067650989072,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009901753918593638,-0.0004168504967762788],"position_m":[0.24499017539185935,-0.35221685049677626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4179e72d4a22799e07744bae73cea9d447521fca3270d2e4780dc1b69f99d699","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4482/tex_ceiling_textures_8930/tex_floor_textures_5951/tex_table_textures_8694/tex_wall_textures_2848","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3795035566082971652,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3795035566082971652,"visual_seed":3795035566082971652,"scene_id":"lab_003","finished_at":"2026-09-03T01:59:28"} +{"episode_id":"ep_000059","started_at":"2026-09-03T01:59:31","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.38425386661445765,1.3163587615643424,0.71338606911949],"aabb_xy":[[-0.3938855028348872,1.3067214487846335],[-0.374622230394028,1.3259960743440513]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.25424967027356304,-0.9264307481827698,0.71338606911949],"aabb_xy":[[0.1902496738462412,-0.9736003720048663],[0.318249666700885,-0.8792611243606734]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.2380664089920551,-0.7442265362360014,0.71338606911949],"aabb_xy":[[0.23316711668549164,-0.7719034555385701],[0.24296570129861864,-0.7165496169334326]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.25652111216523044,1.3590107446456634,0.71338606911949],"aabb_xy":[[0.17652111515098245,1.338876192972252],[0.3365211091794784,1.3791452963190745]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.42456202257028536,-0.9792530336879146,0.71338606911949],"aabb_xy":[[-0.4325882932009114,-0.9880045286652674],[-0.4165357519396594,-0.9705015387105622]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.4302129595708144,-0.10567840815066498,0.71338606911949],"aabb_xy":[[0.41758617228361794,-0.11522448185223787],[0.44283974685801064,-0.09613233444909207]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.266612670920778,0.6854838985059413,0.71338606911949],"aabb_xy":[[0.21661339575234184,0.6354838972299942],[0.31661194608921417,0.7354838997818886]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.34775718995360494,0.9374652096836944,0.71338606911949],"aabb_xy":[[0.3104259134283624,0.9028121548888421],[0.3850884664788476,0.9721182644785467]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.22609835837371584,1.2720981553302018,0.71338606911949],"aabb_xy":[[0.19109836010359588,1.2650240276352134],[0.2610983566438357,1.2791722830251897]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.24962759780994143,1.5357337997218736,0.71338606911949],"aabb_xy":[[-0.2576215863876448,1.527733719626783],[-0.24163360923223803,1.5437338798169637]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.6858285761098535,-1.8117601359745699,0.71338606911949],"aabb_xy":[[0.6683285768317666,-1.8290982360409156],[0.7033285753879404,-1.7944220359082237]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.6011729535224171,1.6185894916761598,0.71338606911949],"aabb_xy":[[0.5161729551049938,1.5337151962138746],[0.6861729519398403,1.7034637871384446]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.10306728846041269,1.224297697269241,0.71338606911949],"aabb_xy":[[-0.15306040056960457,1.1742976965950453],[-0.0530741763512208,1.2742976979434366]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.6604132659721715,-0.8440371050071784,0.71338606911949],"aabb_xy":[[0.6564993927767491,-0.8527861204137351],[0.664327139167594,-0.8352880896006215]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.3593804155905737,-0.6133679977910276,0.71338606911949],"aabb_xy":[[-0.39397149844461893,-0.6783679980760585],[-0.3247893327365285,-0.5483679975059964]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.4178061229081089,-2.1012195645052554,0.71338606911949],"aabb_xy":[[0.3828061230120901,-2.109593800017195],[0.45280612280412785,-2.092845328993315]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.23668921677750238,-1.078379895928136,0.71338606911949],"aabb_xy":[[-0.2816892182437313,-1.1233797527896168],[-0.1916892153112736,-1.0333800390666554]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.07076916283485457,-0.7923213899577926,0.71338606911949],"aabb_xy":[[-0.1347691651776561,-0.837262241201925],[-0.006769160492053005,-0.7473805387136601]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.5178549094904936,-0.9456180519245665,0.71338606911949],"aabb_xy":[[0.5101517188164166,-0.9533274226233046],[0.5255581001645706,-0.9379086812258286]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.13716951611247685,0.5783612777758447,0.71338606911949],"aabb_xy":[[-0.2021695142683959,0.5520650332259325],[-0.0721695179565578,0.6046575223257569]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.4409104132060891,0.8159757928017752,0.71338606911949],"aabb_xy":[[-0.49590362454322595,0.7609757924629817],[-0.38591720186895245,0.8709757931405689]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.5115696489072754,-2.3276032522871066,0.71338606911949],"aabb_xy":[[0.4940696486479389,-2.3416947944758792],[0.5290696491666121,-2.313511710098334]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.32035124016080985,0.2691181274555796,0.71338606911949],"aabb_xy":[[-0.3349946457148427,0.25445940779879533],[-0.30570783460677675,0.2837768471123639]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[0.41757482153749526,1.4930087515479902,0.71338606911949],"aabb_xy":[[0.3675748202536553,1.4430298971573678],[0.4675748228213352,1.542987605938612]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.4611652353450517,-1.5432367630630026,0.71338606911949],"aabb_xy":[[0.4306809852180215,-1.5932367628444983],[0.4916494854720818,-1.4932367632815065]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[0.4374952340077096,-0.45362956710175606,0.71338606911949],"aabb_xy":[[0.3876784545428748,-0.5036295655860594],[0.4873120134725443,-0.40362956861745264]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_26","position":[-0.22035433285315859,-0.7916077902823593,0.71338606911949],"aabb_xy":[[-0.23171606750644475,-0.8029762566886474],[-0.20899259819987243,-0.7802393238760712]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[0.5366496498056836,-0.6691075965048352,0.71338606911949],"aabb_xy":[[0.5032094746096639,-0.7025512223357652],[0.5700898250017031,-0.635663970673905]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_28","position":[0.21932745941871612,-2.275499320637195,0.71338606911949],"aabb_xy":[[0.21588678317865898,-2.27936075361156],[0.22276813565877332,-2.271637887662831]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.12387404213649245,-2.467887295481913,0.71338606911949],"aabb_xy":[[-0.1660584562973232,-2.531887295759124],[-0.08168962797566169,-2.4038872952047017]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[0.456022302351077,-0.2819729221464904,0.71338606911949],"aabb_xy":[[0.4192276692261708,-0.31887879724307266],[0.4928169354759833,-0.24506704704990812]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_31","position":[0.43454392190317637,1.258527160912294,0.71338606911949],"aabb_xy":[[0.3645439203008969,1.2450943677106365],[0.5045439235054558,1.2719599541139517]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[0.3001448860201239,-2.0577729837152194,0.71338606911949],"aabb_xy":[[0.266665718759083,-2.091252097086327],[0.3336240532811649,-2.024293870344113]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_33","position":[0.07617771031972942,-2.2795834427701376,0.71338606911949],"aabb_xy":[[0.05367770980768882,-2.3020753011355355],[0.09867771083177002,-2.257091584404739]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_34","position":[-0.2648983692461649,-0.4562651175576429,0.71338606911949],"aabb_xy":[[-0.2757499754950405,-0.4671244082852939],[-0.2540467629972893,-0.44540582682999186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932414003331447,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5151.png","name":"5151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2737.png","name":"2737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8571.png","name":"8571"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.8351855417526,"rotation_z_degrees":203.22773544758937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01635605321297031,-0.007283802264976585,0.018723284507951837]},{"name":"camera_2","offset_m":[0.015953897198744665,-0.005056844576349943,-0.00933729877472795]},{"name":"camera_3","offset_m":[-0.004561397526543099,0.01968381427404625,-0.0033615821660245744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017179344106855992,-0.0005491580745437389,0.0006770256514886542],"end_effector_yaw_offset_degrees":0.18607499978737962},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013550898638700244,0.00013051158972923922,0.0018725706241130126],"end_effector_yaw_offset_degrees":0.39717126558622473},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0002418044152727246,-0.0007766836367657434,0.001377280292388326],"end_effector_yaw_offset_degrees":0.9238261775787293}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011975562201081702,0.000612072688685579],"position_m":[0.31419755622010814,-0.11568792731131441,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002212599788811678,0.0035773818164879243],"position_m":[0.30808740021118836,0.09467738181648792,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003982519717083766,0.0021905527019213814],"position_m":[0.3554982519717084,0.2988905527019214,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035072635493941483,0.0029433607010128674],"position_m":[0.24049273645060584,-0.34885663929898714,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"302bd703d7a144f78c4ea5d1e7d47a8a8eccc9aed31b782f3bcd1b94f65d3109","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5151/tex_ceiling_textures_8571/tex_floor_textures_2737/tex_table_textures_5691/tex_wall_textures_9663","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8243735949222654414,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8243735949222654414,"visual_seed":8243735949222654414,"scene_id":"lab_003","finished_at":"2026-09-03T02:02:09"} +{"episode_id":"ep_000060","started_at":"2026-09-03T02:02:12","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.5074926224956886,1.7859405837341353,0.71338606911949],"aabb_xy":[[-0.524923337574695,1.7686684690702843],[-0.49006190741668204,1.803212698397986]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.5318342249065526,1.6467032147364047,0.71338606911949],"aabb_xy":[[-0.5958342213021258,1.5827399263176714],[-0.46783422851097967,1.7106665031551385]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.05808221679224945,-1.25082016562138,0.71338606911949],"aabb_xy":[[-0.07558221607033633,-1.2681582656877257],[-0.04058221751416258,-1.2334820655550338]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.46355187457371305,-0.6078891058754761,0.71338606911949],"aabb_xy":[[0.45943592446164033,-0.6120046609083215],[0.46766782468578566,-0.6037735508426304]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.08513604567901778,-1.967966750978789,0.71338606911949],"aabb_xy":[[-0.09385001472895226,-1.990466751637977],[-0.07642207662908328,-1.9454667503196006]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.11501860439375833,1.6928188599599232,0.71338606911949],"aabb_xy":[[0.10214670089281819,1.612818859546087],[0.12789050789469847,1.7728188603737594]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.09445818916419613,0.7748529708763567,0.71338606911949],"aabb_xy":[[0.029458191282548347,0.7237293071698159],[0.15945818704584394,0.8259766345828977]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.6354206506099698,-2.5370861521935235,0.71338606911949],"aabb_xy":[[-0.6445805295538465,-2.5436173702370604],[-0.6262607716660933,-2.5305549341499867]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.08683763053259708,-1.7713334770084601,0.71338606911949],"aabb_xy":[[-0.1518376305668998,-1.8180341536887872],[-0.021837630498294347,-1.7246328003281326]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.07655196052495228,-1.1500910499866008,0.71338606911949],"aabb_xy":[[-0.08779701609557011,-1.1613328477106961],[-0.06530690495433444,-1.1388492522625056]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[0.5148536048405057,0.17045942491555532,0.71338606911949],"aabb_xy":[[0.45085360343251496,0.11867047339163063],[0.5788536062484962,0.22224837643948003]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.4138548510583352,-0.03898534043155166,0.71338606911949],"aabb_xy":[[-0.43635485058204254,-0.06148128788217243],[-0.39135485153462773,-0.016489392980930873]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.5773034699824211,0.674669280686377,0.71338606911949],"aabb_xy":[[0.5548043342561941,0.652169279908114],[0.5998026057086481,0.69716928146464]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.6774589503924838,-1.43772128350425,0.71338606911949],"aabb_xy":[[-0.6935208778510014,-1.5227212853168417],[-0.6613970229339661,-1.352721281691658]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.16318741431430195,1.3142961834697195,0.71338606911949],"aabb_xy":[[-0.2131866894827381,1.2642961821937724],[-0.11318813914586578,1.3642961847456667]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.10095407373142806,-1.516053957942859,0.71338606911949],"aabb_xy":[[-0.11185984981899079,-1.596053954341688],[-0.09004829764386536,-1.4360539615440298]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.3373481598199086,-2.271875905006941,0.71338606911949],"aabb_xy":[[0.28734815945934256,-2.3218558922165435],[0.3873481601804747,-2.2218959177973376]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.13460636910526824,-0.3634655948134986,0.71338606911949],"aabb_xy":[[-0.15788821130339956,-0.44846559611072667],[-0.11132452690713689,-0.27846559351627054]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.14342884518540677,-1.299740370862858,0.71338606911949],"aabb_xy":[[-0.16560137216205761,-1.3219160380189812],[-0.12125631820875593,-1.277564703706735]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.36876585933949624,-2.3941485578518638,0.71338606911949],"aabb_xy":[[0.34376586006753396,-2.410493921448026],[0.3937658586114585,-2.3778031942557014]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.5069297849579893,0.3674396948196401,0.71338606911949],"aabb_xy":[[-0.5166857744671631,0.35767716076040557],[-0.49717379544881535,0.37720222887887445]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.40891049039343264,1.503640720822625,0.71338606911949],"aabb_xy":[[0.3539104912168431,1.4486510460476671],[0.46391048957002207,1.5586303955975824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894776555397378,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4002.png","name":"4002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4002.png","name":"4002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9588.png","name":"9588"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3546.png","name":"3546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9162.png","name":"9162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2419.png","name":"2419"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":796.9494928678826,"rotation_z_degrees":267.3391067788613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01320200329021565,0.007751262726444361,0.0025764112476077544]},{"name":"camera_2","offset_m":[-0.017893662980663635,0.0006000711778628987,0.009351121034643518]},{"name":"camera_3","offset_m":[0.013296239815393001,0.0035889192295726208,0.006316158241101367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.473279053524527e-05,-0.0019269601466813532,0.0018202964615140808],"end_effector_yaw_offset_degrees":0.48438325632874246},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009494082874646832,-0.0019146447506622791,0.0010175326692767575],"end_effector_yaw_offset_degrees":0.23264023047733495},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00042439901650186867,-0.0012376130770857664,-0.0011367593538307796],"end_effector_yaw_offset_degrees":0.28281180378000315}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001297388774919677,-0.00280554217186057],"position_m":[0.3142973887749197,-0.11910554217186058,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00374225285200384,-0.00046948743608453327],"position_m":[0.30655774714799616,0.09063051256391547,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016993360097897858,-0.0021647113699087917],"position_m":[0.35340066399021025,0.2945352886300912,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025531687699991683,0.0018599078441788961],"position_m":[0.24655316876999916,-0.3499400921558211,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b550f81a612f215f7c2e2497cb9afb286816e24c109ff12522ff3d7c7c803671","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4002/tex_ceiling_textures_2419/tex_floor_textures_9162/tex_table_textures_9588/tex_wall_textures_3546","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5477918005601947560,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5477918005601947560,"visual_seed":5477918005601947560,"scene_id":"lab_003","finished_at":"2026-09-03T02:04:51"} +{"episode_id":"ep_000061","started_at":"2026-09-03T02:04:54","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.2580682121327093,-0.5167459014130955,0.71338606911949],"aabb_xy":[[-0.3230682100143571,-0.5678695651196364],[-0.19306821425106152,-0.46562223770655464]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.49958903156792434,-0.7824555806449749,0.71338606911949],"aabb_xy":[[0.40958902789100604,-0.843887987222079],[0.5895890352448424,-0.7210231740678704]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.1390168466069891,-0.021165270556333216,0.71338606911949],"aabb_xy":[[-0.17634812313223175,-0.05581832535118552],[-0.1016855700817465,0.013487784238519089]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.245984414037406,-2.156283417414939,0.71338606911949],"aabb_xy":[[0.23894296308665838,-2.163310169152733],[0.2530258649881536,-2.1492566656771444]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.28517159201206616,1.3484671031795359,0.71338606911949],"aabb_xy":[[-0.30304069976652165,1.3346341952023248],[-0.26730248425761066,1.362300011156747]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.14740508818245912,-1.1421986350897557,0.71338606911949],"aabb_xy":[[-0.18490508867981734,-1.146167318637874],[-0.10990508768510085,-1.1382299515416374]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.6710495125140032,1.4657840799332038,0.71338606911949],"aabb_xy":[[0.6655915668769831,1.3857840766255447],[0.6765074581510232,1.545784083240863]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.1614834547479893,0.9753005874719372,0.71338606911949],"aabb_xy":[[-0.2314834563502688,0.9618677942702796],[-0.09148345314570983,0.9887333806735947]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.6803930776239062,-0.9483247670291721,0.71338606911949],"aabb_xy":[[0.6460961666061655,-0.9826216532391131],[0.7146899886416467,-0.9140278808192305]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.27617386139291483,0.0864080817217352,0.71338606911949],"aabb_xy":[[-0.3099494205836078,0.07236958650857017],[-0.24239830220222186,0.10044657693490022]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.22264420287333303,-1.578106013594529,0.71338606911949],"aabb_xy":[[-0.2314462581823057,-1.585917339749458],[-0.21384214756436026,-1.5702946874395998]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.06917159290447361,-1.0162981504263202,0.71338606911949],"aabb_xy":[[0.06358992127034485,-1.0287981502440955],[0.07475326453860237,-1.0037981506085445]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.5174153256503448,-1.621467028009659,0.71338606911949],"aabb_xy":[[-0.5625866434985138,-1.6854670251541977],[-0.4722440078021759,-1.5574670308651208]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.49823546251881956,0.49573038319029195,0.71338606911949],"aabb_xy":[[-0.5782354599224129,0.41573781199210913],[-0.41823546511522613,0.5757229543884748]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.30174461048690204,-0.5161580567180231,0.71338606911949],"aabb_xy":[[0.23774461405958014,-0.5633276805401195],[0.36574460691422395,-0.4689884328959266]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.6710202120381952,-1.736146055740054,0.71338606911949],"aabb_xy":[[0.6541094796018533,-1.7496182613326683],[0.6879309444745368,-1.722673850147439]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.07321508689629863,-1.7487205247835065,0.71338606911949],"aabb_xy":[[0.05998414136161734,-1.7619479438055057],[0.08644603243097992,-1.7354931057615068]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.19375188842522895,0.43292282980308316,0.71338606911949],"aabb_xy":[[-0.2787518871173036,0.4009369664082042],[-0.1087518897331543,0.4649086931979619]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.592436957017807,-1.3269055148808533,0.71338606911949],"aabb_xy":[[0.5883210069057343,-1.3310210699136984],[0.5965529071298796,-1.3227899598480073]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.49493163637420134,-2.432986623917392,0.71338606911949],"aabb_xy":[[0.4449316369340056,-2.482954548401708],[0.5449316358143969,-2.3830186994330753]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.4226536019312416,-1.8763581401707006,0.71338606911949],"aabb_xy":[[-0.42749719669247155,-1.881209792649685],[-0.4178100071700116,-1.8715064876917167]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.11784677638391505,0.6477995354366723,0.71338606911949],"aabb_xy":[[0.03784677922433975,0.6362519344788553],[0.19784677354349034,0.6593471363944894]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.6112503173111188,-1.4990128857744982,0.71338606911949],"aabb_xy":[[-0.615386173643819,-1.5365128852188554],[-0.6071144609784186,-1.4615128863301414]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.0966961605433947,-2.2837693224419953,0.71338606911949],"aabb_xy":[[0.04671735203307879,-2.333769322447714],[0.14667496905371058,-2.2337693224362765]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.6060428774786348,-1.1395563773589834,0.71338606911949],"aabb_xy":[[0.5420428741889267,-1.1828912963629008],[0.670042880768343,-1.0962214583550656]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911186312327128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/217.png","name":"217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":639.5996552264473,"rotation_z_degrees":43.081996544651695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014785965702434092,0.003084643733209852,0.011180076356872872]},{"name":"camera_2","offset_m":[0.013086414065579238,-0.002478261961315689,-0.01951719767565885]},{"name":"camera_3","offset_m":[-0.005568349025193027,0.007573545335684585,0.0034354414642988294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001967732535536269,-0.0002583989217365308,0.0018742569157673876],"end_effector_yaw_offset_degrees":0.8582538181800621},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019109163580291336,0.0004613498072272744,0.0016699137870661213],"end_effector_yaw_offset_degrees":-0.143437227102724},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00174186677081114,0.00042021127356985273,-0.0010190097710104729],"end_effector_yaw_offset_degrees":0.4384528553400304}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009561684125468642,0.0038375248841114725],"position_m":[0.31204383158745314,-0.11246247511588853,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021875275542967655,-0.0017205096589214706],"position_m":[0.3081124724457033,0.08937949034107853,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031860941875406865,0.004743266385641849],"position_m":[0.35191390581245935,0.3014432663856419,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002058310044157732,-0.0009966065965342306],"position_m":[0.24605831004415774,-0.3527966065965342,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0297b243cbd8974eca7e0839dc55d656d30db17c2dc8b4b589e5e87e1a4b742c","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5045/tex_ceiling_textures_8458/tex_floor_textures_1162/tex_table_textures_8997/tex_wall_textures_217","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":9135058562279386028,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":9135058562279386028,"visual_seed":9135058562279386028,"scene_id":"lab_003","finished_at":"2026-09-03T02:07:28"} +{"episode_id":"ep_000062","started_at":"2026-09-03T02:07:30","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.6601393312705699,1.592689854097093,0.71338606911949],"aabb_xy":[[0.5985485720465771,1.5286898559880466],[0.7217300904945627,1.6566898522061404]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.5194873866055756,0.8706754318993282,0.71338606911949],"aabb_xy":[[-0.5274106668443239,0.8481754316613248],[-0.5115641063668273,0.8931754321373315]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.12994526540177054,1.3771151797685843,0.71338606911949],"aabb_xy":[[-0.14757810099529808,1.3594922337529611],[-0.11231242980824295,1.394738125784207]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.09248023074632794,-0.49197482822893246,0.71338606911949],"aabb_xy":[[-0.14236292762402414,-0.5419748274752072],[-0.042597533868631736,-0.4419748289826577]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[0.13073483021907872,1.190708932124568,0.71338606911949],"aabb_xy":[[0.11886274720757761,1.1057089324309177],[0.14260691323057983,1.2757089318182184]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.5161976945008181,-0.8756597702249656,0.71338606911949],"aabb_xy":[[-0.5801976937949863,-0.9396459105938197],[-0.4521976952066499,-0.8116736298561114]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.33629920916958517,0.8223789233602332,0.71338606911949],"aabb_xy":[[-0.33973988540964234,0.8185174903858689],[-0.332858532929528,0.8262403563345978]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.21978467217352265,-2.198963766303423,0.71338606911949],"aabb_xy":[[-0.22789832684689976,-2.207069582757452],[-0.21167101750014555,-2.190857949849394]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.4838253668671473,0.9270285717228965,0.71338606911949],"aabb_xy":[[0.47569767867383406,0.918114963312189],[0.4919530550604605,0.9359421801336043]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.37602179544452136,0.5332366658176411,0.71338606911949],"aabb_xy":[[-0.4260217968054085,0.4832587612422254],[-0.3260217940836341,0.5832145703930566]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.650949234204024,-0.7777751871726515,0.71338606911949],"aabb_xy":[[0.6391810474093665,-0.8627751870778732],[0.6627174209986816,-0.6927751872674299]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.6474380002899094,1.1328355551143878,0.71338606911949],"aabb_xy":[[0.5834423028948127,1.068835556813679],[0.7114336976850059,1.1968355534150963]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.0827961908010878,-0.6122390985348418,0.71338606911949],"aabb_xy":[[-0.08876272974182359,-0.6182002431942059],[-0.07682965186035201,-0.6062779538754778]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.5258838647399285,0.2242710166672297,0.71338606911949],"aabb_xy":[[-0.5898838664179258,0.17575362518791549],[-0.4618838630619311,0.2727884081465439]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.32963150402968683,-1.2691747810378713,0.71338606911949],"aabb_xy":[[-0.41963150375286096,-1.292248133573051],[-0.23963150430651262,-1.2461014285026912]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.5852489144537081,-1.5443013254478455,0.71338606911949],"aabb_xy":[[0.5676706122647611,-1.5618758150219503],[0.6028272166426548,-1.5267268358737403]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.08474946644654657,-1.2459661442071972,0.71338606911949],"aabb_xy":[[0.06485842656620633,-1.2586219554918943],[0.10464050632688683,-1.2333103329225006]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.23681115356505233,-1.7141560732023624,0.71338606911949],"aabb_xy":[[-0.26465619034565946,-1.744940571940674],[-0.2089661167844452,-1.6833715744640507]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.47243189641216055,0.7780588421758976,0.71338606911949],"aabb_xy":[[0.4592009508774792,0.7648314231538982],[0.4856628419468418,0.791286261197897]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.5649506121497421,-0.4251203954885536,0.71338606911949],"aabb_xy":[[0.5424506121395938,-0.4392166151281569],[0.5874506121598904,-0.41102417584895035]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.3543552035045252,1.1674322407878353,0.71338606911949],"aabb_xy":[[0.33734510621447455,1.1512977522895613],[0.37136530079457586,1.1835667292861092]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.1264212040690822,-0.9497256517067361,0.71338606911949],"aabb_xy":[[-0.15025742170968726,-1.0397256525152225],[-0.10258498642847713,-0.8597256508982497]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.6394384968888753,-1.4472543923520604,0.71338606911949],"aabb_xy":[[-0.6470627649790537,-1.4548876158886044],[-0.6318142287986972,-1.439621168815517]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.5839830783509915,-2.2104833709081486,0.71338606911949],"aabb_xy":[[-0.6539830817425534,-2.245799144611579],[-0.5139830749594294,-2.1751675972047173]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.5209862027792748,0.9807334099540723,0.71338606911949],"aabb_xy":[[-0.5568997072042644,0.9448199017373177],[-0.48507269835428507,1.0166469181708269]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695613219186723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5961.png","name":"5961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/925.png","name":"925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9664.png","name":"9664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":636.6409625976128,"rotation_z_degrees":170.38360547644325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018558469965723478,0.017061361477851877,0.01732215609037117]},{"name":"camera_2","offset_m":[-0.01626409635426386,0.017673833071429283,-0.017929149187487368]},{"name":"camera_3","offset_m":[0.009394545170995944,-0.011545198019621528,0.001242486765645156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009007087065629202,0.0008328195696578541,-0.0007244096695142943],"end_effector_yaw_offset_degrees":-0.10713543679292559},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-4.789216606865612e-05,-0.0007850291562612383,0.0004561602158822042],"end_effector_yaw_offset_degrees":-0.5765762959342475},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001990140135648376,-0.0004731197727111179,-0.0019674060776248793],"end_effector_yaw_offset_degrees":0.710852162019739}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001383462438115022,0.0034278498547949303],"position_m":[0.31438346243811505,-0.11287215014520507,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005877033812222085,0.003012096171424539],"position_m":[0.3097122966187778,0.09411209617142453,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026964639779002353,0.002881937127574439],"position_m":[0.35779646397790027,0.29958193712757447,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004821847573529951,-0.0026580630275234362],"position_m":[0.23917815242647003,-0.3544580630275234,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42971b15bb46ea772c86faea7c45422c7264f748584fa0e623f32efedfb462dd","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5961/tex_ceiling_textures_3561/tex_floor_textures_4163/tex_table_textures_925/tex_wall_textures_9664","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3348411578693536651,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3348411578693536651,"visual_seed":3348411578693536651,"scene_id":"lab_003","finished_at":"2026-09-03T02:10:06"} +{"episode_id":"ep_000063","started_at":"2026-09-03T02:10:11","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.532602585549613,-0.6436661302728925,0.71338606911949],"aabb_xy":[[-0.5551025855597614,-0.6577623499124958],[-0.5101025855394649,-0.6295699106332893]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[0.18691854496430405,-2.2385299400236294,0.71338606911949],"aabb_xy":[[0.14941854638868324,-2.2512662356871873],[0.22441854353992485,-2.2257936443600714]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.03643168163619814,0.901774335608863,0.71338606911949],"aabb_xy":[[-0.11643167859923731,0.8246986939650895],[0.04356831532684102,0.9788499772526364]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.5241704970615546,-1.2354329619491826,0.71338606911949],"aabb_xy":[[0.5136030174034556,-1.2459779920621912],[0.5347379767196536,-1.224887931836174]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.1328815428821457,1.687497479033826,0.71338606911949],"aabb_xy":[[0.06888154648657263,1.6235341906150924],[0.1968815392777188,1.7514607674525595]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.5690359579588156,0.08410180837073966,0.71338606911949],"aabb_xy":[[0.5050359572553463,0.038083425897818664],[0.633035958662285,0.1301201908436607]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.1836900451200275,-1.800645869678779,0.71338606911949],"aabb_xy":[[0.17497607607009302,-1.8231458703379668],[0.192404014169962,-1.7781458690195904]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.09626724526688457,-1.3048337252481932,0.71338606911949],"aabb_xy":[[0.061676162412839346,-1.369833725533224],[0.13085832812092976,-1.239833724963162]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[-0.41446627274154035,-1.3031465053575355,0.71338606911949],"aabb_xy":[[-0.43233538049599585,-1.3169794133347463],[-0.39659716498708486,-1.2893135973803247]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.3537018054057298,-2.2370507338741445,0.71338606911949],"aabb_xy":[[-0.3912018057539576,-2.2488421294552277],[-0.31620180505750206,-2.2252593382930606]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.6507531799324395,1.769905243196598,0.71338606911949],"aabb_xy":[[0.6364187548062761,1.7578450276420592],[0.665087605058603,1.7819654587511369]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.1432100657724984,-2.120339490114166,0.71338606911949],"aabb_xy":[[-0.15296605528167226,-2.1301020241734],[-0.13345407626332448,-2.1105769560549312]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[-0.5397413392925557,-0.04965843317145646,0.71338606911949],"aabb_xy":[[-0.5649621761523952,-0.0748821840243432],[-0.5145205024327159,-0.024434682318569708]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.13562604146489554,1.5256941244719484,0.71338606911949],"aabb_xy":[[0.07062604050776834,1.473745912538243],[0.20062604242202275,1.5776423364056542]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.6552498694400075,-2.456040908542254,0.71338606911949],"aabb_xy":[[-0.6771585515793584,-2.477941575362345],[-0.6333411873006564,-2.4341402417221634]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.523482320035402,0.4289717402007516,0.71338606911949],"aabb_xy":[[0.5013097930587511,0.40679607304462834],[0.5456548470120528,0.4511474073568747]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.055780478484512286,1.8006875343868924,0.71338606911949],"aabb_xy":[[-0.0807804776501454,1.7937352886815359],[-0.030780479318879173,1.807639780092249]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.36875391106128286,-1.063481248961891,0.71338606911949],"aabb_xy":[[-0.4337539136990764,-1.114960847661338],[-0.3037539084234894,-1.012001650262444]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.3979511834658618,-1.4111212920250402,0.71338606911949],"aabb_xy":[[0.32795118165711634,-1.4324750607892276],[0.4679511852746072,-1.3897675232608528]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.5937863274545463,0.9184062207340444,0.71338606911949],"aabb_xy":[[0.5712863269425056,0.895914362368646],[0.6162863279665868,0.9408980790994427]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6917738980603438,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8864.png","name":"8864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8864.png","name":"8864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4902.png","name":"4902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1362.png","name":"1362"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6244.png","name":"6244"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":732.855965910976,"rotation_z_degrees":6.079097116514127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011841613808264673,0.005609906202756712,-0.015498703695060252]},{"name":"camera_2","offset_m":[-0.01951128062936071,0.007163540033824259,-0.00021825283711545546]},{"name":"camera_3","offset_m":[0.010965659544103189,0.01892936374414945,0.014586938270942634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004324394154295373,0.00037531450957229914,0.0006324343103657148],"end_effector_yaw_offset_degrees":0.8135214700959774},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003297704428803167,-0.0018858854373988727,-0.0013646173373332577],"end_effector_yaw_offset_degrees":-0.39381208713803484},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009370632010333377,0.0017944976685306774,0.001023092137388938],"end_effector_yaw_offset_degrees":-0.06308975539179595}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002187126083562563,-0.0046260021808216135],"position_m":[0.3108128739164374,-0.12092600218082161,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004629280198973257,-0.0027504068910284753],"position_m":[0.31492928019897326,0.08834959310897153,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007374819282517167,-0.0019483098906936556],"position_m":[0.35583748192825176,0.29475169010930635,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004808898214827579,0.0015146046925812564],"position_m":[0.24880889821482757,-0.35028539530741876,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"832f247f7e8c6576618cbdf7cc46e9cc8e92d6d54ba32d3f3aa9c8676991ddd9","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8864/tex_ceiling_textures_6244/tex_floor_textures_1362/tex_table_textures_4902/tex_wall_textures_7473","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7508941179546363876,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7508941179546363876,"visual_seed":7508941179546363876,"scene_id":"lab_003","finished_at":"2026-09-03T02:12:54"} +{"episode_id":"ep_000064","started_at":"2026-09-03T02:12:57","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.018107502491655603,-1.4223349600805593,0.71338606911949],"aabb_xy":[[-0.0981075039217828,-1.5018521150931687],[0.061892498938471596,-1.3428178050679498]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.44903135520796966,0.8881274983839345,0.71338606911949],"aabb_xy":[[0.41403135607801395,0.8823822773082703],[0.48403135433792527,0.8938727194595986]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.08288449269377329,-0.685225909575863,0.71338606911949],"aabb_xy":[[-0.1278770794122237,-0.7302259088503118],[-0.03789190597532287,-0.6402259103014143]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.15300175503642588,-2.2040621820021222,0.71338606911949],"aabb_xy":[[-0.15858342667055464,-2.216562181819897],[-0.14742008340229712,-2.1915621821843465]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.4902802230840435,0.022572515071340504,0.71338606911949],"aabb_xy":[[-0.5271307710210311,-0.014927485751693226],[-0.4534296751470559,0.060072515894374234]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.5281036927866256,-1.1112778383960815,0.71338606911949],"aabb_xy":[[-0.534415792322964,-1.1170447776493002],[-0.5217915932502872,-1.1055108991428624]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.23887986587245452,-2.1038787567149617,0.71338606911949],"aabb_xy":[[-0.30287986504222447,-2.150645443833924],[-0.1748798667026846,-2.0571120695959992]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5628688619560206,-1.850730234624549,0.71338606911949],"aabb_xy":[[-0.5803688622153573,-1.8648217768133217],[-0.5453688616966841,-1.8366386924357765]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.5195192564473126,-2.351194176917904,0.71338606911949],"aabb_xy":[[-0.5995192538509059,-2.4311867481160867],[-0.4395192590437191,-2.271201605719721]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[0.4246240174188187,1.672461716197097,0.71338606911949],"aabb_xy":[[0.4181223809108141,1.6626938941707872],[0.43112565392682334,1.6822295382234067]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.675551005263757,-2.3889014189368845,0.71338606911949],"aabb_xy":[[-0.6796291631708067,-2.3929823991851475],[-0.6714728473567073,-2.3848204386886205]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.5052847143495658,-2.085136340991343,0.71338606911949],"aabb_xy":[[-0.5692847146100365,-2.130145140344271],[-0.4412847140890949,-2.040127541638415]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.35936803720903376,-0.5119694527002867,0.71338606911949],"aabb_xy":[[0.2943680345712403,-0.5634490513997337],[0.42436803984682725,-0.46048985400083975]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.1479631653410901,0.9245183463560416,0.71338606911949],"aabb_xy":[[0.11046316552405655,0.9198801350448997],[0.18546316515812367,0.9291565576671834]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.2251040769048558,1.658008184988908,0.71338606911949],"aabb_xy":[[0.19725904012424866,1.6272236862505962],[0.2529491136854629,1.6887926837272196]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.4008304647899485,1.3340707590539083,0.71338606911949],"aabb_xy":[[-0.48083046175298766,1.2569951174101348],[-0.3208304678269093,1.4111464006976817]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.20670065278379796,-0.4266693607433738,0.71338606911949],"aabb_xy":[[-0.22921434460725512,-0.49666936134438133],[-0.18418696096034073,-0.3566693601423663]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.44285617946455874,0.6933672792682084,0.71338606911949],"aabb_xy":[[-0.5078561776204777,0.6670710347182963],[-0.3778561813086397,0.7196635238181207]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.2160233890924525,0.7073898060006498,0.71338606911949],"aabb_xy":[[-0.26550381030641135,0.643389808087798],[-0.16654296787849374,0.7713898039135016]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.2702202935885495,1.7265337757321997,0.71338606911949],"aabb_xy":[[-0.3154989084696987,1.6625337763840158],[-0.22494167870740017,1.7905337750803831]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.5160606668820265,-0.9312519213266037,0.71338606911949],"aabb_xy":[[0.49819155912757085,-0.9450848293038148],[0.5339297746364818,-0.9174190133493929]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690059318011404,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8759.png","name":"8759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8759.png","name":"8759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2771.png","name":"2771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6305.png","name":"6305"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":700.3786014184534,"rotation_z_degrees":0.5298200214490123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01410465607479439,-0.004069467538713199,0.01774029049572792]},{"name":"camera_2","offset_m":[0.003981110173702698,-0.007001201290408075,0.012639820497158161]},{"name":"camera_3","offset_m":[-0.0030159184852608066,0.007391145955718197,0.003505463245136231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006019133870277399,-3.003595660641808e-05,0.0014823674681035321],"end_effector_yaw_offset_degrees":-0.5643410729569649},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001794325628445427,-0.0010791142141136883,0.0013529916186720658],"end_effector_yaw_offset_degrees":0.581579879862189},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005204370501233587,0.0014824988291655202,-0.0009620483410348096],"end_effector_yaw_offset_degrees":0.2833099605845155}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035541820510329924,-0.0008426640961582037],"position_m":[0.316554182051033,-0.1171426640961582,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006421362298293827,0.00373989093489823],"position_m":[0.3096578637701706,0.09483989093489822,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023732168727289326,0.0006099436414081696],"position_m":[0.35272678312727107,0.29730994364140817,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013725730095927213,0.0016384374632597157],"position_m":[0.24262742699040726,-0.3501615625367403,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01edea93856ac3d50baf6febbd6700b5c9685ec5911d5da7fc642d8476c6a0e9","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8759/tex_ceiling_textures_6445/tex_floor_textures_6305/tex_table_textures_6046/tex_wall_textures_2771","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1713703366313122128,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1713703366313122128,"visual_seed":1713703366313122128,"scene_id":"lab_003","finished_at":"2026-09-03T02:15:36"} +{"episode_id":"ep_000065","started_at":"2026-09-03T02:15:41","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.07288797043402129,-0.031248377579427,0.71338606911949],"aabb_xy":[[-0.11038797078224905,-0.04303977316051055],[-0.03538797008579353,-0.019456981998343444]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.17380473410361497,-0.34803921468630694,0.71338606911949],"aabb_xy":[[-0.25380473111786295,-0.3681737663597182],[-0.09380473708936696,-0.32790466301289567]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.019696803887548464,-1.0731732811893946,0.71338606911949],"aabb_xy":[[0.002196804609461589,-1.0905113812557405],[0.03719680316563534,-1.0558351811230486]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.25852865051890717,-1.0214280926600519,0.71338606911949],"aabb_xy":[[0.2085286510787115,-1.0713960171443682],[0.30852864995910273,-0.9714601681757356]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.49063879362356655,-2.5012894921858813,0.71338606911949],"aabb_xy":[[-0.4982630617137449,-2.5089227157224254],[-0.4830145255333884,-2.493656268649338]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.14900285091823284,0.17731773584415,0.71338606911949],"aabb_xy":[[-0.22900284832182627,0.09732516464596717],[-0.06900285351463943,0.25731030704233276]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.5989589472219667,1.0134184422276031,0.71338606911949],"aabb_xy":[[0.5753738237580718,0.9484184399821713],[0.6225440706858615,1.078418444473035]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.3058804404458526,0.978490760730879,0.71338606911949],"aabb_xy":[[0.2855961377224538,0.9582081355881702],[0.3261647431692513,0.9987733858735879]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.10478715443521414,-2.1901951130721344,0.71338606911949],"aabb_xy":[[-0.1519165334370498,-2.254195114116536],[-0.05765777543337845,-2.126195112027732]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.07120980206743532,-0.9428712984627039,0.71338606911949],"aabb_xy":[[0.048294089182385425,-0.9657755955991274],[0.09412551495248524,-0.9199670013262804]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.35326454556983267,1.453724750947322,0.71338606911949],"aabb_xy":[[0.3413318112080046,1.4413425981394625],[0.36519727993166073,1.4661069037551813]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.1914257283649552,-0.14082000444967768,0.71338606911949],"aabb_xy":[[-0.19846603829849224,-0.22082000384934913],[-0.18438541843141823,-0.0608200050500063]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.42891260967761685,1.5796677881126837,0.71338606911949],"aabb_xy":[[-0.46624388620285956,1.5450147333178315],[-0.39158133315237426,1.614320842907536]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.27368353780329524,-2.0723998695560155,0.71338606911949],"aabb_xy":[[0.21368353795672845,-2.129218491749054],[0.333683537649862,-2.015581247362977]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.053972109100033694,-1.6640639986729315,0.71338606911949],"aabb_xy":[[0.016472110676633338,-1.6772282126407623],[0.09147210752343404,-1.6508997847051008]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.5640701014773277,-1.8361305619470227,0.71338606911949],"aabb_xy":[[-0.5990701013733465,-1.8445047974589623],[-0.5290701015813087,-1.8277563264350827]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.2806252638387016,1.3912311019046184,0.71338606911949],"aabb_xy":[[-0.3446252630084715,1.344464414785656],[-0.21662526466893164,1.4379977890235809]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.49279603672490535,-2.0055782222670886,0.71338606911949],"aabb_xy":[[0.48670140883678703,-2.0141476168187578],[0.49889066461302367,-1.9970088277154203]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.12298758330912385,-0.6885788214363313,0.71338606911949],"aabb_xy":[[0.07298758373278914,-0.7385594003884373],[0.17298758288545857,-0.6385982424842254]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.10018754577218802,-1.3437643680072522,0.71338606911949],"aabb_xy":[[0.06268754458739521,-1.3481825907033125],[0.1376875469569808,-1.3393461453111914]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.14620362166087397,-2.3056213654038737,0.71338606911949],"aabb_xy":[[0.09620362037703399,-2.355600219794496],[0.1962036229447139,-2.2556425110132516]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.6428304426412377,-1.0126636027971847,0.71338606911949],"aabb_xy":[[-0.6728221053751079,-1.0426636021339852],[-0.6128387799073672,-0.9826636034603842]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.06772235081559175,0.8799969841330606,0.71338606911949],"aabb_xy":[[-0.14772235297835423,0.800041800506917],[0.012277651347170737,0.9599521677592042]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[-0.43897181688783043,0.18542389664407288,0.71338606911949],"aabb_xy":[[-0.5089718186965759,0.1640701278798855],[-0.368971815079085,0.20677766540826026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873467293073059,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8319.png","name":"8319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6686.png","name":"6686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5706.png","name":"5706"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":648.8127691629688,"rotation_z_degrees":146.8274529210482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017819717027124714,-0.01607590760515188,-0.0032133665752075782]},{"name":"camera_2","offset_m":[-0.015546615921342606,-0.013731507266377986,0.016836665523308477]},{"name":"camera_3","offset_m":[-0.014218594710304058,0.016032020336201405,0.01010595849643597]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004918503823240238,0.0018168571531553624,0.0004974401640890618],"end_effector_yaw_offset_degrees":0.38637775675935737},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003227265293148868,-0.0010140821347461042,-0.001154010691190365],"end_effector_yaw_offset_degrees":0.4410475504314628},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0018639898170788702,-0.0016486695549924023,-0.00012894688552274325],"end_effector_yaw_offset_degrees":0.2893318129782332}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004069876030898398,0.0026657333184746555],"position_m":[0.3170698760308984,-0.11363426668152535,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004948590924727118,-0.004633860951916046],"position_m":[0.3053514090752729,0.08646613904808395,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004114019042069004,-0.002044396933889372],"position_m":[0.35098598095793104,0.29465560306611066,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00010870871597872846,0.0009440525084231976],"position_m":[0.24410870871597873,-0.3508559474915768,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a618eb8b875f552e0484f5faf314ee66170f1478b8dee94c1018709dca860f6c","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5469/tex_ceiling_textures_5706/tex_floor_textures_6686/tex_table_textures_8319/tex_wall_textures_2490","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8943178890868150502,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8943178890868150502,"visual_seed":8943178890868150502,"scene_id":"lab_003","finished_at":"2026-09-03T02:18:21"} +{"episode_id":"ep_000066","started_at":"2026-09-03T02:22:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5640837415578936,-1.96749060359651,0.71338606911949],"aabb_xy":[[0.5000837408544243,-2.0135089860694313],[0.628083742261363,-1.9214722211235893]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.20939199616940374,-1.3947019220201404,0.71338606911949],"aabb_xy":[[-0.2793919925793654,-1.4151398576718217],[-0.13939199975944186,-1.3742639863684583]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.5651438174841726,-1.7436003864488074,0.71338606911949],"aabb_xy":[[-0.5700998376690538,-1.7661003866509293],[-0.5601877972992915,-1.721100386246686]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.006276019637150521,-0.667736952126839,0.71338606911949],"aabb_xy":[[-0.023186752073492297,-0.6812091577194535],[0.010634712799191258,-0.6542647465342244]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.4930366789089977,-1.5594433355296284,0.71338606911949],"aabb_xy":[[-0.5031896944631471,-1.595512877102368],[-0.48288366335484834,-1.5233737939568874]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.5935283112486669,-1.6699631476973709,0.71338606911949],"aabb_xy":[[0.5874912982480022,-1.675989848766319],[0.5995653242493316,-1.6639364466284228]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.24444222244437885,1.5909367674855983,0.71338606911949],"aabb_xy":[[0.18444222219297765,1.5366554424491337],[0.30444222269578003,1.645218092522063]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.22946458753162513,0.08308670357341796,0.71338606911949],"aabb_xy":[[-0.2519645875417734,0.06899048393381468],[-0.2069645875214768,0.09718292321302124]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.24961235524267927,-0.1829951566340089,0.71338606911949],"aabb_xy":[[-0.3296123563157996,-0.19277320297139336],[-0.16961235416955894,-0.17321711029662448]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.1984147546422816,0.7491180653286662,0.71338606911949],"aabb_xy":[[-0.26241475192793023,0.7076113463758222],[-0.13441475735663294,0.7906247842815102]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.039680279806420526,1.744347317222529,0.71338606911949],"aabb_xy":[[0.005383368788679906,1.7100504310125872],[0.07397719082416115,1.7786442034324699]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.09741691953682619,-1.8473618666068434,0.71338606911949],"aabb_xy":[[-0.11251922099784425,-1.862463388237905],[-0.08231461807580806,-1.832260344975781]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.2576966477053329,1.7091203678344722,0.71338606911949],"aabb_xy":[[-0.29624234053053394,1.6705745967782835],[-0.21915095488013187,1.747666138890661]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.387764426999188,1.0951974967237437,0.71338606911949],"aabb_xy":[[0.33776515183075184,1.0451974954477967],[0.43776370216762417,1.145197497999691]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.16596186622925302,1.0069264329104657,0.71338606911949],"aabb_xy":[[0.101961864179521,0.9668319498211575],[0.229961868278985,1.0470209159997734]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.33014459028985077,-0.4986319894594584,0.71338606911949],"aabb_xy":[[0.31669806365580744,-0.5121018411125496],[0.3435911169238941,-0.4851621378063672]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[0.6945717613232238,0.8402780013466584,0.71338606911949],"aabb_xy":[[0.6720580694997665,0.7702780007456509],[0.7170854531466809,0.910278001947666]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.25754940189316,1.2943770515438588,0.71338606911949],"aabb_xy":[[0.17754939973039752,1.214421867917715],[0.3375494040559225,1.3743322351700022]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.3623595355643574,-1.267273474224523,0.71338606911949],"aabb_xy":[[0.3123807270540415,-1.3172734742302417],[0.4123383440746733,-1.217273474218804]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.6406797061931393,-0.28132097780146204,0.71338606911949],"aabb_xy":[[0.5766797097975662,-0.3452842662201956],[0.7046797025887124,-0.21735768938272848]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.5254512692558777,-0.4393663425133556,0.71338606911949],"aabb_xy":[[-0.5335789574491909,-0.44827995092406325],[-0.5173235810625645,-0.43045273410264795]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[-0.31024787700392464,-0.7827447419494673,0.71338606911949],"aabb_xy":[[-0.36024270993186625,-0.8327447408447108],[-0.26025304407598304,-0.7327447430542238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899564038084757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7774.png","name":"7774"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2519.png","name":"2519"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2678.png","name":"2678"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9428.png","name":"9428"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":580.2062400795455,"rotation_z_degrees":333.54848446714493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0066686468973804515,-0.01972799348537157,0.006071248700018735]},{"name":"camera_2","offset_m":[0.007437108598474559,-0.00034687751240784076,-0.008199187164202964]},{"name":"camera_3","offset_m":[-0.01827350586130384,0.0123275411352682,-0.005007557420193161]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00025417707173622456,0.0009661180875843445,0.0007301400980396352],"end_effector_yaw_offset_degrees":0.4720551499592198},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005910414471864416,-0.0008760878951517516,-0.0016301983788751212],"end_effector_yaw_offset_degrees":-0.9051354382548182},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0007244716143889299,0.001912036206329652,0.0010224038723058038],"end_effector_yaw_offset_degrees":-0.426708217773319}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003612709873203066,-0.0010987310328883582],"position_m":[0.30938729012679694,-0.11739873103288836,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000652331904752208,-0.004407311198894809],"position_m":[0.31095233190475224,0.08669268880110519,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031366347580567377,0.0019660310570241172],"position_m":[0.35196336524194327,0.29866603105702416,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002297466503292464,-0.0031784426369472285],"position_m":[0.24629746650329246,-0.3549784426369472,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2ea60131051596cd9e4ab0b603393d3315ea50adb9f917f357d09c6c06e8a52f","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3961/tex_ceiling_textures_9428/tex_floor_textures_2678/tex_table_textures_7774/tex_wall_textures_2519","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8620647704495138478,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8620647704495138478,"visual_seed":8620647704495138478,"scene_id":"lab_003","finished_at":"2026-09-03T02:25:23"} +{"episode_id":"ep_000067","started_at":"2026-09-03T02:25:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.13036668686480823,-2.4197840305673983,0.71338606911949],"aabb_xy":[[0.06636668452200666,-2.464724881811531],[0.19436668920760977,-2.374843179323266]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.27204219741504665,-2.1843237642563658,0.71338606911949],"aabb_xy":[[0.20704219630910337,-2.209289137324494],[0.33704219852098993,-2.1593583911882375]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.11030851046410894,-1.2205370578011738,0.71338606911949],"aabb_xy":[[-0.1227758685738446,-1.2330023824344973],[-0.0978411523543733,-1.2080717331678503]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.29546976479796183,0.3542810386247899,0.71338606911949],"aabb_xy":[[-0.3654697669293913,0.33151907299909417],[-0.22546976266653224,0.3770430042504855]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.6081695747914886,-1.7386684956894436,0.71338606911949],"aabb_xy":[[-0.6154133408377339,-1.8186684938930457],[-0.6009258087452433,-1.658668497485841]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.6304676851217859,-1.3044471627370415,0.71338606911949],"aabb_xy":[[0.5804676838379458,-1.3544260171276634],[0.6804676864056257,-1.2544683083464192]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.06261092710776095,-0.8589195384107555,0.71338606911949],"aabb_xy":[[0.04011092709761266,-0.8730157580503588],[0.08511092711790924,-0.8448233187711522]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.00923385636391394,0.9798646143138439,0.71338606911949],"aabb_xy":[[-0.07323385827625628,0.9239534650558333],[0.0547661455484284,1.0357757635718543]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.15275947546655766,1.7726320793681523,0.71338606911949],"aabb_xy":[[0.10287677858886146,1.7226320801218775],[0.20264217234425388,1.822632078614427]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.25622022434349206,-0.6455716306026826,0.71338606911949],"aabb_xy":[[-0.27372022362157894,-0.6629097306690286],[-0.2387202250654052,-0.6282335305363367]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.2636001814206561,-2.406815282383422,0.71338606911949],"aabb_xy":[[-0.2986001806134743,-2.417782328381084],[-0.2286001822278378,-2.395848236385759]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.20341699737442287,1.5159834149852167,0.71338606911949],"aabb_xy":[[0.19700318373123796,1.5095735947375482],[0.20983081101760784,1.5223932352328848]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.6667248361292686,1.4890158972284628,0.71338606911949],"aabb_xy":[[0.6442111443058114,1.4190158966274553],[0.6892385279527258,1.5590158978294704]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.5559464667567255,-0.4905483648275859,0.71338606911949],"aabb_xy":[[-0.6459464632575972,-0.536460007246044],[-0.46594647025585373,-0.4446367224091276]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.1501939988594998,1.0097753680478831,0.71338606911949],"aabb_xy":[[-0.1583076535328769,1.001669551593854],[-0.1420803441861227,1.0178811845019122]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[0.5620446101086873,0.6823540963157888,0.71338606911949],"aabb_xy":[[0.5159595188539559,0.6183540990632338],[0.6081297013634188,0.746354093568344]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.3487066712457431,-1.2792187008495275,0.71338606911949],"aabb_xy":[[-0.3613093703828196,-1.291814097074393],[-0.33610397210866666,-1.266623304624662]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.6011253633357155,-1.5370023240555295,0.71338606911949],"aabb_xy":[[-0.6355877107338571,-1.5714962064533518],[-0.5666630159375735,-1.5025084416577064]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[0.5308130576013788,-0.9006942182867583,0.71338606911949],"aabb_xy":[[0.480819945492187,-0.9506942189609541],[0.5808061697105708,-0.8506942176125628]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.49080213181324983,0.8785908097367963,0.71338606911949],"aabb_xy":[[0.42680213451090343,0.8342243827689394],[0.5548021291155962,0.9229572367046529]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.5098984934242536,0.3055305809156601,0.71338606911949],"aabb_xy":[[-0.5348984929759921,0.2953880970505254],[-0.48489849387251516,0.3156730647807948]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.5603845189868415,0.390612808459478,0.71338606911949],"aabb_xy":[[0.5228845178020486,0.3861945857634174],[0.5978845201716342,0.39503103115553845]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.42667780514571424,-1.3857016865665068,0.71338606911949],"aabb_xy":[[-0.43708936382619784,-1.3910474199024048],[-0.4162662464652304,-1.380355953230608]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.25633786582499707,-1.039816430490065,0.71338606911949],"aabb_xy":[[0.2498362293169925,-1.0495842525163748],[0.26283950233300174,-1.0300486084637552]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.04394213646741929,-0.047275693871511315,0.71338606911949],"aabb_xy":[[-0.081442137983051,-0.05850246688765636],[-0.0064421349517875745,-0.036048920855366255]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.48982745551134244,0.04854104882329846,0.71338606911949],"aabb_xy":[[-0.5273274563033379,0.04217320786510836],[-0.452327454719347,0.05490888978148855]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.629506866755844,0.7491961804208542,0.71338606911949],"aabb_xy":[[-0.6794799322883595,0.6991961806083214],[-0.5795338012233285,0.7991961802333873]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[-0.08204286929208326,0.3700319695095744,0.71338606911949],"aabb_xy":[[-0.09146034386194601,0.3606157923718553],[-0.07262539472222052,0.37944814664729337]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.331227151998213,1.688604558847803,0.71338606911949],"aabb_xy":[[-0.3392705119241682,1.6036045577524365],[-0.32318379207225784,1.7736045599431693]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[0.21791282368571097,-2.0318053367046254,0.71338606911949],"aabb_xy":[[0.16793401517539505,-2.081805336710344],[0.26789163219602685,-1.9818053366989066]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_30","position":[-0.06826102237703358,-2.357617167024548,0.71338606911949],"aabb_xy":[[-0.1332610224113363,-2.404317843704875],[-0.003261022342730846,-2.3109164903442205]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[0.018935456786270954,-1.491048640448072,0.71338606911949],"aabb_xy":[[-0.0450645446217197,-1.5428375919719965],[0.08293545819426161,-1.4392596889241471]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972772473094848,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2216.png","name":"2216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9601.png","name":"9601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9151.png","name":"9151"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3914.png","name":"3914"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.2615937743086,"rotation_z_degrees":85.48679504868869,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017505710277460913,0.011621239996797348,0.0002801986359706084]},{"name":"camera_2","offset_m":[0.009080496912811764,0.01235326134671871,-0.0011882683053974635]},{"name":"camera_3","offset_m":[0.01925373683104997,-0.0027216773078656657,0.01997917173294955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00106242138138722,0.00011589566387605957,0.0008636518681695697],"end_effector_yaw_offset_degrees":-0.6165266345855591},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011600325423129047,-0.0006514765546268664,0.0014155222576562902],"end_effector_yaw_offset_degrees":-0.9463362888648357},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0006014683409162574,0.0017215301461564977,-0.001480746848467405],"end_effector_yaw_offset_degrees":0.7608501105051735}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010608915150061137,-0.0025995304143396716],"position_m":[0.3119391084849939,-0.11889953041433968,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003167701767407649,-0.003835266661010356],"position_m":[0.30713229823259236,0.08726473333898964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004383107642216922,0.0032109256118346167],"position_m":[0.35948310764221697,0.29991092561183463,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003232141379516448,-0.0018737446827301251],"position_m":[0.24076785862048355,-0.3536737446827301,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e3df419544bea07e30bf4637ad366937969940e9f00d20c69546ee59f64a96df","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4049/tex_ceiling_textures_3914/tex_floor_textures_9151/tex_table_textures_2216/tex_wall_textures_9601","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7893059228093122198,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7893059228093122198,"visual_seed":7893059228093122198,"scene_id":"lab_003","finished_at":"2026-09-03T02:28:04"} +{"episode_id":"ep_000068","started_at":"2026-09-03T02:28:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.07688117205073253,-0.4224274969089059,0.71338606911949],"aabb_xy":[[-0.14088117275420187,-0.468445879381827],[-0.012881171347263177,-0.376409114435985]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.5469159977949406,-0.08787059793206664,0.71338606911949],"aabb_xy":[[-0.5694159983069812,-0.110362456297465],[-0.5244159972829,-0.06537873956666829]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.5514603119670554,0.6272491152764696,0.71338606911949],"aabb_xy":[[0.545365684078937,0.618679720724801],[0.5575549398551737,0.6358185098281385]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.022331227502377038,-1.4799012930265398,0.71338606911949],"aabb_xy":[[-0.05733122747887287,-1.4893659090741567],[0.012668772474118791,-1.4704366769789234]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.6701010164704251,0.01038025928500197,0.71338606911949],"aabb_xy":[[-0.6735416927104824,0.006518826310637493],[-0.666660340230368,0.014241692259366447]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.10269345406185404,-1.0888601170702714,0.71338606911949],"aabb_xy":[[0.0651934535644958,-1.0928288006183895],[0.14019345455921228,-1.084891433522153]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.5752407926340483,1.6105847335625865,0.71338606911949],"aabb_xy":[[-0.612740792982276,1.598793337981503],[-0.5377407922858205,1.62237612914367]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.05537698248885614,-0.8150339266307334,0.71338606911949],"aabb_xy":[[0.04413192691823829,-0.8262757243548287],[0.06662203805947396,-0.8037921289066381]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.17192864969372368,-2.080255731201863,0.71338606911949],"aabb_xy":[[-0.17897010064447127,-2.0872824829396572],[-0.16488719874297608,-2.0732289794640684]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.15617132194710392,-2.4235645077646706,0.71338606911949],"aabb_xy":[[-0.15987458327624277,-2.427266526073388],[-0.15246806061796503,-2.4198624894559524]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.04198853979533823,-2.0044170063066997,0.71338606911949],"aabb_xy":[[-0.013011459381251256,-2.059406681081657],[0.09698853897192772,-1.9494273315317416]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.31838476232787954,-0.7244176362391326,0.71338606911949],"aabb_xy":[[-0.36786518354183834,-0.7884176341519845],[-0.26890434111392075,-0.6604176383262809]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.20084725045004087,0.25179617392531606,0.71338606911949],"aabb_xy":[[-0.2559724560796316,0.1917961724840289],[-0.1457220448204501,0.31179617536660315]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.3622123262591254,0.7029219784352869,0.71338606911949],"aabb_xy":[[-0.3972123254519436,0.6919549324376242],[-0.3272123270663071,0.7138890244329494]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.4735726132689976,-0.3830737310952581,0.71338606911949],"aabb_xy":[[-0.4974088309096027,-0.4730737319037447],[-0.44973639562839257,-0.2930737302867717]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.5541784409434736,1.4148653943115996,0.71338606911949],"aabb_xy":[[0.4891784430618258,1.363741730605059],[0.6191784388251214,1.4659890580181407]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.4289858022950006,-1.6555564143651447,0.71338606911949],"aabb_xy":[[0.3489858052807527,-1.675690966038556],[0.5089857993092486,-1.6354218626917334]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.13327891463860175,0.6494044124366929,0.71338606911949],"aabb_xy":[[-0.13817820694516522,0.6217274931341239],[-0.12837962233203823,0.6770813317392614]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.6574879239365095,0.7653797662408053,0.71338606911949],"aabb_xy":[[0.6396188161820539,0.7515468582635942],[0.6753570316909648,0.7792126742180161]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.053684622771656976,0.8656572907377225,0.71338606911949],"aabb_xy":[[-0.1152753819956498,0.8016572926286757],[0.007906136452335844,0.9296572888467695]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.5688638131350583,0.5651426092147696,0.71338606911949],"aabb_xy":[[-0.6116305200144786,0.5011426057929671],[-0.5260971062556382,0.629142612636572]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[0.04739152479851794,-1.0279149965937047,0.71338606911949],"aabb_xy":[[0.04254793003728797,-1.032766649072689],[0.05223511955974792,-1.0230633441147208]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[-0.6767138691741506,0.44503461417134504,0.71338606911949],"aabb_xy":[[-0.6861313437440133,0.435618437033626],[-0.6672963946042878,0.4544507913090641]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.18206302218453385,1.4710205632622455,0.71338606911949],"aabb_xy":[[0.137063020718305,1.4260207064007653],[0.22706302365076272,1.5160204201237268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911728849247715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2655.png","name":"2655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2655.png","name":"2655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1620.png","name":"1620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2579.png","name":"2579"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2081.png","name":"2081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1882.png","name":"1882"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":555.2671268833972,"rotation_z_degrees":58.24110619973442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018735151782693533,-0.012045113297895123,0.007793108352393472]},{"name":"camera_2","offset_m":[-0.01929937258536129,-0.016569563149444005,-0.002346942454883979]},{"name":"camera_3","offset_m":[0.018255098209289163,-0.014708751227017935,-0.017670026731129943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005139206954168072,0.0015917069424311618,4.128247730323482e-05],"end_effector_yaw_offset_degrees":-0.05131008893971534},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008047939256535627,-0.0008713208482392485,0.001246217488605279],"end_effector_yaw_offset_degrees":-0.8955598063958168},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005949976312020545,0.0006472836891876087,0.0006344574307519829],"end_effector_yaw_offset_degrees":0.8071527805516443}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004602079514836007,-0.0015127262897261474],"position_m":[0.308397920485164,-0.11781272628972615,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004153879721514909,-0.0009827357930827759],"position_m":[0.31445387972151495,0.09011726420691722,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005900800184303725,-0.0030473698467714107],"position_m":[0.3556900800184304,0.2936526301532286,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004645444077884014,0.004559559496098234],"position_m":[0.239354555922116,-0.3472404405039018,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9d4100c3fe57358c90c8939595a43bde3559cc61c5093b4cca70f6a0eb39a4ab","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2655/tex_ceiling_textures_1882/tex_floor_textures_2081/tex_table_textures_1620/tex_wall_textures_2579","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":3950125427724964669,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":3950125427724964669,"visual_seed":3950125427724964669,"scene_id":"lab_003","finished_at":"2026-09-03T02:30:44"} +{"episode_id":"ep_000069","started_at":"2026-09-03T02:30:47","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.3803042311472222,-1.32044067422557,0.71338606911949],"aabb_xy":[[0.31030422901579263,-1.3432026398512653],[0.4503042332786517,-1.297678708599874]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.14762899308254263,0.8144397541136446,0.71338606911949],"aabb_xy":[[-0.23762898981815284,0.7612562907963498],[-0.057628996346932415,0.8676232174309388]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.3768256614791787,-2.4750643635403375,0.71338606911949],"aabb_xy":[[-0.4004107849430735,-2.5400643657857693],[-0.3532405380152838,-2.4100643612949058]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.08653150338645432,1.4397479839643208,0.71338606911949],"aabb_xy":[[0.04903150220166152,1.43532976126826],[0.1240315045712471,1.444166206660381]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.4211451988487356,1.2363804728248056,0.71338606911949],"aabb_xy":[[0.3711459236802994,1.1863804715488586],[0.47114447401717174,1.286380474100753]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.14900150210286767,0.5023722898495047,0.71338606911949],"aabb_xy":[[-0.15712919029618086,0.493458681438797],[-0.14087381390955442,0.5112858982602123]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.6805397688726484,0.340121879946802,0.71338606911949],"aabb_xy":[[0.6658963633186155,0.3254631602900177],[0.6951831744266814,0.35478059960358627]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.10429134980100985,-0.3677795420175909,0.71338606911949],"aabb_xy":[[-0.13477559992804,-0.41777954179908683],[-0.07380709967397969,-0.31777954223609495]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.32967089668017424,1.5719112778614606,0.71338606911949],"aabb_xy":[[0.29287626355526797,1.535005402764878],[0.3664655298050805,1.6088171529580426]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.4744393934567641,1.629388134139044,0.71338606911949],"aabb_xy":[[-0.5581616189568466,1.5393881306043478],[-0.39071716795668165,1.7193881376737397]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.27030542403369373,0.244738251105165,0.71338606911949],"aabb_xy":[[-0.3203054226796149,0.19481870744570257],[-0.22030542538777254,0.29465779476462733]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.5682054347772687,1.5946086354391364,0.71338606911949],"aabb_xy":[[0.5182054338267359,1.563059488435615],[0.6182054357278015,1.6261577824426579]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.232255691088036,1.751134000974067,0.71338606911949],"aabb_xy":[[0.1682556877983279,1.7077990819701492],[0.2962556943777441,1.7944689199779844]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.18148029772558427,-0.5247595671648506,0.71338606911949],"aabb_xy":[[-0.2309607189395431,-0.5887595650777024],[-0.1319998765116255,-0.4607595692519988]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.45567304295803873,0.9375634811491498,0.71338606911949],"aabb_xy":[[-0.4674412297526963,0.8525634812439283],[-0.44390485616338127,1.0225634810543713]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.1621922237034107,1.6028839119930303,0.71338606911949],"aabb_xy":[[0.14469229026942731,1.5853839120727955],[0.17969215713739406,1.6203839119132646]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.49946241473535435,-2.135710621146732,0.71338606911949],"aabb_xy":[[0.4851279896091909,-2.1477708367012704],[0.5137968398615178,-2.123650405592193]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.11591565506385337,-1.086192352455039,0.71338606911949],"aabb_xy":[[-0.1775064142878462,-1.1501923505640859],[-0.05432489583986057,-1.022192354345992]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.030853430808993942,-2.0034254413697634,0.71338606911949],"aabb_xy":[[-0.07362013768841413,-2.067425444791566],[0.011913276070426249,-1.939425437947961]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.6635828564990689,-2.4116903610649403,0.71338606911949],"aabb_xy":[[0.6594470001663688,-2.4491903605092973],[0.6677187128317692,-2.3741903616205833]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.5873975582541617,-2.258210717160715,0.71338606911949],"aabb_xy":[[0.5173975548625996,-2.2935264908641453],[0.6573975616457236,-2.2228949434572836]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.6191235742616711,1.3488864407178633,0.71338606911949],"aabb_xy":[[-0.674115824897182,1.2938864389745508],[-0.5641313236261601,1.4038864424611763]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.5997619465682201,-1.869706474611543,0.71338606911949],"aabb_xy":[[-0.634761946544716,-1.8791710906591594],[-0.5647619465917243,-1.8602418585639262]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[0.4438873333780853,-1.5924040627742204,0.71338606911949],"aabb_xy":[[0.39389232241863326,-1.6424040618098124],[0.4938823443375373,-1.542404063738629]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[-0.49501417314981616,0.375126040825442,0.71338606911949],"aabb_xy":[[-0.5315099937770948,0.3386420983986843],[-0.45851835252253736,0.41160998325219944]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.177437592872413,-2.264829637234284,0.71338606911949],"aabb_xy":[[0.11243759191528581,-2.3167778491679893],[0.24243759382954022,-2.212881425300578]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[0.39492882105524285,0.8256679074104998,0.71338606911949],"aabb_xy":[[0.3449514041899892,0.7756679059212512],[0.4449062379204964,0.8756679088997483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859970964676128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7477.png","name":"7477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7477.png","name":"7477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9233.png","name":"9233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5070.png","name":"5070"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4662.png","name":"4662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":649.1957238386753,"rotation_z_degrees":89.34862441134432,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016244400641253254,-0.0006323842241274316,-0.011558631330480549]},{"name":"camera_2","offset_m":[-0.014343438977574095,0.007714698757983848,0.018461477494455526]},{"name":"camera_3","offset_m":[-0.0049010360225715255,0.006732499372857758,0.012810364342784795]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008049570331282877,-0.00033733390832529995,4.804753134466343e-05],"end_effector_yaw_offset_degrees":0.11555571355476335},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00198517903642134,-0.0012869545991372306,-0.0010159774057165337],"end_effector_yaw_offset_degrees":-0.30226556193305654},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0011198548534263235,-0.0016799575236938443,-0.0012688224096375792],"end_effector_yaw_offset_degrees":-0.11390484439733961}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009545245489975367,0.0016118517287054728],"position_m":[0.3139545245489975,-0.11468814827129453,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011544357418591675,0.0010113510621389578],"position_m":[0.3114544357418592,0.09211135106213895,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004916939263427046,-0.003502158552068402],"position_m":[0.35018306073657296,0.2931978414479316,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003533565090429523,-0.0022846861764260207],"position_m":[0.2475335650904295,-0.354084686176426,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c569772cb3fd1dacd9bd8861fbc00fda3077697a80b817feba4e952b60874842","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7477/tex_ceiling_textures_3211/tex_floor_textures_4662/tex_table_textures_9233/tex_wall_textures_5070","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5289642528150093996,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5289642528150093996,"visual_seed":5289642528150093996,"scene_id":"lab_003","finished_at":"2026-09-03T02:33:22"} +{"episode_id":"ep_000070","started_at":"2026-09-03T02:36:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.2990776271753425,1.6689608281872395,0.71338606911949],"aabb_xy":[[-0.3099834032629052,1.58896083178841],[-0.28817185108777976,1.7489608245860684]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.018820070277575596,0.809473227219367,0.71338606911949],"aabb_xy":[[-0.061179932986437535,0.7959131949104536],[0.09882007354158873,0.8230332595282803]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.640829100670453,-1.0803623586868885,0.71338606911949],"aabb_xy":[[0.6073889254744332,-1.1138059845178183],[0.6742692758664725,-1.0469187328559582]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.5588157628774022,-0.30064418279658156,0.71338606911949],"aabb_xy":[[0.5325269385569615,-0.32691561645123274],[0.5851045871978429,-0.27437274914193027]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.26603337198509325,-0.6532139285525118,0.71338606911949],"aabb_xy":[[0.26070085733048026,-0.6585382567977475],[0.27136588663970623,-0.6478896003072764]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.08919683283782742,1.5660892717509909,0.71338606911949],"aabb_xy":[[0.07944084332865353,1.5563267376917564],[0.09895282234700131,1.5758518058102253]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.43433048941278685,-0.9540780578172969,0.71338606911949],"aabb_xy":[[0.43041661621736427,-0.9628270732238536],[0.4382443626082093,-0.94532904241074]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.0763369477271334,-1.9852817473821984,0.71338606911949],"aabb_xy":[[-0.14033694810466701,-2.0350270142330107],[-0.012336947349599767,-1.9355364805313864]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.07946447898721332,1.3291066082438148,0.71338606911949],"aabb_xy":[[-0.09552640644573095,1.244106606431223],[-0.06340255152869566,1.4141066100564066]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3219929978033042,-1.4192005974148572,0.71338606911949],"aabb_xy":[[-0.4019929988764245,-1.4289786437522416],[-0.24199299673018382,-1.4094225510774727]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.21014409226212416,-0.5573947157635661,0.71338606911949],"aabb_xy":[[0.20364245575411957,-0.5671625377898759],[0.2166457287701288,-0.5476268937372564]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.3026827097114355,-2.4101187731362352,0.71338606911949],"aabb_xy":[[-0.3397168191394952,-2.444495980469944],[-0.2656486002833757,-2.3757415658025254]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.03341446126204273,-0.4673352442074292,0.71338606911949],"aabb_xy":[[-0.04858663054367607,-0.4825041011356326],[-0.018242291980409386,-0.45216638727922587]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.016849752718098854,-2.3034053172789943,0.71338606911949],"aabb_xy":[[-0.034349752977435484,-2.317496859467767],[0.0006502475412377696,-2.2893137750902217]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.6384368522738522,0.642700377773,0.71338606911949],"aabb_xy":[[0.6011055757486096,0.6080473229781479],[0.6757681287990948,0.6773534325678524]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.5115943041199724,0.7478496376003148,0.71338606911949],"aabb_xy":[[0.5022472965376772,0.7335460153826707],[0.5209413117022677,0.7621532598179588]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.680434542273576,-2.319205264620978,0.71338606911949],"aabb_xy":[[0.6763563843665263,-2.3232862448692417],[0.6845127001806257,-2.3151242843727147]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[0.2148809351134332,-1.9845947612806087,0.71338606911949],"aabb_xy":[[0.15488093526686642,-2.0414133834736474],[0.27488093496,-1.92777613908757]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.3813200607498388,-1.930148795042112,0.71338606911949],"aabb_xy":[[0.3712383536712653,-2.0101487929342268],[0.39140176782841224,-1.850148797149997]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.5027433168031124,-1.9013101044469969,0.71338606911949],"aabb_xy":[[-0.5924303931112278,-1.9913101047014474],[-0.4130562404949969,-1.8113101041925463]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.5021934153561682,-2.5287421764208884,0.71338606911949],"aabb_xy":[[0.4646934141713754,-2.5331603991169485],[0.5396934165409609,-2.5243239537248274]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.46329210481225885,-1.2425856333772551,0.71338606911949],"aabb_xy":[[-0.5007921063278905,-1.2538124063934002],[-0.42579210329662703,-1.23135886036111]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.3831793986208276,1.822751768053434,0.71338606911949],"aabb_xy":[[0.3581793986883097,1.8158690998325107],[0.4081793985533455,1.8296344362743573]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.37309458566976317,-1.0466192274908717,0.71338606911949],"aabb_xy":[[0.33809458569326734,-1.0560838435384885],[0.408094585646259,-1.0371546114432553]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968744020842738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1066.png","name":"1066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8625.png","name":"8625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5103.png","name":"5103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9318.png","name":"9318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4107.png","name":"4107"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":749.9039334789773,"rotation_z_degrees":252.97985627902824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005375477170115318,0.004502356639080347,0.0011211300191816542]},{"name":"camera_2","offset_m":[0.009056717540389076,0.007907537122866265,-0.017526340322024728]},{"name":"camera_3","offset_m":[-0.010135466491240046,-0.017717291170959826,0.0013668629477742757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010254666338808589,-0.0017720129986234189,-0.0015127181689096139],"end_effector_yaw_offset_degrees":-0.11577137764357692},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004854310015593591,-0.0005994601218969097,-1.5268158783367236e-05],"end_effector_yaw_offset_degrees":0.060985097793910814},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001411138747980714,0.0007880557689896417,-1.3127383934401129e-05],"end_effector_yaw_offset_degrees":-0.06367963415126887}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036456897826180803,0.004433475244984692],"position_m":[0.3093543102173819,-0.11186652475501531,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002545566270827822,0.004470764557308027],"position_m":[0.3128455662708278,0.09557076455730802,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036057057950804232,0.0039044814876565354],"position_m":[0.35870570579508043,0.30060448148765656,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014815729052300233,-0.004495364444655014],"position_m":[0.24548157290523,-0.35629536444465504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"798cc719bc4efdac0ce9ce1a3a146a3c66c9ee90bd2c1904cb36dd9975c8d093","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1066/tex_ceiling_textures_4107/tex_floor_textures_9318/tex_table_textures_8625/tex_wall_textures_5103","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4132638863721366306,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4132638863721366306,"visual_seed":4132638863721366306,"scene_id":"lab_003","finished_at":"2026-09-03T02:38:55"} +{"episode_id":"ep_000071","started_at":"2026-09-03T02:40:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.3112444948448386,1.322737102736864,0.71338606911949],"aabb_xy":[[-0.3325225029883109,1.257737100410791],[-0.2899664867013664,1.387737105062937]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.4848302677180123,0.3693437949910896,0.71338606911949],"aabb_xy":[[0.4048302697372272,0.36174225402923765],[0.5648302656987972,0.37694533595294155]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.5513965546773312,-0.45427029250063633,0.71338606911949],"aabb_xy":[[0.5426825856273965,-0.47677029315982444],[0.5601105237272654,-0.431770291841448]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.35105784334675244,-1.8035140718150027,0.71338606911949],"aabb_xy":[[-0.3896035361719535,-1.8420598428711914],[-0.3125121505215514,-1.764968300758814]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.31030317017983156,-1.2360806554618047,0.71338606911949],"aabb_xy":[[0.3054595754186016,-1.2409323079407888],[0.31514676494106153,-1.2312290029828206]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.4300717883435312,1.6488950879352244,0.71338606911949],"aabb_xy":[[-0.46355095560457227,1.6154159745641175],[-0.3965926210824904,1.6823742013063314]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.5632256906054082,-2.4533355555902068,0.71338606911949],"aabb_xy":[[-0.5975419677800261,-2.5033355555633845],[-0.5289094134307902,-2.403335555617029]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.36040689222151373,-2.1726682343325843,0.71338606911949],"aabb_xy":[[-0.4180373611087845,-2.2326682332592944],[-0.3027764233342428,-2.1126682354058732]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.029583419321217885,-1.2584908562762342,0.71338606911949],"aabb_xy":[[-0.05208341983325848,-1.2809827146416324],[-0.007083418809177289,-1.2359989979108357]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.17070690076478356,1.612057882176456,0.71338606911949],"aabb_xy":[[-0.18820690004287047,1.59471978211011],[-0.15320690148669672,1.629395982242802]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.30863545521720215,-1.818535434525323,0.71338606911949],"aabb_xy":[[0.27113545486897433,-1.8303268301064066],[0.34613545556542985,-1.8067440389442395]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.42332406408689977,-1.548744247421285,0.71338606911949],"aabb_xy":[[-0.5033240662496623,-1.6286994310474283],[-0.3433240619241373,-1.468789063795141]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.5402035366857731,-2.08888047490565,0.71338606911949],"aabb_xy":[[-0.6042035390285746,-2.1338213261497825],[-0.4762035343429715,-2.0439396236615175]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.008635019863034388,-2.3106942806879553,0.71338606911949],"aabb_xy":[[0.004556861955984648,-2.3147752609362184],[0.012713177770084128,-2.3066133004396923]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.5666630235230301,-1.3151256326344454,0.71338606911949],"aabb_xy":[[0.4766630241046591,-1.348501129478635],[0.6566630229414009,-1.2817501357902557]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.4190742300038197,0.4927016089958167,0.71338606911949],"aabb_xy":[[0.3540742288978764,0.4677362359276885],[0.48407423110976294,0.517666982063945]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.27093136318570854,1.341595031658576,0.71338606911949],"aabb_xy":[[0.24571052632586884,1.316371280805689],[0.29615220004554815,1.3668187825114626]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[0.3154945658805215,-2.1861695312000453,0.71338606911949],"aabb_xy":[[0.29332203890387065,-2.208345198356168],[0.33766709285717234,-2.163993864043922]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.15168449419820285,0.969008344512031,0.71338606911949],"aabb_xy":[[-0.16176620127677632,0.8890083466199163],[-0.14160278711962937,1.0490083424041456]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.5726233867450687,-0.26812736903681245,0.71338606911949],"aabb_xy":[[-0.6376233853021416,-0.29787990245069507],[-0.5076233881879959,-0.23837483562292983]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.7057156969037717,-0.8038571537705883,0.71338606911949],"aabb_xy":[[0.6939475101091142,-0.8888571536758101],[0.7174838836984292,-0.7188571538653669]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[-0.6362316531549083,0.9484057988094072,0.71338606911949],"aabb_xy":[[-0.647476708725526,0.937164001085312],[-0.6249865975842903,0.9596475965335025]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.4050189693194106,1.1310275142758917,0.71338606911949],"aabb_xy":[[0.38758825424040405,1.1137553996120406],[0.42244968439841707,1.1482996289397422]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.21106901699466163,0.9844280704434878,0.71338606911949],"aabb_xy":[[0.200217410745786,0.9735687797158367],[0.2219206232435372,0.9952873611711387]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.494874363848244,1.491435399559999,0.71338606911949],"aabb_xy":[[0.4448743621867492,1.441436957304296],[0.5448743655097387,1.5414338418157014]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.5372083483419458,0.26744472379146167,0.71338606911949],"aabb_xy":[[-0.6172083453049848,0.19036908214768816],[-0.4572083513789065,0.34452036543523507]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.16069308625109102,-1.8516920692929686,0.71338606911949],"aabb_xy":[[-0.16947431339832728,-1.8604718165814988],[-0.15191185910385482,-1.8429123220044383]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[0.5040203790434374,-1.8208414304608065,0.71338606911949],"aabb_xy":[[0.4753710466830211,-1.849486989737882],[0.5326697114038536,-1.7921958711837305]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_28","position":[0.15706650134179656,-2.5079223389028282,0.71338606911949],"aabb_xy":[[0.10696903736072294,-2.5719223394126396],[0.20716396532287018,-2.443922338393016]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_29","position":[-0.44888006214755,-2.376518257328655,0.71338606911949],"aabb_xy":[[-0.471379197873777,-2.399018258106918],[-0.4263809264213231,-2.3540182565503924]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_30","position":[-0.4758803143335924,-0.055395594469933584,0.71338606911949],"aabb_xy":[[-0.5258753252930444,-0.10539559350552533],[-0.42588530337414043,-0.005395595434341872]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_31","position":[0.17368367364057458,-2.066922159724972,0.71338606911949],"aabb_xy":[[0.08368367690496437,-2.1201056230422664],[0.2636836703761848,-2.0137386964076773]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_32","position":[0.5597605220959794,1.2373632435085358,0.71338606911949],"aabb_xy":[[0.5372605225722719,1.2148672960579148],[0.5822605216196867,1.2598591909591563]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949526326450577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2965.png","name":"2965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9555.png","name":"9555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5185.png","name":"5185"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":790.6167280922865,"rotation_z_degrees":52.39660806168865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01982742842312926,-0.0010212840356145433,-0.014052058198113723]},{"name":"camera_2","offset_m":[-0.0030495185906507204,-0.012955604985512617,-0.00809608876223217]},{"name":"camera_3","offset_m":[-0.010725157517779724,0.002065502814258942,-0.010748944870225548]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015487367525948113,0.0013583898887454039,-0.0008229730252867404],"end_effector_yaw_offset_degrees":-0.8411244242623881},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003277010923515571,-0.00034165659341949396,0.0012981700510241246],"end_effector_yaw_offset_degrees":-0.8778475160002257},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0008708216504086149,-0.0007680476779618134,-0.0003603279494448458],"end_effector_yaw_offset_degrees":-0.3265362621486019}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026546061483241025,-0.003076303411132352],"position_m":[0.3103453938516759,-0.11937630341113235,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000183968597322998,-0.0030057033918261702],"position_m":[0.310116031402677,0.08809429660817383,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002356215770693353,0.002060515207862974],"position_m":[0.35745621577069336,0.298760515207863,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00023040731756820282,-0.0015753267633679302],"position_m":[0.24376959268243178,-0.3533753267633679,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"498f174080e4c7962bbd9c87140ecc952b97b4e502e668f0fe448ba94282c8a6","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8606/tex_ceiling_textures_5185/tex_floor_textures_9555/tex_table_textures_6322/tex_wall_textures_2965","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6674802481607864952,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6674802481607864952,"visual_seed":6674802481607864952,"scene_id":"lab_003","finished_at":"2026-09-03T02:42:45"} +{"episode_id":"ep_000072","started_at":"2026-09-03T02:42:49","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.31805030644374654,-1.414706440211457,0.71338606911949],"aabb_xy":[[-0.3530503064202424,-1.4241710562590737],[-0.2830503064672507,-1.4052418241638405]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.2793481915567777,-0.3401214858156054,0.71338606911949],"aabb_xy":[[-0.3143481907495959,-0.35108853181326793],[-0.24434819236395938,-0.3291544398179427]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.2743569254184166,-2.06115449989918,0.71338606911949],"aabb_xy":[[0.244389368508591,-2.091154500197065],[0.30432448232824233,-2.031154499601294]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.12590231707101474,-1.43848641174098,0.71338606911949],"aabb_xy":[[0.07590231605187946,-1.4749526274788078],[0.17590231809015,-1.402020196003152]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.5312492335163224,0.037597273099800876,0.71338606911949],"aabb_xy":[[0.48124923393998764,-0.012383305852305064],[0.5812492330926571,0.08757785205190682]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.4123347719153223,-2.4110025427416786,0.71338606911949],"aabb_xy":[[0.4059209582721373,-2.4174123629893463],[0.4187485855585072,-2.40459272249401]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.07103408053799687,-1.2326834950071073,0.71338606911949],"aabb_xy":[[0.0010340787292514309,-1.2540372637712949],[0.1410340823467423,-1.2113297262429201]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.4809169211085458,1.5684572891528181,0.71338606911949],"aabb_xy":[[0.45845215113714066,1.5459572882739574],[0.5033816910799509,1.5909572900316784]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.3630279810869632,-1.1957921419954451,0.71338606911949],"aabb_xy":[[-0.3980279802169188,-1.201537363071109],[-0.3280279819570075,-1.1900469209197808]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[0.6320963803956912,1.7529342111374633,0.71338606911949],"aabb_xy":[[0.6142272726412357,1.7391013031602525],[0.6499654881501467,1.7667671191146745]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.26398704876265555,0.37106851076794456,0.71338606911949],"aabb_xy":[[-0.2814870490077049,0.3535687229283777],[-0.24648704851760614,0.3885682986075114]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.10710235940148616,-1.9304689005581273,0.71338606911949],"aabb_xy":[[0.07263988138839839,-1.9371325777410504],[0.14156483741457393,-1.9238052233752045]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.43620425962241205,-0.24869378216496196,0.71338606911949],"aabb_xy":[[0.4298921600860736,-0.25446072141818077],[0.4425163591587505,-0.24292684291174313]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.40388875547535147,0.6961530454380931,0.71338606911949],"aabb_xy":[[-0.4678887573876938,0.6402418961800828],[-0.3398887535630091,0.7520641946961036]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.12204875222893374,0.8412406497980642,0.71338606911949],"aabb_xy":[[0.08958705134700627,0.8111078176831615],[0.15451045311086117,0.8713734819129667]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.17340849435926653,1.0735338182343521,0.71338606911949],"aabb_xy":[[0.10840849172147304,1.0220542195349052],[0.23840849699706002,1.125013416933799]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.4348743809389626,0.5809831733274988,0.71338606911949],"aabb_xy":[[-0.44571485916547754,0.5637968920368499],[-0.42403390271244773,0.5981694546181475]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.6629903531231738,-1.230124072533811,0.71338606911949],"aabb_xy":[[0.6549469931972186,-1.3151240736291772],[0.671033713049129,-1.1451240714384443]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.35846479286317656,-1.6721106392413507,0.71338606911949],"aabb_xy":[[-0.38096479310669196,-1.6843152739011227],[-0.33596479261966117,-1.6599060045815788]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.1251878126713989,1.2607659353845166,0.71338606911949],"aabb_xy":[[0.11790549629473517,1.1707659317750072],[0.13247012904806246,1.3507659389940252]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.528938781977109,1.6057773337062646,0.71338606911949],"aabb_xy":[[-0.5645679378770687,1.5701446669494115],[-0.49330962607714923,1.6414100004631174]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.110954648208473,-1.1399020968748677,0.71338606911949],"aabb_xy":[[0.0942775122153775,-1.156602020848798],[0.1276317842015685,-1.1232021729009374]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.021667382419281123,1.7488570033634292,0.71338606911949],"aabb_xy":[[-0.01210817677141185,1.7348185081502643],[0.055442941609974095,1.7628954985765941]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.4022592313835995,1.1095752134633234,0.71338606911949],"aabb_xy":[[-0.42475923119750186,1.1051005970928427],[-0.3797592315696971,1.1140498298338042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953374651202943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5614.png","name":"5614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2129.png","name":"2129"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6262.png","name":"6262"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":567.52173635149,"rotation_z_degrees":267.1471447943986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008703721791359031,-0.009260992653905968,-0.013030683547835764]},{"name":"camera_2","offset_m":[0.008135847366613179,-0.002503513888669106,0.006748230590965906]},{"name":"camera_3","offset_m":[0.01071732289088283,-0.00314004602991386,-0.002978084393649841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005687501702562581,-0.0019844013471051847,0.0003724238673070389],"end_effector_yaw_offset_degrees":-0.07769277159855048},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014530462833937966,-0.0008394439213405898,0.0015052452773096085],"end_effector_yaw_offset_degrees":0.05596751160683233},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001027128912887981,0.001228705056041487,-0.00042973062864653687],"end_effector_yaw_offset_degrees":0.8543876336344591}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00048190298800023044,0.00206314216257502],"position_m":[0.3125180970119998,-0.11423685783742499,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006285150398103838,0.003107968195542067],"position_m":[0.3109285150398104,0.09420796819554207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016531840389375626,0.0044222729196658405],"position_m":[0.3567531840389376,0.30112227291966587,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008767966286851924,0.004496575350039711],"position_m":[0.2431232033713148,-0.3473034246499603,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"db091ae53e611b7cf550b7884b98e60f3cf43fa370fccdbc4c7e3f31582dcb18","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6925/tex_ceiling_textures_6262/tex_floor_textures_1998/tex_table_textures_5614/tex_wall_textures_2129","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7865811220791752784,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7865811220791752784,"visual_seed":7865811220791752784,"scene_id":"lab_003","finished_at":"2026-09-03T02:45:30"} +{"episode_id":"ep_000073","started_at":"2026-09-03T02:45:32","dimensions":{"distractor":{"count":28,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.0902911285734781,0.5069324459082618,0.71338606911949],"aabb_xy":[[-0.18029113090749715,0.42945009132314915],[-0.0002911262394590247,0.5844148004933745]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.6824552166519503,1.0311043759909748,0.71338606911949],"aabb_xy":[[-0.6889568531599548,1.0213365539646653],[-0.6759535801439456,1.0408721980172848]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.38807693682410727,1.6930324027139867,0.71338606911949],"aabb_xy":[[0.3240769404285342,1.6290691142952531],[0.45207693321968034,1.7569956911327202]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.09852883927612666,-0.8054606982055577,0.71338606911949],"aabb_xy":[[0.07606406930472154,-0.827960699084418],[0.12099360924753177,-0.782960697326697]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.5498534149820817,0.8972893974855274,0.71338606911949],"aabb_xy":[[-0.5798450777159521,0.8672893981487267],[-0.5198617522482114,0.9272893968223278]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.1843389139122933,1.17861652380566,0.71338606911949],"aabb_xy":[[-0.1951793921388082,1.1614302425150111],[-0.17349843568577838,1.1958028050963085]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.6882995738352813,0.13435613589001782,0.71338606911949],"aabb_xy":[[0.6532995747053256,0.1286109148143537],[0.723299572965237,0.1401013569656819]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.36520053452760537,-1.9652537527475271,0.71338606911949],"aabb_xy":[[-0.3827788367165522,-1.9828282423216321],[-0.3476222323386585,-1.947679263173422]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.16122878062129098,-0.5835464109869566,0.71338606911949],"aabb_xy":[[-0.2112130163294682,-0.6335464098004522],[-0.11124454491311375,-0.533546412173461]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.22211352346251734,-1.8797646324466273,0.71338606911949],"aabb_xy":[[0.1581135231885391,-1.9298307326439152],[0.28611352373649557,-1.8296985322493393]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.6102154507300419,0.6450300673600369,0.71338606911949],"aabb_xy":[[-0.6752154518359853,0.6200646942919087],[-0.5452154496240987,0.6699954404281653]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.11475055732647488,-1.4573324207048022,0.71338606911949],"aabb_xy":[[-0.1516011052634625,-1.4948324215278357],[-0.07790000938948727,-1.4198324198817682]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.19437789892210966,0.7360150732388187,0.71338606911949],"aabb_xy":[[0.1443778976382697,0.6860362188481965],[0.24437790020594963,0.7859939276294408]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[0.6101471836997339,-1.2958646870436512,0.71338606911949],"aabb_xy":[[0.6013659565524977,-1.3046444343321817],[0.6189284108469703,-1.2870849397551212]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.12068278341007121,-0.34828351402602964,0.71338606911949],"aabb_xy":[[-0.1456827826820335,-0.3646288776221919],[-0.09568278413810893,-0.33193815042986724]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.33466120482853645,1.2689999436634825,0.71338606911949],"aabb_xy":[[0.29611551200333536,1.2304541726072937],[0.37320689765373743,1.3075457147196712]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.2451422599302121,-1.2783314681475197,0.71338606911949],"aabb_xy":[[0.19112666364831205,-1.3423314710397767],[0.29915785621211205,-1.2143314652552624]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.5792122025389232,-1.8296694282647814,0.71338606911949],"aabb_xy":[[-0.5864559685851686,-1.909669426468384],[-0.5719684364926779,-1.7496694300611793]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.20412002814646701,1.6114800930055648,0.71338606911949],"aabb_xy":[[0.18160633632300982,1.5414800924045573],[0.2266337199699242,1.6814800936065724]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.025644858526486125,1.5356527546132992,0.71338606911949],"aabb_xy":[[0.020688838341604922,1.513152754411178],[0.030600878711367324,1.5581527548154213]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.6663970717817138,-0.5240734571450494,0.71338606911949],"aabb_xy":[[0.6288970705969209,-0.5284916798411098],[0.7038970729665065,-0.5196552344489888]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.4772474417267212,0.46534820059371507,0.71338606911949],"aabb_xy":[[-0.5412431391218178,0.4013482022930063],[-0.41325174433162454,0.5293481988944236]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.5139097390843729,-2.5613227160689593,0.71338606911949],"aabb_xy":[[-0.5489097373950683,-2.569037730992505],[-0.47890974077367743,-2.5536077011454137]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.45519410439592184,0.8348238084673385,0.71338606911949],"aabb_xy":[[-0.4678208916831182,0.8252777347657656],[-0.4425673171087255,0.8443698821689114]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.032259821979722325,-2.005084926674389,0.71338606911949],"aabb_xy":[[0.021692342321623315,-2.0156299567873974],[0.042827301637821336,-1.9945398965613803]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.24873928717598676,-0.46961146930191866,0.71338606911949],"aabb_xy":[[-0.2716550000610367,-0.4925157664383423],[-0.22582357429093688,-0.44670717216549527]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[0.16413762198408133,-0.930253295898138,0.71338606911949],"aabb_xy":[[0.1091376237823365,-0.9707752625245756],[0.21913762018582617,-0.8897313292717004]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.015758907274818434,-1.2972407999123692,0.71338606911949],"aabb_xy":[[-0.05325890762304619,-1.3090321954934525],[0.021741093073409323,-1.2854494043312854]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951903902344181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9906.png","name":"9906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1973.png","name":"1973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3116.png","name":"3116"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":743.4986527553026,"rotation_z_degrees":97.30077252785598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005117418243126389,-0.01226564630010079,0.0015339530392712054]},{"name":"camera_2","offset_m":[-0.015700743434290735,-0.008832209737709613,0.010582377332637494]},{"name":"camera_3","offset_m":[0.01657271234657379,0.005156213997523765,0.0036457608746913693]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001917083780978691,-0.0005657133802096461,-0.0016407125777177646],"end_effector_yaw_offset_degrees":-0.029598008353702854},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005252796886334443,0.0003225698151587417,-0.0010556754959485408],"end_effector_yaw_offset_degrees":0.8620209445908007},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0009544699993217012,-0.001968892500897068,0.0012588569596829542],"end_effector_yaw_offset_degrees":0.015597820642613724}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002902832275175244,-0.004362276754757939],"position_m":[0.31590283227517524,-0.12066227675475794,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002032359065857121,-0.0013659786856112543],"position_m":[0.31233235906585716,0.08973402131438875,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004337323671109171,-0.001575753727732596],"position_m":[0.3594373236711092,0.2951242462722674,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004037061120632377,0.001026001078931426],"position_m":[0.23996293887936762,-0.3507739989210686,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b77993c72086be0b7ace898ee29bbb585097cb17f41af45f8b90f8969e09e41","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7925/tex_ceiling_textures_3116/tex_floor_textures_1973/tex_table_textures_9906/tex_wall_textures_5210","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8296160498739147504,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8296160498739147504,"visual_seed":8296160498739147504,"scene_id":"lab_003","finished_at":"2026-09-03T02:48:10"} +{"episode_id":"ep_000074","started_at":"2026-09-03T02:51:12","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.2792982411547589,-1.5406150226528508,0.71338606911949],"aabb_xy":[[0.2614291334003034,-1.5544479306300616],[0.29716734890921437,-1.52678211467564]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.5066632218509384,-0.20323477084546626,0.71338606911949],"aabb_xy":[[-0.5225477151162635,-0.21758771114429035],[-0.4907787285856132,-0.18888183054664223]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.1936702963520296,0.6486484500669407,0.71338606911949],"aabb_xy":[[-0.23585471051286033,0.5846484497897296],[-0.15148588219119885,0.712648450344152]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.35952318680719736,0.9342756335489408,0.71338606911949],"aabb_xy":[[-0.4171536556944681,0.8742756346222301],[-0.30189271791992645,0.9942756324756513]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.7165589607535838,-1.436632817920341,0.71338606911949],"aabb_xy":[[0.7093151947073385,-1.5166328161239433],[0.7238027267998292,-1.3566328197167385]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.2510953367291718,1.2821071849829155,0.71338606911949],"aabb_xy":[[-0.28859533530479253,1.2693708893193574],[-0.21359533815355095,1.2948434806464733]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.2897052160402055,-0.8918514193720777,0.71338606911949],"aabb_xy":[[0.27059290868222663,-0.9109861982493197],[0.30881752339818436,-0.8727166404948357]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.4559314820568672,-1.6961628336346366,0.71338606911949],"aabb_xy":[[0.443059578555927,-1.7761628340484725],[0.46880338555780726,-1.6161628332208002]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.5442180839300855,1.5147092964297877,0.71338606911949],"aabb_xy":[[-0.5535650915123808,1.5004056742121439],[-0.5348710763477903,1.529012918647432]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.16554770880806324,-2.241382800957406,0.71338606911949],"aabb_xy":[[0.07554770513114505,-2.3028152075345094],[0.25554771248498137,-2.1799503943803007]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.36691451488296767,-1.2335192055095154,0.71338606911949],"aabb_xy":[[-0.38208668416460106,-1.2486880624377188],[-0.3517423456013344,-1.218350348581312]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.23336929547561386,-0.5326526198022066,0.71338606911949],"aabb_xy":[[-0.241412655401569,-0.617652620897573],[-0.22532593554965866,-0.44765261870684014]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.08722135241202122,-2.0304104739258757,0.71338606911949],"aabb_xy":[[-0.17222135110409587,-2.0623963373207546],[-0.002221353719946584,-1.9984246105309968]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.44785521611091994,-1.0851250672464838,0.71338606911949],"aabb_xy":[[0.38385521899881425,-1.1341574370408944],[0.5118552132230256,-1.0360926974520732]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.644509069822903,1.411636531690681,0.71338606911949],"aabb_xy":[[0.6032602587929882,1.3566365321784635],[0.6857578808528176,1.4666365312028984]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.2709196882440912,-1.9743527785439925,0.71338606911949],"aabb_xy":[[0.2542425522509957,-1.9910527025179225],[0.2875968242371867,-1.957652854570062]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.4902373602392581,-2.4938962757698944,0.71338606911949],"aabb_xy":[[-0.5354086780874272,-2.557896272914433],[-0.44506604239108927,-2.429896278625356]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.3813595637448707,-1.776040381436884,0.71338606911949],"aabb_xy":[[-0.3965224367218078,-1.791205838732003],[-0.3661966907679336,-1.7608749241417654]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.04945040080096641,-1.3007646195670894,0.71338606911949],"aabb_xy":[[-0.0005495978449547786,-1.3506841632265518],[0.0994503994468876,-1.250845075907627]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.30636183973943293,-2.0858711306843207,0.71338606911949],"aabb_xy":[[-0.3238618390175198,-2.1032092307506667],[-0.28886184046134605,-2.0685330306179748]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.30455125338576616,-1.2559017301848783,0.71338606911949],"aabb_xy":[[0.23955125074797268,-1.3073813288843255],[0.36955125602355965,-1.2044221314854315]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.6069231877608043,-2.4799677248868286,0.71338606911949],"aabb_xy":[[0.5972915515403747,-2.4896050376665375],[0.616554823981234,-2.4703304121071197]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.5942662705181071,0.4697560776184315,0.71338606911949],"aabb_xy":[[-0.6742662709883231,0.46144537000408314],[-0.5142662700478913,0.4780667852327799]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.008224150165144328,-0.5647594731363061,0.71338606911949],"aabb_xy":[[-0.014637963808329267,-0.5711692933839745],[-0.0018103365219593879,-0.5583496528886378]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.09551951000858439,-1.9242264525927504,0.71338606911949],"aabb_xy":[[0.08228856447390308,-1.9374538716147498],[0.10875045554326566,-1.910999033570751]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[0.5906889690473349,0.10834969242006887,0.71338606911949],"aabb_xy":[[0.557209801786294,0.07487057904896186],[0.6241681363083759,0.14182880579117588]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.3873845627577066,-0.9866967619607843,0.71338606911949],"aabb_xy":[[-0.4048845618920737,-0.9965763889983721],[-0.3698845636233394,-0.9768171349231964]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.2607746226119828,1.2211826769999528,0.71338606911949],"aabb_xy":[[0.1907746199753964,1.201077812004087],[0.3307746252485691,1.241287541995818]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.36447233399620643,0.23395729677440968,0.71338606911949],"aabb_xy":[[-0.4144456279994668,0.1839572962198623],[-0.31449903999294593,0.28395729732895697]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[-0.06904316458505455,0.023003950412465723,0.71338606911949],"aabb_xy":[[-0.11914062856612817,-0.04099605009734608],[-0.01894570060398093,0.08700395092227753]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[0.30412810038500093,-0.6874995866096825,0.71338606911949],"aabb_xy":[[0.22412809822223845,-0.7674547702358261],[0.3841281025477634,-0.6075444029835388]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_31","position":[0.4462384924080143,1.2504839438801678,0.71338606911949],"aabb_xy":[[0.4093879444710266,1.212983943057134],[0.48308904034500183,1.2879839447032015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942852357476446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5634.png","name":"5634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5634.png","name":"5634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3115.png","name":"3115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5518.png","name":"5518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/125.png","name":"125"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":558.0632637396478,"rotation_z_degrees":101.92382060399014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019504130627096695,-0.00014521619395709007,-0.015966356315226648]},{"name":"camera_2","offset_m":[0.01672576513730373,0.015363514041445602,0.01615245036399272]},{"name":"camera_3","offset_m":[-0.01312271167206621,-0.005065689869512462,-0.015907160785859898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012951984907918438,0.0003357008627030405,-0.001059923022118769],"end_effector_yaw_offset_degrees":-0.028362153948383817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001008051339139957,0.0009427537653598382,-0.00013366607716807982],"end_effector_yaw_offset_degrees":0.04178866032714357},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002790482732278989,0.000787301521391988,-0.0013129655971185071],"end_effector_yaw_offset_degrees":-0.16783444556946714}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004769663334121068,0.0043880526134207785],"position_m":[0.30823033666587896,-0.11191194738657922,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[5.932296853857887e-05,-0.00010163583936543055],"position_m":[0.3103593229685386,0.09099836416063457,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031860864854693404,-0.0012536112517556853],"position_m":[0.3582860864854694,0.29544638874824436,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028986503520675314,-0.0028405068727497974],"position_m":[0.24689865035206754,-0.3546405068727498,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f79eaf2a2443879acea86a647603720db3068405ab493b41c5f89e8332287fa9","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5634/tex_ceiling_textures_7328/tex_floor_textures_125/tex_table_textures_3115/tex_wall_textures_5518","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":86805031976380555,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":86805031976380555,"visual_seed":86805031976380555,"scene_id":"lab_003","finished_at":"2026-09-03T02:53:48"} +{"episode_id":"ep_000075","started_at":"2026-09-03T02:55:22","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.20915622445770798,1.5188735421897372,0.71338606911949],"aabb_xy":[[-0.27915622605998747,1.5054407489880797],[-0.13915622285542853,1.5323063353913948]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.5605661630766814,-2.119222550442352,0.71338606911949],"aabb_xy":[[0.4965661610269494,-2.15931703353166],[0.6245661651264134,-2.079128067353044]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.6130710676415425,-1.30242441186437,0.71338606911949],"aabb_xy":[[0.5554405987542714,-1.3624244107910803],[0.6707015365288131,-1.2424244129376592]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.0428207483726627,1.396210266447198,0.71338606911949],"aabb_xy":[[-0.10682074864664093,1.3461441662499098],[0.02117925190131554,1.4462763666444858]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.44904864282073287,1.1736579001602587,0.71338606911949],"aabb_xy":[[-0.5290486399803082,1.1621102992024417],[-0.3690486456611576,1.1852055011180758]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.11190239033795069,0.6917995355111861,0.71338606911949],"aabb_xy":[[-0.1489364997660104,0.6574223281774766],[-0.07486828090989098,0.7261767428448954]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.2844908256271837,0.4715488171934594,0.71338606911949],"aabb_xy":[[-0.3744908293041018,0.410116410616355],[-0.19449082195026546,0.5329812237705638]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.3126169346936467,-1.5255218153516914,0.71338606911949],"aabb_xy":[[-0.3244890177051478,-1.6105218150453418],[-0.3007448516821456,-1.440521815658041]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.6075994169572625,-0.3794972474656597,0.71338606911949],"aabb_xy":[[-0.6321456325800131,-0.4097461440146967],[-0.5830532013345117,-0.3492483509166226]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[-0.34260858165470215,-0.6014721732275552,0.71338606911949],"aabb_xy":[[-0.3500210371960906,-0.6073233836491833],[-0.3351961261133137,-0.5956209628059274]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.10879489393721176,-0.9605966973701694,0.71338606911949],"aabb_xy":[[-0.1500437049671265,-1.0155966968823866],[-0.06754608290729702,-0.9055966978579518]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.5649780204493822,0.3251229871571475,0.71338606911949],"aabb_xy":[[-0.654978019867753,0.2917474903129577],[-0.47497802103101117,0.35849848400133716]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.2614752545894816,1.1481288425257978,0.71338606911949],"aabb_xy":[[0.2521282470071864,1.1338252203081538],[0.27082226217177685,1.1624324647434419]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.615194282474748,0.864717954501677,0.71338606911949],"aabb_xy":[[0.5976943490407646,0.8472179545814424],[0.6326942159087313,0.8822179544219115]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.008003870108216349,0.8825291350926192,0.71338606911949],"aabb_xy":[[-0.019841166672390775,0.8517446363543075],[0.03584890688882347,0.9133136338309309]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.24030771941017381,1.7408366936900168,0.71338606911949],"aabb_xy":[[0.22946724118365894,1.723650412399368],[0.2511481976366887,1.7580229749806653]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.3032189653265417,0.8011223041767588,0.71338606911949],"aabb_xy":[[-0.3129749548357155,0.7913597701175243],[-0.29346297581736774,0.8108848382359932]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.33014917943565036,1.2570108399794129,0.71338606911949],"aabb_xy":[[-0.34903356320416057,1.23812491519906],[-0.31126479566714016,1.2758967647597657]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.5038911426021053,-0.8701015085575139,0.71338606911949],"aabb_xy":[[0.4488979312649686,-0.9251015088963076],[0.5588843539392421,-0.8151015082187204]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.3998327819242981,1.735814013398128,0.71338606911949],"aabb_xy":[[-0.4638327833322887,1.684025061874203],[-0.3358327805163074,1.7876029649220524]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.5374756027095169,0.023018811476279488,0.71338606911949],"aabb_xy":[[0.45747560223930095,0.014708103861931113],[0.6174756031797328,0.03132951909062787]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.46730713335605645,-1.2544124937088779,0.71338606911949],"aabb_xy":[[-0.5086116764197924,-1.318412493276995],[-0.42600259029232046,-1.1904124941407608]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.029764470157995104,-1.313058340520673,0.71338606911949],"aabb_xy":[[-0.055235528259428124,-1.397932635982958],[0.11476446857541833,-1.228184045058388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965257146189511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3188.png","name":"3188"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3188.png","name":"3188"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":565.1987402012779,"rotation_z_degrees":71.7523259614669,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001632982148959461,0.006796590548276717,0.017772358966929056]},{"name":"camera_2","offset_m":[0.01028825490145524,-0.01475346824559741,0.009985804534314989]},{"name":"camera_3","offset_m":[-0.010721772664003822,0.0013527314948367543,0.01761083753461686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014944160001385451,-0.0012108311931581742,-0.00048711411840729967],"end_effector_yaw_offset_degrees":0.24649347501092977},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010427698339904924,-0.0010644075367427952,0.000993659118326321],"end_effector_yaw_offset_degrees":-0.11519843827095211},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-6.4605131793169825e-06,0.0014324207628271589,0.000912276753685679],"end_effector_yaw_offset_degrees":0.3838930014244788}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008541360989284073,-0.002446749936083266],"position_m":[0.3138541360989284,-0.11874674993608327,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013297949351427185,-0.0005191767317317521],"position_m":[0.3089702050648573,0.09058082326826825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004780098802362814,0.0006198929476556366],"position_m":[0.3598800988023628,0.29731989294765565,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005365651792766804,-0.001580870038417149],"position_m":[0.2445365651792767,-0.35338087003841717,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e2f69a03d19e8921c70bfa4bead71adfb9d7d73e43ce0bcc10b84b3987fa8d39","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3188/tex_ceiling_textures_3016/tex_floor_textures_7332/tex_table_textures_8499/tex_wall_textures_2788","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":625973970363953731,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":625973970363953731,"visual_seed":625973970363953731,"scene_id":"lab_003","finished_at":"2026-09-03T02:57:56"} +{"episode_id":"ep_000076","started_at":"2026-09-03T02:58:00","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.1996024186141242,1.7779228350991283,0.71338606911949],"aabb_xy":[[0.18210241947975703,1.7680432080615405],[0.21710241774849137,1.7878024621367161]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.08431216242479389,-1.6407013870834584,0.71338606911949],"aabb_xy":[[-0.1342854564280543,-1.6907013876380057],[-0.034338868421533414,-1.590701386528911]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.45587156753959723,-2.430300202629893,0.71338606911949],"aabb_xy":[[0.3908715696579495,-2.4814238663364345],[0.520871565421245,-2.379176538923353]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.43810950614108557,1.427179996234409,0.71338606911949],"aabb_xy":[[0.4156103704148586,1.4046799954561457],[0.46060864186731254,1.4496799970126717]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.6109685064973737,-1.2387740020810307,0.71338606911949],"aabb_xy":[[-0.6298528902658839,-1.2576599268613835],[-0.5920841227288635,-1.219888077300678]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.5848651559872979,1.3861878096097486,0.71338606911949],"aabb_xy":[[0.5732961752403614,1.361187809492817],[0.5964341367342345,1.4111878097266803]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.6807441206166045,1.6294828231534075,0.71338606911949],"aabb_xy":[[0.6678722171156642,1.5494828227395714],[0.6936160241175445,1.7094828235672437]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.017245068564064603,0.7638559703534709,0.71338606911949],"aabb_xy":[[-0.060011775443484794,0.6998559669316684],[0.025521638315355588,0.8278559737752733]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.5989629032802193,-1.6452517384071443,0.71338606911949],"aabb_xy":[[-0.6539629024568087,-1.700241413182102],[-0.5439629041036297,-1.5902620636321867]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.650648999135786,0.4018485944908914,0.71338606911949],"aabb_xy":[[0.6156490000058303,0.3961033734152273],[0.6856489982657417,0.4075938155665555]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[0.3125137354758931,-2.280932539867012,0.71338606911949],"aabb_xy":[[0.3021021767954094,-2.28627827320291],[0.32292529415637683,-2.275586806531113]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.4400942237575408,-1.7741466079082222,0.71338606911949],"aabb_xy":[[-0.4492541027014174,-1.7806778259517595],[-0.4309343448136642,-1.7676153898646854]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.6183835285245831,-0.7926602815412251,0.71338606911949],"aabb_xy":[[-0.6232271232858132,-0.7975119340202094],[-0.6135399337633533,-0.7878086290622411]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.14659359902725633,0.8966249983822037,0.71338606911949],"aabb_xy":[[-0.18409359919912824,0.8639242629992965],[-0.10909359885538436,0.9293257337651109]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.18647137579036177,-1.739165425005652,0.71338606911949],"aabb_xy":[[-0.19017463711950058,-1.7428674433143698],[-0.18276811446122285,-1.7354634066969339]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.2862671244630296,1.7005986779286926,0.71338606911949],"aabb_xy":[[0.2649891163195573,1.6355986756026193],[0.3075451326065018,1.7655986802547654]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.12145866073977907,-1.8712178341897303,0.71338606911949],"aabb_xy":[[0.07145866116344435,-1.9211984131418363],[0.1714586603161138,-1.8212372552376244]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.560331344809029,-1.9840263475613247,0.71338606911949],"aabb_xy":[[0.5485631580143716,-2.0690263474665467],[0.5720995316036867,-1.8990263476561036]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.4137568127893171,1.0057181317955513,0.71338606911949],"aabb_xy":[[-0.43625681279946543,0.991621912155948],[-0.39125681277916885,1.0198143514351545]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.6119621604516254,-0.8197250490018946,0.71338606911949],"aabb_xy":[[0.5881259428110205,-0.9097250498103813],[0.6357983780922306,-0.7297250481934082]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.4771490325709258,1.0178856881556775,0.71338606911949],"aabb_xy":[[0.39714903149780545,1.008107641818293],[0.5571490336440461,1.027663734493062]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.5787549581422686,0.5169231377228645,0.71338606911949],"aabb_xy":[[0.5287761496319527,0.46692313771714566],[0.6287337666525845,0.5669231377285833]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.42447072178519774,1.171934812001866,0.71338606911949],"aabb_xy":[[0.4066772148502813,1.1541350664060683],[0.44226422872011417,1.1897345575976637]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.3747836395720059,1.5028843310820883,0.71338606911949],"aabb_xy":[[-0.43878363596757897,1.4389210426633547],[-0.3107836431764328,1.5668476195008219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937678074999841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2217.png","name":"2217"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3183.png","name":"3183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5621.png","name":"5621"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":827.7634716806115,"rotation_z_degrees":148.29490322730447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017375391497472702,0.01187501510942519,-0.003435847458219756]},{"name":"camera_2","offset_m":[-0.013732031822967259,0.0020070926172102155,0.007933038296737364]},{"name":"camera_3","offset_m":[-0.01395405007951505,0.00810087889392919,0.00435812037701928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007893067362965511,-0.0005618257030282087,-0.0004768954436743208],"end_effector_yaw_offset_degrees":0.38653109071890324},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019280306445714638,0.0005453978108795852,0.0014492342542567122],"end_effector_yaw_offset_degrees":0.13263143756800133},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017307527165881767,-0.0019407933878014046,0.001770168569200065],"end_effector_yaw_offset_degrees":0.991263832381307}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015888601974224426,0.002733016692976921],"position_m":[0.31141113980257756,-0.11356698330702308,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026519825802344566,-0.004376585899761534],"position_m":[0.3129519825802345,0.08672341410023847,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010575997592487067,0.0020313467836726874],"position_m":[0.3561575997592487,0.2987313467836727,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037281942336826156,0.003640428078046644],"position_m":[0.24027180576631738,-0.34815957192195335,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c9a37f06ffb90803b2425d2dd5be5a3d5468aec1a5d3332da8015b9b5bc903f9","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3592/tex_ceiling_textures_5621/tex_floor_textures_1611/tex_table_textures_2217/tex_wall_textures_3183","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":159623838666121720,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":159623838666121720,"visual_seed":159623838666121720,"scene_id":"lab_003","finished_at":"2026-09-03T03:00:35"} +{"episode_id":"ep_000077","started_at":"2026-09-03T03:00:38","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.07264093885262779,0.5361866784579448,0.71338606911949],"aabb_xy":[[-0.08388599442324562,0.5249448807338495],[-0.061395883282009955,0.54742847618204]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.4382542774576106,0.7016545619969894,0.71338606911949],"aabb_xy":[[0.35825427419359746,0.688094529688076],[0.5182542807216237,0.7152145943059027]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.5753322683707738,-1.4620640611108928,0.71338606911949],"aabb_xy":[[0.4856451920626583,-1.5520640613653434],[0.6650193446788892,-1.3720640608564423]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.4171129200666348,-1.069652393306689,0.71338606911949],"aabb_xy":[[0.3271129203434605,-1.0927257458418687],[0.5071129197898088,-1.046579040771509]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.3115556794823844,0.8657265177438114,0.71338606911949],"aabb_xy":[[-0.35286022254612043,0.8017265181756942],[-0.27025113641864845,0.9297265173119283]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.45474729095883343,-2.1704783071709657,0.71338606911949],"aabb_xy":[[-0.46797823649351467,-2.1837057261929647],[-0.4415163454241521,-2.157250888148966]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.2933157721352546,1.152382630394373,0.71338606911949],"aabb_xy":[[-0.30144346032856784,1.1434690219836652],[-0.2851880839419414,1.1612962388050807]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.3752082924644602,-1.8660394956360113,0.71338606911949],"aabb_xy":[[-0.4392082895765659,-1.915071865430422],[-0.3112082953523545,-1.8170071258416007]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.2651527200458302,0.22158480200275088,0.71338606911949],"aabb_xy":[[-0.32915272226623715,0.1772117178774626],[-0.2011527178254231,0.26595788612803917]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.6515931071667396,0.0666944792305153,0.71338606911949],"aabb_xy":[[0.641511400088166,-0.013305518661599361],[0.6616748142453129,0.14669447712262995]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.19389031714011773,1.5365280589507626,0.71338606911949],"aabb_xy":[[-0.24101969614195337,1.4725280579063604],[-0.14676093813828203,1.6005280599951643]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.0235401707178452,0.8785574681190522,0.71338606911949],"aabb_xy":[[-0.03146345095659353,0.8560574678810488],[-0.015616890479096868,0.9010574683570555]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.2970314238037137,1.41355691562168,0.71338606911949],"aabb_xy":[[0.2838801778324244,1.3885569158649937],[0.31018266977500314,1.4385569153783668]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.5369169404910361,-0.05720224781087424,0.71338606911949],"aabb_xy":[[0.4994169403854431,-0.06402440966385536],[0.574416940596629,-0.05038008595789312]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.6320203501281253,0.18436107277154745,0.71338606911949],"aabb_xy":[[-0.6820203495683209,0.13439314828723112],[-0.5820203506879297,0.23432899725586373]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.17200953190433665,1.6029200320904358,0.71338606911949],"aabb_xy":[[0.10200952851277466,1.567604258387005],[0.2420095352958986,1.6382358057938666]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.17445621169301073,-1.274108554150431,0.71338606911949],"aabb_xy":[[0.09445621303612475,-1.2886134130746936],[0.25445621034989674,-1.2596036952261678]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.5142828456003945,-0.5887423891608112,0.71338606911949],"aabb_xy":[[0.506870390059006,-0.5945935995824392],[0.521695301141783,-0.5828911787391833]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.6083667934473169,-0.8141741463531662,0.71338606911949],"aabb_xy":[[-0.6633667930690629,-0.8691578391406389],[-0.5533667938255712,-0.7591904535656935]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.25287607606854967,1.248466913878357,0.71338606911949],"aabb_xy":[[0.16287607239163146,1.1870345073012525],[0.3428760797454678,1.3098993204554612]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.5904500572819116,-1.7987382308181763,0.71338606911949],"aabb_xy":[[-0.6254500571779303,-1.8071124663301164],[-0.5554500573858926,-1.7903639953062362]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[-0.6439025339317759,0.5502149826486229,0.71338606911949],"aabb_xy":[[-0.6511462999780211,0.4702149844450205],[-0.6366587678855304,0.6302149808522253]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.6569934548834353,-1.6287815991420653,0.71338606911949],"aabb_xy":[[0.6395627398044287,-1.646053713805916],[0.6744241699624417,-1.6115094844782143]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.07373426922437754,-2.255187315239264,0.71338606911949],"aabb_xy":[[0.048734269291859644,-2.2620699834601874],[0.09873426915689543,-2.2483046470183403]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.5171507403099886,-2.402534814748575,0.71338606911949],"aabb_xy":[[-0.537041780190329,-2.4151906260332727],[-0.4972597004296485,-2.389879003463879]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.09789822766223666,-1.5841451700654947,0.71338606911949],"aabb_xy":[[-0.16289822876817994,-1.6091105431336232],[-0.03289822655629339,-1.5591797969973666]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.02927731981843018,-2.5553615176281665,0.71338606911949],"aabb_xy":[[-0.04748314347967786,-2.566386918210158],[-0.011071496157182503,-2.544336117046175]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.5478234833361793,1.0278092308512061,0.71338606911949],"aabb_xy":[[0.5397871486348943,1.0197711115467893],[0.555859818037464,1.035847350155623]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960039323787741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5590.png","name":"5590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5590.png","name":"5590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6194.png","name":"6194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9839.png","name":"9839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2480.png","name":"2480"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":754.4775491952752,"rotation_z_degrees":32.244284350135885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01233047588195435,0.011681591038288603,-0.012179136091307084]},{"name":"camera_2","offset_m":[0.0025293106535184164,-0.008016076883778455,0.007740686479805536]},{"name":"camera_3","offset_m":[0.00239576238411051,-0.014150644065837638,0.007082448698261072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000991039400644977,-0.0014904099590386623,-0.00013518742790200825],"end_effector_yaw_offset_degrees":0.9892105236902708},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016285199895867738,-0.00031841456083269684,-0.00013155551481733958],"end_effector_yaw_offset_degrees":0.8831706492759797},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-7.614788640103757e-05,0.001917041868803893,0.00126838202393264],"end_effector_yaw_offset_degrees":0.5493817673443864}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004883788941170499,-0.0023209615004544048],"position_m":[0.3081162110588295,-0.11862096150045441,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004116462860226921,0.0031970132450037875],"position_m":[0.3061835371397731,0.0942970132450038,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004332459919026811,0.00034585299385072286],"position_m":[0.35943245991902684,0.2970458529938507,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004599064661328025,0.0016862488695003732],"position_m":[0.23940093533867196,-0.35011375113049964,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8aaed97b443a01684ae83836ad45714a2cad28765632178dc3881a977410e577","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5590/tex_ceiling_textures_2480/tex_floor_textures_9839/tex_table_textures_5612/tex_wall_textures_6194","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":4584468174919584535,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":4584468174919584535,"visual_seed":4584468174919584535,"scene_id":"lab_003","finished_at":"2026-09-03T03:03:17"} +{"episode_id":"ep_000078","started_at":"2026-09-03T03:03:20","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.10250454105912377,1.5462074496741818,0.71338606911949],"aabb_xy":[[-0.14749712777757415,1.501207450399733],[-0.05751195434067333,1.5912074489486305]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.5916133420687397,0.9056182197281384,0.71338606911949],"aabb_xy":[[0.5415158780876661,0.8416182192183265],[0.6417108060498133,0.9696182202379501]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.40962452031428853,-2.0897802824138605,0.71338606911949],"aabb_xy":[[-0.4546245217805175,-2.1347801392753416],[-0.36462451884805974,-2.0447804255523803]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.45509712042310446,1.2037444954157,0.71338606911949],"aabb_xy":[[-0.5045775416370633,1.1397444975028481],[-0.40561669920914567,1.2677444933285518]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.6277191546992967,-0.6613640826179812,0.71338606911949],"aabb_xy":[[-0.6452974568882436,-0.678938572192086],[-0.6101408525103499,-0.6437895930438762]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.25937375622619746,-2.462872056486956,0.71338606911949],"aabb_xy":[[-0.2695267717803468,-2.498941598059696],[-0.24922074067204802,-2.426802514914215]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.5414387840155626,-1.6806814236349623,0.71338606911949],"aabb_xy":[[-0.5495524386889397,-1.6887872400889914],[-0.5333251293421855,-1.6725756071809332]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[0.6946470589288689,1.8223776442558672,0.71338606911949],"aabb_xy":[[0.6696470597632358,1.8154253985505107],[0.719647058094502,1.8293298899612238]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.477411514685532,1.8074333391667374,0.71338606911949],"aabb_xy":[[0.47256791992430214,1.8025816866877535],[0.4822551094467621,1.8122849916457218]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.5355193293159748,-0.9211266472705679,0.71338606911949],"aabb_xy":[[0.46551932718454514,-0.9438886128962635],[0.6055193314474042,-0.8983646816448722]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.582282257675364,0.5592200928499387,0.71338606911949],"aabb_xy":[[-0.6462822579358348,0.5142112934970106],[-0.5182822574148932,0.6042288922028666]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.4011619440661802,-0.7928073091924073,0.71338606911949],"aabb_xy":[[0.3161619453741056,-0.8247931725872862],[0.48616194275825486,-0.7608214457975285]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.5941583153201339,-2.1402623565223493,0.71338606911949],"aabb_xy":[[-0.6741583185779768,-2.220258864314333],[-0.5141583120622909,-2.060265848730365]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.34287591033048503,-1.668294959948989,0.71338606911949],"aabb_xy":[[-0.39786816096599603,-1.723294961692302],[-0.2878836596949741,-1.6132949582056764]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.6401020318800923,-1.679303996678545,0.71338606911949],"aabb_xy":[[0.6114526995196761,-1.7079495559556206],[0.6687513642405085,-1.650658437401469]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.5476006590714106,-0.5588279490882155,0.71338606911949],"aabb_xy":[[0.5399763909812324,-0.5664611726247593],[0.5552249271615889,-0.5511947255516718]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.5743474433809119,0.5737526419237109,0.71338606911949],"aabb_xy":[[0.5439493322817682,0.5433457399220414],[0.6047455544800554,0.6041595439253804]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.0005689990374750931,-1.9508951820638307,0.71338606911949],"aabb_xy":[[-0.004763515617137892,-1.9562195103090665],[0.005901513692088078,-1.9455708538185954]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.3973517278163053,0.863811504296947,0.71338606911949],"aabb_xy":[[-0.4348517263919261,0.851075208633389],[-0.3598517292406845,0.8765477999605049]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.6742998019322273,-1.8366779859484028,0.71338606911949],"aabb_xy":[[0.6665966112581503,-1.844387356647141],[0.6820029926063043,-1.8289686152496647]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.3926944647773003,-2.139925131486658,0.71338606911949],"aabb_xy":[[0.37680997151197515,-2.154278071785482],[0.40857895804262545,-2.1255721911878336]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.5527199205588729,-1.5967872322446164,0.71338606911949],"aabb_xy":[[-0.6227199239504347,-1.6321030059480475],[-0.48271991716731083,-1.5614714585411857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688421802178408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1036.png","name":"1036"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9931.png","name":"9931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/982.png","name":"982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9477.png","name":"9477"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":757.3476655093307,"rotation_z_degrees":330.20633456625154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0049262790867065,-0.007345036273137722,0.014527535738256412]},{"name":"camera_2","offset_m":[-0.00783757952389574,-0.0006827691623016059,0.0036383052774529023]},{"name":"camera_3","offset_m":[0.008029160143381321,-0.00863630037762746,0.0022728359249908035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001461326754255429,-0.0015919625227636446,0.0017190999069284642],"end_effector_yaw_offset_degrees":-0.03228285189353519},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001283671934271622,0.0010945248911191884,-0.0008796253254762139],"end_effector_yaw_offset_degrees":0.11464765626749318},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0012665159045359069,-0.0014477967441072544,0.001858386697271246],"end_effector_yaw_offset_degrees":-0.9680989504676734}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003324249606160126,0.004102974945777595],"position_m":[0.3163242496061601,-0.11219702505422241,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004661107309454993,-0.0005694023586987089],"position_m":[0.31496110730945504,0.0905305976413013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037944516780847692,-0.0002139463529514515],"position_m":[0.35130554832191524,0.29648605364704855,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025882104478859866,-0.0005179232724913932],"position_m":[0.24658821044788598,-0.3523179232724914,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"deabc994391aed2d062ff7380a4df9dac28e4dda01165febf1150e02e476ca41","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7937/tex_ceiling_textures_9477/tex_floor_textures_982/tex_table_textures_1036/tex_wall_textures_9931","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6955456532461881325,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6955456532461881325,"visual_seed":6955456532461881325,"scene_id":"lab_003","finished_at":"2026-09-03T03:06:02"} +{"episode_id":"ep_000079","started_at":"2026-09-03T03:08:42","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.5605974883307794,1.2531966145819067,0.71338606911949],"aabb_xy":[[0.5105982131623432,1.2031966133059595],[0.6105967634992155,1.3031966158578538]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.09042556018810866,1.3584202959170968,0.71338606911949],"aabb_xy":[[-0.1455507658176994,1.2984202944758094],[-0.03530035455851787,1.4184202973583837]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.02285627302792126,-1.8753063528647855,0.71338606911949],"aabb_xy":[[-0.0034325512925194065,-1.901577786519436],[0.04914509734836191,-1.8490349192101336]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.36507157035204685,0.5762568602719171,0.71338606911949],"aabb_xy":[[-0.3828650772869633,0.5584571146761195],[-0.3472780634171304,0.5940566058677148]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.09960249116514575,0.7609661470751399,0.71338606911949],"aabb_xy":[[-0.137102491662504,0.7569974635270214],[-0.062102490667787516,0.7649348306232582]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.5198053103504182,1.6714245798729412,0.71338606911949],"aabb_xy":[[-0.5548053095432364,1.6604575338752783],[-0.48480531115759984,1.6823916258706033]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.3794248126685611,-1.8623019630231443,0.71338606911949],"aabb_xy":[[0.3381760016386463,-1.9173019625353616],[0.4206736236984758,-1.8073019635109266]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.06197646797521017,-0.9821013599319661,0.71338606911949],"aabb_xy":[[-0.11697646715179964,-1.0370910347069238],[-0.006976468798620669,-0.9271116851570084]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.40748868404184657,1.464606580050693,0.71338606911949],"aabb_xy":[[0.402151108375842,1.4396065791215533],[0.41282625970785114,1.489606580979833]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.5950367705434141,0.370811482434823,0.71338606911949],"aabb_xy":[[-0.612583465459533,0.3333114808705717],[-0.5774900756272952,0.40831148399907424]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.5630010719490062,0.09912724904546133,0.71338606911949],"aabb_xy":[[0.5447952482877584,0.0881018484634697],[0.5812068956102537,0.11015264962745298]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.6773216195907822,0.015545458982572313,0.71338606911949],"aabb_xy":[[-0.6846039359674456,-0.07445454462693667],[-0.6700393032141183,0.1055454625920813]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.5204192927612648,-0.6320289710599998,0.71338606911949],"aabb_xy":[[0.4304192904272457,-0.7095113256451125],[0.6104192950952838,-0.5545466164748872]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.07722416937540033,0.48293872807539273,0.71338606911949],"aabb_xy":[[-0.09509327712985581,0.46910582009818175],[-0.059355061620944824,0.4967716360526036]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.42640132797867253,-1.5983385803778711,0.71338606911949],"aabb_xy":[[-0.4455136353366514,-1.6174733592551132],[-0.40728902062069366,-1.5792038015006291]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.17613214279057476,-1.7754353649472936,0.71338606911949],"aabb_xy":[[0.13863214244234698,-1.787226760528377],[0.2136321431388025,-1.7636439693662098]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.48010921510447746,-1.5053247447261504,0.71338606911949],"aabb_xy":[[-0.5501092177410637,-1.5254296097220157],[-0.410109212467891,-1.4852198797302847]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.2698765819807845,0.34709788161406596,0.71338606911949],"aabb_xy":[[-0.31987658299991983,0.31063166587623803],[-0.2198765809616493,0.38356409735189395]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.6189720309643167,0.6663384915716257,0.71338606911949],"aabb_xy":[[0.5639720327625718,0.625816524945188],[0.6739720291660615,0.7068604581980632]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.19182920371292556,-2.528086836668721,0.71338606911949],"aabb_xy":[[-0.2568292018688446,-2.5543830812186337],[-0.12682920555700652,-2.5017905921188093]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.10552215775991247,-1.5084326990834744,0.71338606911949],"aabb_xy":[[-0.13052215731165095,-1.518575182948609],[-0.08052215820817399,-1.4982902152183395]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[0.27651212294645056,1.6180053428091283,0.71338606911949],"aabb_xy":[[0.21151212291214783,1.571304666128801],[0.3415121229807533,1.6647060194894556]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[-0.33800620227234335,0.8756316977877896,0.71338606911949],"aabb_xy":[[-0.37259728512638846,0.8106316975027584],[-0.303415119418298,0.9406316980728205]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.3878477025942342,1.1507144876877162,0.71338606911949],"aabb_xy":[[0.35670078375065106,1.080714489000909],[0.4189946214378173,1.2207144863745234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941904684446286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/103.png","name":"103"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8010.png","name":"8010"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8948.png","name":"8948"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":623.1826280680705,"rotation_z_degrees":42.441312912044616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01759007330866951,0.01734128325494023,-0.015935400052666117]},{"name":"camera_2","offset_m":[0.01733768612474677,-0.005699849469648629,0.013891713665714029]},{"name":"camera_3","offset_m":[0.008579659013621933,0.0012933554166173339,-0.010702267605973002]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014929056788994116,-0.00027123594910328174,0.000848615051402624],"end_effector_yaw_offset_degrees":0.026364936064140032},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010269037485679414,-0.00019597728987392322,-0.0012363938524613896],"end_effector_yaw_offset_degrees":0.5343622961072039},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0006849296877191038,0.0016439800215025864,-0.000574469909954809],"end_effector_yaw_offset_degrees":-0.9594424479550834}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002428499921418539,-0.0016721603260745834],"position_m":[0.3105715000785815,-0.11797216032607459,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002368758016003639,0.001882064778465661],"position_m":[0.31266875801600363,0.09298206477846566,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033811941700596223,-0.0018919581011989694],"position_m":[0.35848119417005964,0.29480804189880105,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018422157167607327,0.004435387450399074],"position_m":[0.24584221571676074,-0.34736461254960094,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1acd7ff4b12f6866ec5f49017754306bd639f11310fbc8a9573960d46cf4cd81","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_8948/tex_floor_textures_8932/tex_table_textures_103/tex_wall_textures_8010","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2138495076728483893,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2138495076728483893,"visual_seed":2138495076728483893,"scene_id":"lab_003","finished_at":"2026-09-03T03:11:07"} +{"episode_id":"ep_000080","started_at":"2026-09-03T03:11:11","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.004184640194408895,-1.5393233498688048,0.71338606911949],"aabb_xy":[[-0.05981105720068769,-1.6033233481695135],[0.06818033758950548,-1.4753233515680961]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.5954895472528938,1.445962719220487,0.71338606911949],"aabb_xy":[[-0.616767555396366,1.3809627168944136],[-0.5742115391094215,1.5109627215465598]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.2807568206273589,-1.611863061614371,0.71338606911949],"aabb_xy":[[-0.33838728951462965,-1.6718630605410814],[-0.22312635174008794,-1.5518630626876602]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.18808553705240294,-2.39058387555899,0.71338606911949],"aabb_xy":[[0.17029203011748653,-2.4083836211547878],[0.2058790439873194,-2.3727841299631924]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.3740891200847978,-0.31749854623759033,0.71338606911949],"aabb_xy":[[0.36331614616342994,-0.3524985444566293],[0.3848620940061655,-0.28249854801855134]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.15953533102123096,-1.687558918323795,0.71338606911949],"aabb_xy":[[0.15420281636661798,-1.6928832465690304],[0.16486784567584395,-1.6822345900785594]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.2593902744765277,-0.9806414295192896,0.71338606911949],"aabb_xy":[[-0.32439027263244674,-1.006937674069202],[-0.19439027632060862,-0.9543451849693775]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.14170499079939136,0.697036629721393,0.71338606911949],"aabb_xy":[[0.051704987122473164,0.6356042231442884],[0.2317049944763095,0.758469036298497]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.44618319659719513,0.7626930731263073,0.71338606911949],"aabb_xy":[[-0.4956636178111539,0.6986930752134556],[-0.39670277538323634,0.8266930710391592]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.6701362212463775,-0.40423319218941867,0.71338606911949],"aabb_xy":[[0.6549733482694404,-0.4193986494845375],[0.6852990942233146,-0.38906773489429997]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.5629643206708168,-1.42971941918425,0.71338606911949],"aabb_xy":[[0.5286674096530761,-1.464016305394191],[0.5972612316885573,-1.3954225329743084]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.260495471085232,1.1864181712640733,0.71338606911949],"aabb_xy":[[-0.2979954709022656,1.1817799599529315],[-0.22299547126819846,1.1910563825752152]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.05833340315462021,-0.7308701618577764,0.71338606911949],"aabb_xy":[[0.008333403578285506,-0.7808507408098825],[0.10833340273095494,-0.6808895829056706]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.42542575171274555,-0.6033185054745156,0.71338606911949],"aabb_xy":[[0.3954340889788752,-0.633318504811316],[0.4554174144466159,-0.573318506137715]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.17215427366815728,-0.9208854716515695,0.71338606911949],"aabb_xy":[[0.09215427040414412,-0.9344455039604828],[0.2521542769321704,-0.9073254393426561]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.5638197421808211,-0.29798963007124657,0.71338606911949],"aabb_xy":[[0.5354900322322809,-0.3024503722649637],[0.5921494521293613,-0.29352888787752957]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.5529578705346032,-0.7471602575942189,0.71338606911949],"aabb_xy":[[0.5433262343141736,-0.7567975703739278],[0.5625895067550328,-0.73752294481451]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.03725981627301267,1.7745262936288548,0.71338606911949],"aabb_xy":[[-0.06225981620553057,1.7676436254079317],[-0.012259816340494785,1.7814089618497784]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.2660517588475812,0.41943368481177323,0.71338606911949],"aabb_xy":[[-0.3160517605090759,0.3694352425560705],[-0.2160517571860864,0.46943212706747595]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.05756965000950576,-1.1170088629005634,0.71338606911949],"aabb_xy":[[0.023253372834887827,-1.1670088628737412],[0.0918859271841237,-1.0670088629273857]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.5774315671432226,1.0359342874546749,0.71338606911949],"aabb_xy":[[-0.5878431258237062,1.0305885541187765],[-0.5670200084627388,1.0412800207905732]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.2255335462750892,1.6106768860930312,0.71338606911949],"aabb_xy":[[-0.28953354818743154,1.5547657368350207],[-0.16153354436274686,1.6665880353510416]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.23772774850526535,-1.1640280791813407,0.71338606911949],"aabb_xy":[[0.21526297853386023,-1.186528080060201],[0.26019251847667046,-1.14152807830248]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.5796459095004062,-1.7069215105860258,0.71338606911949],"aabb_xy":[[-0.6296409204598583,-1.756921509621618],[-0.5296508985409543,-1.6569215115504345]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.36348157786140645,-0.005876780889118027,0.71338606911949],"aabb_xy":[[-0.39794392525954814,-0.040370663286940715],[-0.32901923046326453,0.028617101508704664]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.07900179882807734,-0.6211388665238526,0.71338606911949],"aabb_xy":[[-0.08721634394376131,-0.6298154568214938],[-0.07078725371239335,-0.6124622762262111]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.16021645443638077,-1.9016277608284573,0.71338606911949],"aabb_xy":[[-0.22421645611437813,-1.9501451523077713],[-0.09621645275838342,-1.8531103693491429]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[0.06136908787256523,-2.216631083980398,0.71338606911949],"aabb_xy":[[0.011552308407730472,-2.2666310824647016],[0.11118586733739999,-2.166631085496095]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[0.2879591455949503,-1.556509000184894,0.71338606911949],"aabb_xy":[[0.2646773033968189,-1.641509001482122],[0.31124098779308157,-1.471508998887666]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[-0.4271763871740419,-0.6572181466908413,0.71338606911949],"aabb_xy":[[-0.4911763844763883,-0.7015845736586981],[-0.3631763898716955,-0.6128517197229846]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[-0.4444980119880408,1.568652841919088,0.71338606911949],"aabb_xy":[[-0.5144980137967863,1.5472990731549008],[-0.37449801017929535,1.5900066106832755]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.18431097770344085,-1.1682334551786315,0.71338606911949],"aabb_xy":[[-0.24831097992384787,-1.2126065393039198],[-0.12031097548303382,-1.1238603710533432]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_32","position":[0.3582848177546072,-2.04583667623528,0.71338606911949],"aabb_xy":[[0.35178318124660257,-2.05560449826159],[0.3647864542626118,-2.0360688542089704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910488700766512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9213.png","name":"9213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1191.png","name":"1191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8841.png","name":"8841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7337.png","name":"7337"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":808.1371541526996,"rotation_z_degrees":327.71417723256644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005710731573847064,-0.0008676205677157177,-0.0074836800148229705]},{"name":"camera_2","offset_m":[0.015427574499887593,0.011958345927573295,-0.013637127219935548]},{"name":"camera_3","offset_m":[0.0031094312441387398,0.007338568350885741,-0.0015083502870943157]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006062023536384234,-0.0012897081653644236,-0.0017132340871794818],"end_effector_yaw_offset_degrees":0.44013339350879455},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005859026852721456,0.0008909705993096393,0.0006047846482442197],"end_effector_yaw_offset_degrees":0.9123460835739772},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0005841279247590543,0.0018510872757707838,0.00037469338736069403],"end_effector_yaw_offset_degrees":0.4877177656813714}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-5.636433374406509e-06,0.0027207346229486283],"position_m":[0.3129943635666256,-0.11357926537705137,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030060604271160635,0.0040422865516711965],"position_m":[0.31330606042711606,0.0951422865516712,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002063066208768125,-0.0016467854768386905],"position_m":[0.3548936933791232,0.29505321452316136,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044690855055589404,-0.004574480138286896],"position_m":[0.24846908550555893,-0.3563744801382869,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b45f40857c23e5d791a324345b2c7f168f2ea5c6d18b3d08967663a53f72dc04","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4109/tex_ceiling_textures_7337/tex_floor_textures_8841/tex_table_textures_9213/tex_wall_textures_1191","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6098692070653390128,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6098692070653390128,"visual_seed":6098692070653390128,"scene_id":"lab_003","finished_at":"2026-09-03T03:13:45"} +{"episode_id":"ep_000081","started_at":"2026-09-03T03:13:48","dimensions":{"distractor":{"count":23,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.5906914556140221,-1.7986713220651351,0.71338606911949],"aabb_xy":[[-0.6806914523496322,-1.8518547853824292],[-0.5006914588784118,-1.7454878587478402]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.4407316286530176,-0.1947279314570336,0.71338606911949],"aabb_xy":[[0.4251758592427525,-0.21027836470144082],[0.456287398063283,-0.1791774982126264]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.6081194669637076,-0.6863552978550795,0.71338606911949],"aabb_xy":[[0.5999917787703944,-0.6952689062657871],[0.6162471551570209,-0.6774416894443718]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.04802008185323159,-1.718347593717047,0.71338606911949],"aabb_xy":[[-0.015975615541864996,-1.7823475920177552],[0.11201577924832817,-1.6543475954163378]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.2914260417655483,-2.0206395900785967,0.71338606911949],"aabb_xy":[[0.2738793468494294,-2.058139591642848],[0.30897273668166725,-1.9831395885143455]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.06641343961123902,0.7617249631359138,0.71338606911949],"aabb_xy":[[-0.07032731280666155,0.7529759477293568],[-0.0624995664158165,0.7704739785424705]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.07413866437147931,1.2516623177720927,0.71338606911949],"aabb_xy":[[0.03822515994648963,1.2157488095553382],[0.110052168796469,1.2875758259888472]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.23815146892461792,-0.6148429827131006,0.71338606911949],"aabb_xy":[[0.20815980619074756,-0.6448429820499012],[0.26814313165848824,-0.5848429833763001]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.10909568315019702,1.5117828558660267,0.71338606911949],"aabb_xy":[[0.04509568277266339,1.4620375890152142],[0.17309568352773064,1.5615281227168387]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.4659088281659313,-1.9582994038625527,0.71338606911949],"aabb_xy":[[-0.5559088246668031,-2.0042110462810103],[-0.37590883166505956,-1.9123877614440943]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.4764350031141549,1.6592278780830134,0.71338606911949],"aabb_xy":[[-0.5108973505122965,1.6247339956851905],[-0.44197265571601296,1.693721760480836]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.5992801229878594,-1.4216302993891172,0.71338606911949],"aabb_xy":[[-0.6032406067575937,-1.4292981639746378],[-0.595319639218125,-1.4139624348035966]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.5874110691200491,-2.0626199483037078,0.71338606911949],"aabb_xy":[[0.5374380035875338,-2.1126199481162407],[0.6373841346525647,-2.012619948491175]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.4097092554679655,1.1349791961701063,0.71338606911949],"aabb_xy":[[-0.4342554710907162,1.1047302996210693],[-0.38516303984521477,1.1652280927191434]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.0967209192906957,-0.6571666283925865,0.71338606911949],"aabb_xy":[[0.059220919346929315,-0.6654597184274231],[0.1342209192344621,-0.64887353835775]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.05417314069187562,0.05132946953577866,0.71338606911949],"aabb_xy":[[-0.07666956212573972,0.028829469729031228],[-0.03167671925801152,0.0738294693425261]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.411150896155877,-1.5919151408376615,0.71338606911949],"aabb_xy":[[-0.41485415748501575,-1.5956171591463795],[-0.40744763482673807,-1.5882131225289435]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.008370354573096428,1.690143809588181,0.71338606911949],"aabb_xy":[[-0.0883703548467034,1.6171942617624642],[0.07162964570051054,1.7630933574138976]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.35422674719424296,-1.530303722463628,0.71338606911949],"aabb_xy":[[-0.3607283837022476,-1.540071544489938],[-0.34772511068623835,-1.5205359004373185]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.42155241817420736,-2.144777973217747,0.71338606911949],"aabb_xy":[[-0.5015524161549924,-2.1523795141795987],[-0.34155242019342225,-2.137176432255895]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.3159911585883102,0.3851290082028478,0.71338606911949],"aabb_xy":[[-0.3959911618461531,0.3051325004108638],[-0.23599115533046716,0.46512551599483176]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.11997760752080056,-1.1319258412555215,0.71338606911949],"aabb_xy":[[0.09991919590756028,-1.151990928164679],[0.14003601913404085,-1.111860754346364]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.0329979387579552,-0.9712391812701311,0.71338606911949],"aabb_xy":[[-0.09699794110075677,-1.0161800325142634],[0.031002063584846352,-0.9262983300259985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885783894858355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8052.png","name":"8052"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":543.5000395563013,"rotation_z_degrees":189.64437435101578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006746012415721835,-0.0107589189512301,0.010017125703329771]},{"name":"camera_2","offset_m":[0.019759710431616274,0.019936923687033013,-0.014403815907331731]},{"name":"camera_3","offset_m":[-0.01151826272780228,-0.0003754650572768345,-0.0011256510870659084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009053510070141787,0.0019033338254491466,-0.001805715000471103],"end_effector_yaw_offset_degrees":0.15100748903243089},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[6.907489600723815e-05,0.0017896896994418227,-0.0010462183651571096],"end_effector_yaw_offset_degrees":-0.2832986306696803},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.00020520641287990484,-0.0015952005448703623,0.000837530800330269],"end_effector_yaw_offset_degrees":0.43664439701224533}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045994995126925,0.0034611305486718655],"position_m":[0.3175994995126925,-0.11283886945132814,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004573824486860047,-0.0013751731201388797],"position_m":[0.3148738244868601,0.08972482687986112,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032471874827062464,-0.0009986900811485202],"position_m":[0.3518528125172938,0.2957013099188515,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003184044532499903,0.0001349573993370077],"position_m":[0.2471840445324999,-0.351665042600663,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4c38f86ea30d0e3418e83ba87552552c414f0702e8ae1ad5d140895a58b9c581","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_295/tex_ceiling_textures_4906/tex_floor_textures_3624/tex_table_textures_8052/tex_wall_textures_6258","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":7992647618428847114,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":7992647618428847114,"visual_seed":7992647618428847114,"scene_id":"lab_003","finished_at":"2026-09-03T03:16:26"} +{"episode_id":"ep_000082","started_at":"2026-09-03T03:16:28","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.4519621919839095,-0.41860085891877175,0.71338606911949],"aabb_xy":[[-0.4757984096245147,-0.5086008597272582],[-0.42812597434330457,-0.3286008581102853]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.06670330337534547,0.9055462818269229,0.71338606911949],"aabb_xy":[[-0.13170330433247265,0.8535980698932173],[-0.0017033024182182552,0.9574944937606285]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.15297881398325375,-2.346755596580402,0.71338606911949],"aabb_xy":[[-0.19047881408884668,-2.3535777584333832],[-0.11547881387766078,-2.3399334347274205]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.011054828329446043,-0.03673959343933397,0.71338606911949],"aabb_xy":[[-0.015898423090676017,-0.041591245918318094],[-0.006211233568216066,-0.031887940960349866]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.3814657891763882,0.4277751163456829,0.71338606911949],"aabb_xy":[[-0.4614657861394273,0.35069947470190943],[-0.30146579221334896,0.5048507579894563]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.08887226910321921,1.4389165175449485,0.71338606911949],"aabb_xy":[[-0.13386485582166963,1.3939165182704998],[-0.0438796823847688,1.4839165168193973]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[-0.38309880930889795,-0.5949643902135342,0.71338606911949],"aabb_xy":[[-0.44709881135862994,-0.6350588733028422],[-0.31909880725916595,-0.5548699071242262]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.5541391006940632,0.28677817998442734,0.71338606911949],"aabb_xy":[[0.4741391032904699,0.2067856087862445],[0.6341390980976567,0.3667707511826101]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.6982243016677347,-0.5466307072134766,0.71338606911949],"aabb_xy":[[0.6781658900544945,-0.5666957941226342],[0.718282713280975,-0.5265656203043191]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.6692315457730752,0.927447385842727,0.71338606911949],"aabb_xy":[[-0.6745691214390799,0.9024473849135873],[-0.6638939701070707,0.9524473867718669]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.41267603623730986,1.6363012913185089,0.71338606911949],"aabb_xy":[[-0.43156042000582007,1.6174153665381563],[-0.39379165246879966,1.6551872160988619]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.5145383528384713,0.6609230025774488,0.71338606911949],"aabb_xy":[[0.5052447346013206,0.6234230040893148],[0.5238319710756217,0.6984230010655826]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.1959484304086302,-0.8662877899094101,0.71338606911949],"aabb_xy":[[0.1707275935487905,-0.8915115407622967],[0.22116926726846983,-0.8410640390565232]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.3656714168377797,0.4881436237503265,0.71338606911949],"aabb_xy":[[0.3575577621644026,0.4800378072962974],[0.3737850715111568,0.4962494402043556]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.034800569669348747,-1.682820831654666,0.71338606911949],"aabb_xy":[[0.0112154462054539,-1.7478208339000978],[0.058385693133243606,-1.6178208294092342]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.6147740675219154,1.616503981913263,0.71338606911949],"aabb_xy":[[-0.6325675744568319,1.5987042363174653],[-0.596980560586999,1.6343037275090606]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.6920445691948627,-1.7628767796215097,0.71338606911949],"aabb_xy":[[0.6844203011046845,-1.7705100031580534],[0.699668837285041,-1.755243556084966]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.5909127928022638,-0.8177964746562343,0.71338606911949],"aabb_xy":[[-0.6133775627736688,-0.8402964755350947],[-0.5684480228308586,-0.7952964737773737]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.05299472967801955,1.7681964138868875,0.71338606911949],"aabb_xy":[[0.01169018661428356,1.7041964143187704],[0.09429927274175554,1.8321964134550046]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.08688417112278113,1.453553221361664,0.71338606911949],"aabb_xy":[[0.07254974599661768,1.4414930058071251],[0.10121859624894458,1.4656134369162028]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.3552451699513992,1.6654130260399769,0.71338606911949],"aabb_xy":[[0.33307264297474837,1.6432373588838536],[0.37741769692805,1.6875886931960997]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[0.41187721557458223,1.0180041175007433,0.71338606911949],"aabb_xy":[[0.4009714394870195,0.9380041211019141],[0.42278299166214495,1.0980041138995724]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[0.6663885570464219,-0.3158206994662467,0.71338606911949],"aabb_xy":[[0.6488885579120546,-0.32570032650383446],[0.6838885561807889,-0.3059410724286588]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.0487853256116193,-0.6389733127112134,0.71338606911949],"aabb_xy":[[0.04137287007023083,-0.6448245231328413],[0.056197781153007775,-0.6331221022895854]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.3324816419877161,-1.8846426409624308,0.71338606911949],"aabb_xy":[[0.25248164340039664,-1.963958242900592],[0.4124816405750355,-1.8053270390242702]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.15819167297541048,-0.39419010659790965,0.71338606911949],"aabb_xy":[[-0.19319167124553036,-0.4012642342928978],[-0.12319167470529055,-0.3871159789029215]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.4813087675233002,0.11205918417406568,0.71338606911949],"aabb_xy":[[-0.4959521730773332,0.09740046451728139],[-0.4666653619692672,0.12671790383084997]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.19133359165677954,-2.2309525197956774,0.71338606911949],"aabb_xy":[[-0.24133359260731232,-2.262501666799199],[-0.1413335907062467,-2.199403372792156]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[0.5277218489381343,-2.366112788118921,0.71338606911949],"aabb_xy":[[0.5102218496600475,-2.383450888185267],[0.5452218482162212,-2.348774688052575]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[-0.008682061031587307,-2.505318306361996,0.71338606911949],"aabb_xy":[[-0.07268206243957796,-2.557107257885921],[0.055317940376403356,-2.4535293548380714]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[0.45886099702033634,-0.9662784931152428,0.71338606911949],"aabb_xy":[[0.42206636389543,-1.003184368211825],[0.49565563014524255,-0.9293726180186606]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_31","position":[0.6432953900766256,-2.1710869587231314,0.71338606911949],"aabb_xy":[[0.5792953936810525,-2.2350502471418645],[0.7072953864721987,-2.1071236703043974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936173578965465,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9364.png","name":"9364"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9364.png","name":"9364"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2366.png","name":"2366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9383.png","name":"9383"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2869.png","name":"2869"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":672.7612845548583,"rotation_z_degrees":353.5699633956552,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011966636304689563,-0.007783450387588707,-0.019137068976987366]},{"name":"camera_2","offset_m":[-0.003753328485017419,-0.006954311249561931,-0.00035748856476007854]},{"name":"camera_3","offset_m":[0.0010278812792745909,0.010820993631121122,-0.007390311020171531]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012501799416568251,0.0003029670534167696,0.0003127358991959913],"end_effector_yaw_offset_degrees":-0.8609550909516233},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014492968251711123,0.001000050542360012,-0.00015134940215639418],"end_effector_yaw_offset_degrees":0.30711839736242075},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0003437914293865133,0.0008286764368063441,0.0008934725346413288],"end_effector_yaw_offset_degrees":0.039466297746558965}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000925522244483658,-0.003420043333960284],"position_m":[0.31392552224448367,-0.11972004333396029,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002621286295138109,0.0031645101899302206],"position_m":[0.31292128629513816,0.09426451018993022,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021253577420058765,-0.0005693255976300556],"position_m":[0.3572253577420059,0.29613067440236995,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021960614090604444,-0.00256704187280433],"position_m":[0.24619606140906045,-0.3543670418728043,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e69c6f9ad3e9ec476e2a1da8cda3ad9ed20b7534605c834171f14808a1d2c8d","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9364/tex_ceiling_textures_2869/tex_floor_textures_9383/tex_table_textures_4827/tex_wall_textures_2366","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8956168914572526254,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8956168914572526254,"visual_seed":8956168914572526254,"scene_id":"lab_003","finished_at":"2026-09-03T03:19:08"} +{"episode_id":"ep_000083","started_at":"2026-09-03T03:22:03","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.5656737841739434,1.6477926933008296,0.71338606911949],"aabb_xy":[[0.48567378551705753,1.6332878343765669],[0.6456737828308295,1.6622975522250927]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[-0.5009962528638414,0.47105900192771344,0.71338606911949],"aabb_xy":[[-0.5380303622919012,0.43668179459400397],[-0.4639621434357817,0.5054362092614229]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.4685652575470375,-2.1280610851094552,0.71338606911949],"aabb_xy":[[-0.47791226512933266,-2.1423647073270997],[-0.4592182499647422,-2.1137574628918117]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.49928636781477476,0.8063705788430875,0.71338606911949],"aabb_xy":[[0.44929153488683315,0.7563705799478441],[0.5492812007427164,0.8563705777383311]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.6354870082115038,-0.37925985590021405,0.71338606911949],"aabb_xy":[[0.6258553719910742,-0.3888971686799229],[0.6451186444319335,-0.3696225431205051]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.36340123900341303,-2.0217062560357086,0.71338606911949],"aabb_xy":[[-0.3794631664619307,-2.1067062578483],[-0.3473393115448954,-1.9367062542231166]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.6013647179328159,1.5329071969928685,0.71338606911949],"aabb_xy":[[0.5713971610229901,1.5029071966949827],[0.6313322748426414,1.5629071972907542]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[-0.25729879626268143,-2.0606713745698255,0.71338606911949],"aabb_xy":[[-0.2748770984516283,-2.0782458641439305],[-0.23972049407373458,-2.0430968849957205]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.6354272024152015,-0.14899877812032125,0.71338606911949],"aabb_xy":[[-0.6463329785027642,-0.2289987745191504],[-0.6245214263276387,-0.0689987817214921]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.32086189005153987,0.4523771129134815,0.71338606911949],"aabb_xy":[[-0.3317023682780548,0.4351908316228326],[-0.310021411825025,0.46956339420413024]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.1570913136749793,1.5942574185186706,0.71338606911949],"aabb_xy":[[-0.22209131631277282,1.5427778198192237],[-0.09209131103718585,1.6457370172181176]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.44013523227515,1.1910000498757891,0.71338606911949],"aabb_xy":[[-0.4776352329397286,1.1753129918755667],[-0.4026352316105712,1.206687107876011]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.1140781381312399,-1.4400510639929593,0.71338606911949],"aabb_xy":[[-0.14755730539228085,-1.4735301773640666],[-0.08059897087019897,-1.4065719506218526]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.4631135347044767,1.3472428321470065,0.71338606911949],"aabb_xy":[[-0.5231135349558779,1.2929615071105418],[-0.4031135344530755,1.4015241571834711]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.30400769810147055,-2.3628617912287084,0.71338606911949],"aabb_xy":[[0.26715715016448294,-2.400361792051742],[0.34085824603845816,-2.3253617904056747]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.6531686046069336,0.2685707364208265,0.71338606911949],"aabb_xy":[[0.6031955390744181,0.21857073660829368],[0.7031416701394491,0.31857073623335946]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.6438601021181036,-0.5399350775159104,0.71338606911949],"aabb_xy":[[0.6351461330681689,-0.5624350781750984],[0.6525740711680379,-0.517435076856722]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.3379914025695716,1.759336053546972,0.71338606911949],"aabb_xy":[[0.3020778981445819,1.7234225453302174],[0.3739049069945613,1.7952495617637265]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.216340534714057,-0.39192900166074773,0.71338606911949],"aabb_xy":[[-0.23851306169070782,-0.41410466881687086],[-0.19416800773740614,-0.36975333450462455]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.06123758008680924,-1.6432639800932511,0.71338606911949],"aabb_xy":[[0.05148159057763535,-1.6530265141524854],[0.07099356959598313,-1.6335014460340165]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.5528296281052124,-0.9662337272049975,0.71338606911949],"aabb_xy":[[-0.6168296245007856,-1.030197015623731],[-0.48882963170963944,-0.9022704387862638]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.40571992338387025,-1.2595092947046465,0.71338606911949],"aabb_xy":[[-0.45973551966577025,-1.3235092975969036],[-0.35170432710197025,-1.1955092918123893]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.4335677770615032,0.45286984024161825,0.71338606911949],"aabb_xy":[[0.38356777670093706,0.40288985303201524],[0.4835677774220692,0.5028498274512211]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.5694631960958617,0.29447133177365314,0.71338606911949],"aabb_xy":[[-0.5913718782352128,0.27257066495356236],[-0.5475545139565107,0.3163719985937438]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.06355690456050977,-1.0469986146162016,0.71338606911949],"aabb_xy":[[-0.07440851080938538,-1.0578579053438526],[-0.052705298311634174,-1.0361393238885506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938071753887268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4458.png","name":"4458"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4341.png","name":"4341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3553.png","name":"3553"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":810.1586392978899,"rotation_z_degrees":166.14357252237596,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006169911334082073,0.0012624351433951388,0.013731804381044394]},{"name":"camera_2","offset_m":[-0.013393301047623797,-0.019615350161682112,0.015820990475604483]},{"name":"camera_3","offset_m":[0.008677565969151601,0.018546138661075472,0.0045446600271460275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001858246174712858,-0.0009140952354768596,0.0010601656790133005],"end_effector_yaw_offset_degrees":0.8133170739748035},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00025092423805542436,0.0009828042883019976,0.0019249451206524446],"end_effector_yaw_offset_degrees":0.854535959884869},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0017146018763151555,-0.0007684499880721326,0.0008966622715873896],"end_effector_yaw_offset_degrees":-0.9551773957947902}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00410805596630384,0.0013794583005927678],"position_m":[0.3088919440336962,-0.11492054169940723,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002443168911384794,-0.0005709835143792317],"position_m":[0.3127431689113848,0.09052901648562077,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013752327614537886,0.0014562776710656108],"position_m":[0.3564752327614538,0.2981562776710656,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038866516425975503,-0.0014122149260026662],"position_m":[0.24011334835740245,-0.3532122149260027,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7027a4e2066ca8bc03a442c6c9784f3ffe61e85f2d362fcfa4a9da6db0fdb7f1","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5057/tex_ceiling_textures_3553/tex_floor_textures_4341/tex_table_textures_6175/tex_wall_textures_4458","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6403062357796489822,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6403062357796489822,"visual_seed":6403062357796489822,"scene_id":"lab_003","finished_at":"2026-09-03T03:24:49"} +{"episode_id":"ep_000084","started_at":"2026-09-03T03:27:47","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.5273397912036285,1.1658592286150622,0.71338606911949],"aabb_xy":[[-0.5685886022335431,1.1108592291028447],[-0.4860909801737137,1.2208592281272796]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.5656963115735509,-0.3052107709236629,0.71338606911949],"aabb_xy":[[0.5041055523495581,-0.3692107690327098],[0.6272870707975438,-0.241210772814616]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.15121295369082077,-1.794337172318473,0.71338606911949],"aabb_xy":[[-0.1897586465160218,-1.8328829433746616],[-0.11266726086561973,-1.7557914012622842]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.17759890356075891,1.496521404553563,0.71338606911949],"aabb_xy":[[0.14330199254301826,1.4622245183436215],[0.21189581457849951,1.5308182907635042]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.7142300250437956,-2.120706834733104,0.71338606911949],"aabb_xy":[[0.705070146099919,-2.127238052776641],[0.7233899039876722,-2.1141756166895673]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.08593826483761402,0.17868316583019483,0.71338606911949],"aabb_xy":[[-0.14993826674995636,0.12277201657218442],[-0.02193826292527168,0.2345943150882053]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.3776469697492525,-2.3559775143422006,0.71338606911949],"aabb_xy":[[-0.3951469700085892,-2.370069056530973],[-0.3601469694899159,-2.341885972153428]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.6402283559403087,0.6748743325619819,0.71338606911949],"aabb_xy":[[-0.6824127701011394,0.6108743322847707],[-0.598043941779478,0.7388743328391931]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.5182246003889974,-2.0411729044010842,0.71338606911949],"aabb_xy":[[-0.5246384140321823,-2.0475827246487524],[-0.5118107867458124,-2.0347630841534152]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.04683066908813571,-1.2930437791360223,0.71338606911949],"aabb_xy":[[-0.05407443513438104,-1.3730437773396245],[-0.03958690304189039,-1.2130437809324197]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.06885293587083152,-1.4842291462694195,0.71338606911949],"aabb_xy":[[0.04635293535879091,-1.5067210046348178],[0.0913529363828721,-1.4617372879040211]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.244158139715349,-2.14246466255576,0.71338606911949],"aabb_xy":[[-0.24961608535236907,-2.222464665863419],[-0.23870019407832893,-2.062464659248101]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.34762663537890615,0.1794604881702715,0.71338606911949],"aabb_xy":[[-0.3826266367303878,0.15910075221345063],[-0.31262663402742435,0.1998202241270923]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.4883694531544047,-1.375109819191241,0.71338606911949],"aabb_xy":[[0.42836945151148287,-1.4271099684831852],[0.5483694547973266,-1.3231096698992968]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.6271781128584033,1.0924866138877087,0.71338606911949],"aabb_xy":[[0.5771781114975161,1.0425087093122931],[0.6771781142192905,1.1424645184631244]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.4552619782819548,-1.1849199917080093,0.71338606911949],"aabb_xy":[[-0.4728086731980738,-1.2224199932722606],[-0.4377152833658359,-1.147419990143758]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.5151630820487769,-2.2097759832841057,0.71338606911949],"aabb_xy":[[-0.5791630791608827,-2.258808353078516],[-0.45116308493667134,-2.1607436134896947]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.5154883081116768,-2.501472046442695,0.71338606911949],"aabb_xy":[[0.49769480117676046,-2.519271792038493],[0.5332818150465933,-2.4836723008468975]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.6072942034507752,-0.5914358975821286,0.71338606911949],"aabb_xy":[[-0.6335830277712158,-0.6177073312367797],[-0.5810053791303345,-0.5651644639274772]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.5473867219100563,-0.45643505972792164,0.71338606911949],"aabb_xy":[[0.48238672080411316,-0.48140043279604994],[0.6123867230159997,-0.43146968665979335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929438361694247,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7989.png","name":"7989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7989.png","name":"7989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3838.png","name":"3838"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7987.png","name":"7987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":723.5133492123515,"rotation_z_degrees":233.3001242161912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01683411177389996,0.00040985822508243785,-0.006696880757026662]},{"name":"camera_2","offset_m":[0.019403870676705053,0.01655670532993116,-0.014329568161353841]},{"name":"camera_3","offset_m":[0.016565738047240288,-0.014235537684773605,0.015721404589514248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013009966157616977,0.000980908960182496,-0.0003958098800793243],"end_effector_yaw_offset_degrees":-0.44173541866969535},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001167686893054902,0.0007116462744671068,0.0002196395781664984],"end_effector_yaw_offset_degrees":0.25232339008752325},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0002463616158125772,-0.00010866276318351837,-0.00013191862857768878],"end_effector_yaw_offset_degrees":-0.0863396124919138}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002933131630056404,-0.00046420395703326237],"position_m":[0.31593313163005643,-0.11676420395703327,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034257358212619266,0.0009586040837772239],"position_m":[0.31372573582126195,0.09205860408377722,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011182507298606289,-1.5236149805084205e-05],"position_m":[0.35621825072986063,0.29668476385019493,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003666567379990001,9.873874048818218e-06],"position_m":[0.24033343262001,-0.3517901261259512,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4d2bae37f8d6b7681d3576a5e6c53ab4239bd69db6a401a288f1d408f69d96ce","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7989/tex_ceiling_textures_6883/tex_floor_textures_421/tex_table_textures_3838/tex_wall_textures_7987","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2467542087367610688,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2467542087367610688,"visual_seed":2467542087367610688,"scene_id":"lab_003","finished_at":"2026-09-03T03:30:31"} +{"episode_id":"ep_000085","started_at":"2026-09-03T03:30:33","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.10261434457049745,0.87711445377585,0.71338606911949],"aabb_xy":[[0.07761434540486432,0.8701622080704934],[0.12761434373613056,0.8840666994812065]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.05572785694707405,-0.8841855466128736,0.71338606911949],"aabb_xy":[[-0.12072785698137678,-0.9308862232932009],[0.009272143087228672,-0.8374848699325463]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.2264858248085262,-1.784636795684381,0.71338606911949],"aabb_xy":[[-0.2306216811412264,-1.8221367951287382],[-0.222349968475826,-1.7471367962400242]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.1313798718707988,-1.1078981995400365,0.71338606911949],"aabb_xy":[[0.1138799384368154,-1.1253981994602709],[0.14887980530478215,-1.0903981996198018]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.10080256595985615,-1.50640790378045,0.71338606911949],"aabb_xy":[[0.08474063850133849,-1.5914079055930417],[0.11686449341837378,-1.421407901967858]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.48598407321867443,0.7580747593012922,0.71338606911949],"aabb_xy":[[0.44473526218875964,0.7030747597890746],[0.527232884248589,0.8130747588135095]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.47003470366418276,0.03692917815972674,0.71338606911949],"aabb_xy":[[0.45846572291724624,0.011929178042795037],[0.4816036844111194,0.061929178276658454]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.6163415858294834,-1.0509322549871591,0.71338606911949],"aabb_xy":[[0.5798457652022045,-1.0874161974139167],[0.652837406456762,-1.0144483125604016]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.5991805381113751,-0.040201241880746696,0.71338606911949],"aabb_xy":[[-0.6118073253985714,-0.049747315582319596],[-0.5865537508241787,-0.030655168179173797]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.514622094394142,1.2725212362334815,0.71338606911949],"aabb_xy":[[0.48677705761353496,1.2417367374951698],[0.5424671311747492,1.3033057349717931]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.20419641575859743,0.14310550837526304,0.71338606911949],"aabb_xy":[[-0.28419641441548343,0.12860064945100025],[-0.12419641710171142,0.15761036729952582]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.16407479418516469,0.6374799336764458,0.71338606911949],"aabb_xy":[[-0.18295917795367486,0.6185940088960931],[-0.14519041041665445,0.6563658584567986]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.5156168575942599,1.5955031718907713,0.71338606911949],"aabb_xy":[[-0.5956168608582731,1.581943139581858],[-0.4356168543302469,1.6090632041996846]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.020755449970425777,-1.561595146075761,0.71338606911949],"aabb_xy":[[-0.04597628683026544,-1.5868188969286476],[0.004465386889413891,-1.5363713952228741]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.2910245327713681,-1.9763161105545533,0.71338606911949],"aabb_xy":[[-0.3088936405258236,-1.990149018531764],[-0.2731554250169126,-1.962483202577342]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.6242579165302389,1.5428818712716157,0.71338606911949],"aabb_xy":[[0.6071558385718707,1.525775065740346],[0.641359994488607,1.5599886768028854]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.2527414104447405,1.5326587733998491,0.71338606911949],"aabb_xy":[[0.21774141217462062,1.525584645704861],[0.2877414087148604,1.5397329010948373]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.41742816988890996,-0.8454167515780373,0.71338606911949],"aabb_xy":[[0.35242817133183707,-0.87516928499192],[0.48242816844598274,-0.8156642181641548]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.3736763030657737,1.6079799107699286,0.71338606911949],"aabb_xy":[[0.35117630354206625,1.5854839633193074],[0.39617630258948106,1.630475858220549]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.5205740408482977,-0.7361796100965545,0.71338606911949],"aabb_xy":[[-0.528701729041611,-0.7450932185072622],[-0.5124463526549845,-0.7272660016858469]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[-0.06217651648699918,1.0033941781612543,0.71338606911949],"aabb_xy":[[-0.11214981049025961,0.9533941776067067],[-0.012203222483738715,1.0533941787158014]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.6607688351699004,1.0705818362113493,0.71338606911949],"aabb_xy":[[0.647537889635219,1.0573544171893496],[0.6739997807045816,1.0838092552333485]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.09385820893834262,-2.4274909722081106,0.71338606911949],"aabb_xy":[[-0.15385820944619552,-2.4843377058940317],[-0.03385820843048969,-2.3706442385221886]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.07783067269986665,0.7845919055250179,0.71338606911949],"aabb_xy":[[0.06913271040915135,0.7724669312175432],[0.08652863499058193,0.7967168798324926]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.3792481287693384,-1.555422530375797,0.71338606911949],"aabb_xy":[[-0.4287285499832972,-1.6194225282886487],[-0.3297677075553796,-1.491422532462945]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[-0.580124191839543,0.19227049754796743,0.71338606911949],"aabb_xy":[[-0.6417149510635359,0.12827049943892058],[-0.5185334326155503,0.2562704956570143]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.5333879934400629,1.4771670562557575,0.71338606911949],"aabb_xy":[[0.5108879934299146,1.463070836616154],[0.5558879934502112,1.4912632758953606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961427204230779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4115.png","name":"4115"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4115.png","name":"4115"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3169.png","name":"3169"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8818.png","name":"8818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1878.png","name":"1878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6445.png","name":"6445"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":691.1910924196075,"rotation_z_degrees":350.6657063717737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010995505149043322,0.009869758232636222,0.00521230284343371]},{"name":"camera_2","offset_m":[-0.01946843766581336,-0.007288201401755954,-0.003645032736850462]},{"name":"camera_3","offset_m":[-0.010075137281647596,0.014770990607874634,0.018393935801720048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007752024589005458,0.001319448037123945,-0.0004713303485146482],"end_effector_yaw_offset_degrees":-0.20862716712680607},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00016879101974107418,5.1382858363189544e-05,0.0005435737820673088],"end_effector_yaw_offset_degrees":-0.3566097914454165},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0011862700882631833,4.451988894120691e-05,0.001960372965736903],"end_effector_yaw_offset_degrees":-0.6593002228132057}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018486029029541233,0.0032564361667328295],"position_m":[0.31484860290295413,-0.11304356383326718,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041267823565824405,-0.001843322163325183],"position_m":[0.31442678235658245,0.08925667783667482,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031406429508236194,0.0031805900057513574],"position_m":[0.35824064295082364,0.2998805900057514,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007663735177162023,0.00458841231646701],"position_m":[0.2432336264822838,-0.347211587683533,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7a6173fbfad1727f4097bd84c152d49b06b6080dbd42163ed2b90e8bb45d7425","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4115/tex_ceiling_textures_6445/tex_floor_textures_1878/tex_table_textures_3169/tex_wall_textures_8818","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8491716432154949219,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8491716432154949219,"visual_seed":8491716432154949219,"scene_id":"lab_003","finished_at":"2026-09-03T03:33:09"} +{"episode_id":"ep_000086","started_at":"2026-09-03T03:34:34","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.3011492819273333,-0.734662511024073,0.71338606911949],"aabb_xy":[[-0.3091926418532885,-0.8196625121194393],[-0.29310592200137814,-0.6496625099287064]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.4592197511479006,-1.1416548672026112,0.71338606911949],"aabb_xy":[[0.4423090187115588,-1.1551270727952254],[0.47613048358424237,-1.1281826616099966]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.2542218036501882,1.698615679679952,0.71338606911949],"aabb_xy":[[0.18922180509311537,1.6688631462660695],[0.31922180220726104,1.7283682130938347]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.6507647925637345,1.5094028340131573,0.71338606911949],"aabb_xy":[[0.6427713027684526,1.5014047020726822],[0.6587582823590167,1.5174009659536334]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.5455081124145733,0.43859212422746907,0.71338606911949],"aabb_xy":[[0.5276390046601178,0.42475921625025814],[0.5633772201690288,0.45242503220468]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.4822432667350124,-0.21742867904361063,0.71338606911949],"aabb_xy":[[-0.5047432665489148,-0.22190329541409132],[-0.45974326692111,-0.21295406267312994]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.41850703801292943,0.16386930458815563,0.71338606911949],"aabb_xy":[[-0.45198620527397043,0.13039019121704865],[-0.38502787075188855,0.19734841795926267]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.431882975298937,-0.5334183690368,0.71338606911949],"aabb_xy":[[-0.4416389648081108,-0.5431809030960343],[-0.42212698578976304,-0.5236558349775654]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.6290400005929384,-0.043020995543026075,0.71338606911949],"aabb_xy":[[0.5790468884837466,-0.09302099621722171],[0.6790331127021304,0.0069790051311695665]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.5289906946427678,1.2092601385418162,0.71338606911949],"aabb_xy":[[0.46499069605619536,1.1622531751423073],[0.5929906932293403,1.2562671019413247]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.549604740745236,-1.6669614058617934,0.71338606911949],"aabb_xy":[[-0.5994874376229322,-1.7169614051080684],[-0.4997220438675398,-1.616961406615519]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.44173840578081347,0.3341571518939004,0.71338606911949],"aabb_xy":[[-0.4957540020627135,0.2701571490016432],[-0.38772280949891347,0.39815715478615754]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.24596853804960606,0.8943463209193281,0.71338606911949],"aabb_xy":[[0.21557042695046247,0.8639394189176585],[0.27636664914874964,0.9247532229209975]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.48910340206103475,-2.016150467210613,0.71338606911949],"aabb_xy":[[-0.4963646496314422,-2.028937477474122],[-0.4818421544906274,-2.003363456947103]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[0.034837813101041615,-2.1919624381328733,0.71338606911949],"aabb_xy":[[-0.05516218549342833,-2.2082130244462945],[0.12483781169551156,-2.175711851819452]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.2754141744058689,-0.6729782569215601,0.71338606911949],"aabb_xy":[[0.24756913762526178,-0.7037627556598718],[0.30325921118647603,-0.6421937581832484]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.17938430962679286,-2.2134745901245516,0.71338606911949],"aabb_xy":[[0.1669169515170572,-2.225939914757875],[0.1918516677365285,-2.201009265491228]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.5822069062923936,-0.2847363766101454,0.71338606911949],"aabb_xy":[[0.5597104848585296,-0.3072363764168929],[0.6047033277262578,-0.262236376803398]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.14791053604375037,-0.6009584172205926,0.71338606911949],"aabb_xy":[[0.12339691194674451,-0.6252230105226291],[0.17242416014075623,-0.5766938239185562]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.49007533283981897,-0.7640596767854091,0.71338606911949],"aabb_xy":[[-0.4964891464830039,-0.7704694970330773],[-0.483661519196634,-0.7576498565377406]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_20","position":[-0.4514463827129972,-1.3947689042428604,0.71338606911949],"aabb_xy":[[-0.5314463801165905,-1.4747614754410432],[-0.37144638530940377,-1.3147763330446776]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.07568254025560439,-1.4932780145552063,0.71338606911949],"aabb_xy":[[-0.15568253884292382,-1.572593616493367],[0.004317458331715026,-1.4139624126170451]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.41649748948897886,-0.9990186991290513,0.71338606911949],"aabb_xy":[[-0.4308319146151423,-1.0110789146835901],[-0.4021630643628154,-0.9869584835745124]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[0.5037542686317433,-2.0081599988268315,0.71338606911949],"aabb_xy":[[0.4694573576140027,-2.0424568850367724],[0.5380511796494839,-1.9738631126168897]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.13015995593890006,1.6630058775067718,0.71338606911949],"aabb_xy":[[-0.1378631466129771,1.6552965068080334],[-0.12245676526482302,1.6707152482055097]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944354577599287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1858.png","name":"1858"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7749.png","name":"7749"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8865.png","name":"8865"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":722.4006598574696,"rotation_z_degrees":342.8016842274106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002525217299114195,-0.0016301040525933674,0.00748141078416794]},{"name":"camera_2","offset_m":[-0.008762087218413041,-0.0023613939399532297,0.00491046867206299]},{"name":"camera_3","offset_m":[0.014683834432232385,0.007113527331552856,0.01912911786391421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017413797505827545,-0.001124307903371734,0.0009546539608515478],"end_effector_yaw_offset_degrees":0.6629524411673602},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008168199134683705,0.00015196973224822826,-0.0002705171808907107],"end_effector_yaw_offset_degrees":0.8553896574380646},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.001847135099661847,0.00172111583023144,-0.00010480169170223744],"end_effector_yaw_offset_degrees":0.03830808902737126}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001455656230567359,-0.00032241050442594066],"position_m":[0.31154434376943263,-0.11662241050442594,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016160734768065213,-0.0008388944576344492],"position_m":[0.31191607347680655,0.09026110554236555,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003106399305445223,-0.0007315702881772667],"position_m":[0.35820639930544523,0.29596842971182274,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004101358184973166,-0.0046902172278077345],"position_m":[0.23989864181502682,-0.3564902172278077,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f0d2ecb5a998e5857c894ca40918fd4adea4973326e57dffcc1a633ef1e82ca9","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2171/tex_ceiling_textures_8865/tex_floor_textures_7749/tex_table_textures_7162/tex_wall_textures_1858","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8691534169355431896,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8691534169355431896,"visual_seed":8691534169355431896,"scene_id":"lab_003","finished_at":"2026-09-03T03:37:20"} +{"episode_id":"ep_000087","started_at":"2026-09-03T03:37:24","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.6345694498276504,1.4896289017840778,0.71338606911949],"aabb_xy":[[-0.6945694500790515,1.435347576747613],[-0.5745694495762491,1.5439102268205422]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.26411603065149347,0.5026050232840515,0.71338606911949],"aabb_xy":[[-0.2713597966977388,0.42260502508044917],[-0.25687226460524815,0.5826050214876539]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.6030725004283752,-0.8865053133254064,0.71338606911949],"aabb_xy":[[0.5811827528394344,-0.9765053106146556],[0.624962248017316,-0.7965053160361574]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.4861450215411225,-0.4953697497758842,0.71338606911949],"aabb_xy":[[0.4221450196287802,-0.5512808990338947],[0.5501450234534648,-0.43945860051787383]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.05816399646962478,-2.1860802564366777,0.71338606911949],"aabb_xy":[[-0.09566399657521774,-2.1929024182896586],[-0.020663996364031826,-2.179258094583696]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.2129486017286556,0.8803592464313064,0.71338606911949],"aabb_xy":[[0.14894860533308252,0.8163959580125728],[0.2769485981242287,0.9443225348500399]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.5179775115632648,-1.0817151262079416,0.71338606911949],"aabb_xy":[[0.4835150335501769,-1.0883788033908646],[0.5524399895763524,-1.0750514490250187]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.3785288567996027,-0.9787928839144817,0.71338606911949],"aabb_xy":[[-0.45852885376264185,-1.055868525558255],[-0.2985288598365635,-0.901717242270708]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.06942712413670227,-1.070471964763264,0.71338606911949],"aabb_xy":[[-0.0771303148107793,-1.0781813354620018],[-0.06172393346262521,-1.0627625940645256]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.42513957631253274,1.1518775516099349,0.71338606911949],"aabb_xy":[[0.3913640171218398,1.1378390563967697],[0.45891513550322577,1.1659160468230996]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.479496709868522,-2.2006354620357484,0.71338606911949],"aabb_xy":[[-0.5644967085605966,-2.232621325430627],[-0.39449671117644736,-2.168649598640869]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.16422955514857795,-1.8281234920157097,0.71338606911949],"aabb_xy":[[-0.2142295568100727,-1.8781219342714122],[-0.11422955348708318,-1.7781250497600067]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.23444439551897955,-1.182666546658772,0.71338606911949],"aabb_xy":[[-0.2679235627800205,-1.2161456600298792],[-0.20096522825793864,-1.1491874332876653]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.4010394870926697,-1.5358833155654559,0.71338606911949],"aabb_xy":[[-0.40517534342536987,-1.5733833150098129],[-0.3969036307599695,-1.4983833161210989]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.6077113705330233,0.24893208665429656,0.71338606911949],"aabb_xy":[[0.6027553503481422,0.22643208645217497],[0.6126673907179045,0.2714320868564182]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.3999588271273388,1.2448759680574581,0.71338606911949],"aabb_xy":[[-0.4549588263039283,1.1898862932825003],[-0.34495882795074934,1.2998656428324156]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.009151403411167824,-1.6560798665037253,0.71338606911949],"aabb_xy":[[-0.07084859374840746,-1.6676274674615421],[0.08915140057074311,-1.644532265545908]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.25103004934502976,0.9127177804332933,0.71338606911949],"aabb_xy":[[-0.2597440183949642,0.890217779774105],[-0.24231608029509524,0.9352177810924814]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.007526099487123461,1.6679964498708455,0.71338606911949],"aabb_xy":[[-0.037645218361045514,1.6039964527263073],[0.05269741733529244,1.7319964470153841]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.5262360819698434,-0.25094093330527256,0.71338606911949],"aabb_xy":[[-0.5342724166711282,-0.25897905260968934],[-0.5181997472685586,-0.24290281400085578]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.39654435179877945,0.5616301264169405,0.71338606911949],"aabb_xy":[[0.3325443485801416,0.5149070145179322],[0.4605443550174173,0.6083532383159489]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.3085149186326721,-2.4054513238123683,0.71338606911949],"aabb_xy":[[0.27351491950271645,-2.411196544888032],[0.34351491776262777,-2.3997061027367037]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.13368057070549277,0.03165363453086112,0.71338606911949],"aabb_xy":[[-0.19368057055205956,-0.025164987662177563],[-0.07368057085892599,0.0884722567238998]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.19493787405814544,0.6722493177400568,0.71338606911949],"aabb_xy":[[0.11493787080030249,0.5922528099480727],[0.2749378773159884,0.7522458255320407]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.6079990482652624,-1.0878485507747861,0.71338606911949],"aabb_xy":[[0.6035684189104222,-1.093296922509469],[0.6124296776201026,-1.0824001790401037]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.5274466087513849,-2.429492336564608,0.71338606911949],"aabb_xy":[[0.46244660611359145,-2.480971935264055],[0.5924466113891784,-2.378012737865161]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[0.6940956811555516,-0.626292875510561,0.71338606911949],"aabb_xy":[[0.6715992597216875,-0.6487928753173084],[0.7165921025894157,-0.6037928757038136]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[0.2400866871120888,1.6202089687426597,0.71338606911949],"aabb_xy":[[0.18509347577495203,1.5652089684038664],[0.29507989844922555,1.6752089690814536]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.45781242039936315,0.40937979736214114,0.71338606911949],"aabb_xy":[[-0.46522487594075157,0.4035285869405132],[-0.4503999648579746,0.4152310077837691]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[0.046012340698644016,0.8953223645275581,0.71338606911949],"aabb_xy":[[-0.003987660251888792,0.8637732175240365],[0.09601234164917682,0.9268715115310793]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_30","position":[-0.330464920936835,-2.5230410109446746,0.71338606911949],"aabb_xy":[[-0.3805623849179086,-2.5870410114544864],[-0.2803674569557614,-2.459041010434863]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_31","position":[-0.36588658238175864,1.590415624307354,0.71338606911949],"aabb_xy":[[-0.42988657880908054,1.5432460004852575],[-0.30188658595443674,1.6375852481294504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892451881860566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9754.png","name":"9754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7819.png","name":"7819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1827.png","name":"1827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9842.png","name":"9842"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":685.4870099217455,"rotation_z_degrees":178.000597028015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007280126609005927,0.011000575903700852,0.008628477043945173]},{"name":"camera_2","offset_m":[-0.010612817114254982,-0.007642977550674685,0.0030892055689044767]},{"name":"camera_3","offset_m":[-0.016212544576357395,0.01957895834031374,0.00922269539862941]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012754327389918978,-9.379308137161626e-05,0.0007551080112225437],"end_effector_yaw_offset_degrees":-0.5172788160920381},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015715762452334849,-0.0007458523352005338,-0.0019414691226990817],"end_effector_yaw_offset_degrees":-0.84544636368789},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0009173211921149149,0.0014502252288340393,0.001767363967525306],"end_effector_yaw_offset_degrees":0.6343677122299973}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031266410608777285,-0.0023961782072190576],"position_m":[0.31612664106087773,-0.11869617820721906,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028367853027115855,0.001323809906920533],"position_m":[0.30746321469728843,0.09242380990692053,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016093436145675588,-0.0029002085449397943],"position_m":[0.3534906563854325,0.29379979145506024,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004847663702991726,0.0021665351202836613],"position_m":[0.24448476637029917,-0.34963346487971636,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"89eace543a9e1350f06485df8825ffbc44160f8e68eb91d57fdf05394c700b9e","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0114.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2004/tex_ceiling_textures_9842/tex_floor_textures_1827/tex_table_textures_9754/tex_wall_textures_7819","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5504666336324880244,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5504666336324880244,"visual_seed":5504666336324880244,"scene_id":"lab_003","finished_at":"2026-09-03T03:39:56"} +{"episode_id":"ep_000088","started_at":"2026-09-03T03:39:58","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.3593459128593981,0.5168988284027916,0.71338606911949],"aabb_xy":[[0.3343459129268802,0.5100161601818683],[0.384345912791916,0.523781496623715]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.07488268135703668,1.4745504585326903,0.71338606911949],"aabb_xy":[[0.07003908659580671,1.4696988060537062],[0.07972627611826666,1.4794021110116744]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[-0.08132566040114564,-2.246404012867042,0.71338606911949],"aabb_xy":[[-0.10383935222460282,-2.3164040134680497],[-0.05881196857768843,-2.1764040122660346]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.5572734015597773,0.712893800060693,0.71338606911949],"aabb_xy":[[-0.5918644844138226,0.647893799775662],[-0.5226823187057321,0.7778938003457241]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.40723827902087556,1.2805984560613104,0.71338606911949],"aabb_xy":[[-0.442238277331571,1.2728834411377645],[-0.3722382807101801,1.2883134709848558]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.05655251828821939,-2.4943051384507977,0.71338606911949],"aabb_xy":[[-0.14655251478909112,-2.5402167808692555],[0.03344747821265236,-2.448393496032339]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.5700529699666425,-0.44131028655801874,0.71338606911949],"aabb_xy":[[-0.6400529717753879,-0.46266405532220606],[-0.500052968157897,-0.4199565177938313]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.563183013938964,0.11790641980032657,0.71338606911949],"aabb_xy":[[0.5582837216324004,0.09022950049775778],[0.5680823062455274,0.14558333910289534]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.6247675954053195,-0.643884005921092,0.71338606911949],"aabb_xy":[[-0.6747675940512406,-0.6938035495805542],[-0.5747675967593983,-0.5939644622616295]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.6669994465378601,0.07572933348819166,0.71338606911949],"aabb_xy":[[0.6259815031514894,0.025729332857234347],[0.7080173899242311,0.125729334119149]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.047446740871675,-0.86460646492249,0.71338606911949],"aabb_xy":[[-0.09754420485274862,-0.9286064654323019],[0.0026507231093986297,-0.8006064644126782]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.4823389839277852,-2.333482351236258,0.71338606911949],"aabb_xy":[[0.4448389827429924,-2.337900573932318],[0.519838985112578,-2.329064128540197]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.2394919195799572,-1.9459289347242543,0.71338606911949],"aabb_xy":[[-0.2894761552881344,-1.9959289335377497],[-0.18950768387177994,-1.8959289359107585]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[0.602736637416236,-0.47831604150549056,0.71338606911949],"aabb_xy":[[0.5853059223372293,-0.4955881561693413],[0.6201673524952424,-0.4610439268416397]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[-0.4396603649275815,0.2572936028002899,0.71338606911949],"aabb_xy":[[-0.4824270718070017,0.1932935993784874],[-0.3968936580481613,0.3212936062220923]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.13916918577810622,-0.1633999321179611,0.71338606911949],"aabb_xy":[[-0.17416918490806188,-0.1691451531936252],[-0.10416918664815056,-0.15765471104229697]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.22183203063145912,0.9885587238452445,0.71338606911949],"aabb_xy":[[-0.31183203430837725,0.9271263172681399],[-0.13183202695454088,1.0499911304223486]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.5050642888715839,0.021123991643007933,0.71338606911949],"aabb_xy":[[0.4925969307618483,0.008658667009684432],[0.5175316469813196,0.03358931627633144]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.6241649927265664,-2.28514072121241,0.71338606911949],"aabb_xy":[[0.5741657175581303,-2.335140722488357],[0.6741642678950026,-2.235140719936463]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.46598934001121783,0.9134166148283147,0.71338606911949],"aabb_xy":[[0.4606568253566049,0.9080922865830793],[0.4713218546658309,0.9187409430735504]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.39090830633170004,-1.9900057343352198,0.71338606911949],"aabb_xy":[[0.3293175471077073,-2.054005732444267],[0.4524990655556929,-1.9260057362261733]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.06375064295411004,0.8525534183437653,0.71338606911949],"aabb_xy":[[0.06004738162497116,0.8488514000350473],[0.06745390428324889,0.856255436652483]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.3833400588722084,-2.4656623370604964,0.71338606911949],"aabb_xy":[[-0.43315683833704316,-2.5156623355448],[-0.33352327940737364,-2.415662338576193]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.3861319841572348,-0.514066839050868,0.71338606911949],"aabb_xy":[[0.32613198329642196,-0.5654932690573542],[0.44613198501804757,-0.4626404090443815]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.35771756129435467,0.6470508092649334,0.71338606911949],"aabb_xy":[[-0.37989008827100545,0.6248751421088101],[-0.3355450343177038,0.6692264764210565]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.3750191211104983,-1.7182077726754679,0.71338606911949],"aabb_xy":[[0.30501911950821886,-1.7316405658771254],[0.4450191227127778,-1.7047749794738103]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.652420462600031,-1.6035546057420311,0.71338606911949],"aabb_xy":[[-0.659460772533568,-1.683554605141703],[-0.6453801526664941,-1.5235546063423602]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[-0.2318468525558527,1.774304224971901,0.71338606911949],"aabb_xy":[[-0.2668468508259726,1.7672300972769126],[-0.1968468542857328,1.781378352666889]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.5895968730842917,1.6173927359632407,0.71338606911949],"aabb_xy":[[-0.6013650598789493,1.5323927360580194],[-0.5778286862896342,1.7023927358684625]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[0.20153432352266587,-1.6102116351933629,0.71338606911949],"aabb_xy":[[0.1927530963754297,-1.6189913824818936],[0.21031555066990215,-1.601431887904833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885829282442204,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9828.png","name":"9828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1168.png","name":"1168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8882.png","name":"8882"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.3068674712176,"rotation_z_degrees":324.3293303601759,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004192720877625657,0.010033894327162177,-0.0036193981629497086]},{"name":"camera_2","offset_m":[-0.01108783855275647,-0.010200712577699033,0.014839562469507673]},{"name":"camera_3","offset_m":[-0.011259226903511372,0.0037517157973377124,-0.018125371948375234]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00030160754423760004,-0.0015645555807306116,0.0019335137805446875],"end_effector_yaw_offset_degrees":-0.9756641082011674},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014106026891251718,-0.0003122622977430405,-0.0015086522530210152],"end_effector_yaw_offset_degrees":-0.9047972401641082},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003159763428179799,0.0016562010688895867,0.0014088380576839483],"end_effector_yaw_offset_degrees":0.49681276352275394}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011774640704349075,0.0025338107971302534],"position_m":[0.3141774640704349,-0.11376618920286975,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001927788780168773,0.001596823306682378],"position_m":[0.3104927788780169,0.09269682330668239,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036596740724815914,-0.00012225800673807893],"position_m":[0.35144032592751845,0.2965777419932619,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004850969206664351,0.0019783030542422112],"position_m":[0.23914903079333563,-0.34982169694575777,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa459ba46a99c9f17641533f3df2cd5b4d50aecad019d326bb59bc52a83a2993","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0115.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_296/tex_ceiling_textures_8882/tex_floor_textures_1168/tex_table_textures_1193/tex_wall_textures_9828","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6373684815500492756,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6373684815500492756,"visual_seed":6373684815500492756,"scene_id":"lab_003","finished_at":"2026-09-03T03:42:33"} +{"episode_id":"ep_000089","started_at":"2026-09-03T03:42:36","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.6126158399984274,-0.8183398152018118,0.71338606911949],"aabb_xy":[[-0.6338938481418996,-0.8833398175278847],[-0.5913378318549551,-0.7533398128757386]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.18634823925636024,1.5372272512713985,0.71338606911949],"aabb_xy":[[0.17447615624485913,1.4522272515777481],[0.19822032226786135,1.6222272509650488]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.6374355820159598,-1.473363392348827,0.71338606911949],"aabb_xy":[[-0.6678336931151033,-1.5037702943504965],[-0.6070374709168161,-1.4429564903471574]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.14344726594378077,1.2004263138812568,0.71338606911949],"aabb_xy":[[-0.1612407728786972,1.182626568285459],[-0.12565375900886433,1.2182260594770544]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.1010053465790296,-1.5083661887534932,0.71338606911949],"aabb_xy":[[-0.16600534473494866,-1.5346624333034053],[-0.036005348423110525,-1.482069944203581]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.46825294630104974,-2.1037635234803895,0.71338606911949],"aabb_xy":[[-0.47216681949647227,-2.1125125388869463],[-0.4643390731056272,-2.0950145080738327]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[0.715231975419444,-0.12526348067100113,0.71338606911949],"aabb_xy":[[0.7071956407181591,-0.1333015999754179],[0.7232683101207288,-0.11722536136658435]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.40878400267358384,-2.523435696999447,0.71338606911949],"aabb_xy":[[-0.47278400596329195,-2.5667706160033648],[-0.3447839993838757,-2.4801007779955295]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.11111253768080664,0.9206963426562904,0.71338606911949],"aabb_xy":[[-0.2011125374039808,0.8976229901211104],[-0.021112537957632457,0.94376969519147]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.2858473622749726,-1.9072334172728653,0.71338606911949],"aabb_xy":[[-0.3356641417398073,-1.9572334157571687],[-0.23603058281013778,-1.857233418788562]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.3953544397939297,0.44444097072753674,0.71338606911949],"aabb_xy":[[0.35018312194576073,0.3804409735829984],[0.4405257576420987,0.5084409678720752]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.11288847397392543,0.771802660253234,0.71338606911949],"aabb_xy":[[-0.12372895220044035,0.754616378962585],[-0.10204799574741054,0.7889889415438827]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[0.21742973930608522,-2.0831177765077595,0.71338606911949],"aabb_xy":[[0.15342973696328363,-2.1280586277518916],[0.28142974164888673,-2.0381769252636266]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.072870409935196,1.395781945509853,0.71338606911949],"aabb_xy":[[-0.12786362127233275,1.3407819451710594],[-0.01787719859805924,1.4507819458486466]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.6141165812688092,-1.3413607518904809,0.71338606911949],"aabb_xy":[[-0.6229186365777818,-1.34917207804541],[-0.6053145259598364,-1.3335494257355518]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.13360118037393987,-0.037684717935383194,0.71338606911949],"aabb_xy":[[-0.16737673956463284,-0.05172321314854822],[-0.0998256211832469,-0.02364622272221817]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.35213553704569256,0.7004478015442137,0.71338606911949],"aabb_xy":[[-0.37124784440367137,0.6813130226669717],[-0.33302322968771364,0.7195825804214557]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.07042195748735436,-1.8760514433344864,0.71338606911949],"aabb_xy":[[-0.08098943714545336,-1.886596473447495],[-0.059854477829255334,-1.8655064132214778]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.217796939203117,-2.4057929059768846,0.71338606911949],"aabb_xy":[[-0.26779693864331255,-2.455760830461201],[-0.16779693976292134,-2.3558249814925682]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.4417540438500208,0.3120311988913853,0.71338606911949],"aabb_xy":[[-0.491754045210908,0.26205329431596963],[-0.39175404248913354,0.3620091034668009]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.3143640984984873,0.5591071655457922,0.71338606911949],"aabb_xy":[[-0.3478042736945068,0.5256635397148619],[-0.28092392330246757,0.5925507913767221]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.5113078526291415,-0.4664785717281337,0.71338606911949],"aabb_xy":[[0.46130785134530145,-0.5164574261187557],[0.5613078539129813,-0.4164997173375115]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.6040252809571041,0.7008294554608878,0.71338606911949],"aabb_xy":[[0.5440252800962913,0.6494030254544012],[0.6640252818179169,0.752255885467374]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.6222955299854174,1.164925748934865,0.71338606911949],"aabb_xy":[[0.6024044901050771,1.1522699376501682],[0.6421865698657576,1.1775815602195618]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.5584802605706081,1.3903174695101086,0.71338606911949],"aabb_xy":[[-0.5658927161119965,1.3844662590884806],[-0.5510678050292196,1.3961686799317365]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.25957907764633714,-1.1894341816077652,0.71338606911949],"aabb_xy":[[0.19557907694286786,-1.2354525640806864],[0.32357907834980654,-1.1434157991348444]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_26","position":[0.489249090549956,0.6518821748601131,0.71338606911949],"aabb_xy":[[0.4778873558966698,0.6405137084538249],[0.5006108252032422,0.6632506412664011]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.6301331703180282,-0.820675274426752,0.71338606911949],"aabb_xy":[[0.6125548681290812,-0.8382497640008568],[0.6477114725069749,-0.803100784852647]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.6477472246991574,-1.7639282916752752,0.71338606911949],"aabb_xy":[[-0.6653800602926848,-1.7815512376908982],[-0.6301143891056297,-1.7463053456596522]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[0.5959430892424793,-1.379635373122977,0.71338606911949],"aabb_xy":[[0.5259430928325173,-1.4000733087746582],[0.6659430856524409,-1.3591974374712947]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[-0.49195757791281713,1.5193868370855106,0.71338606911949],"aabb_xy":[[-0.529457578204992,1.515345361684907],[-0.4544575776206423,1.523428312486114]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[-0.02978090861934779,1.1533232836363392,0.71338606911949],"aabb_xy":[[-0.03706322499601144,1.0633232800268297],[-0.02249859224268413,1.2433232872458477]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_32","position":[0.6216962111674103,-0.3724772635694311,0.71338606911949],"aabb_xy":[[0.6107904350798474,-0.4524772599682603],[0.6326019872549729,-0.292477267170602]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_33","position":[0.179727240119687,-1.8121167388999746,0.71338606911949],"aabb_xy":[[0.09472724142761235,-1.8441026022948532],[0.26472723881176163,-1.7801308755050955]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_34","position":[0.6776322241104589,-1.3050464071292243,0.71338606911949],"aabb_xy":[[0.6682147495405961,-1.3144625842669433],[0.6870496986803216,-1.2956302299915052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951696928486257,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2553.png","name":"2553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2553.png","name":"2553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6573.png","name":"6573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1501.png","name":"1501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9799.png","name":"9799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8605.png","name":"8605"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":696.5926477485162,"rotation_z_degrees":170.38500642156697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010042720040225155,-0.0184726100913597,0.014539661064545916]},{"name":"camera_2","offset_m":[-0.0031923063517821475,-0.003006139086040912,0.019514347724576154]},{"name":"camera_3","offset_m":[0.010728624745942716,-0.005540133495294235,-0.01801948759887397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021316291186250069,-0.00010931076938862556,0.00028632257089996173],"end_effector_yaw_offset_degrees":-0.822447032743179},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018118394270755802,-0.001273655536428715,0.0011113835813077958],"end_effector_yaw_offset_degrees":0.7773820581771265},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0004567362930272196,-0.0017579594611607289,0.0011436829182843722],"end_effector_yaw_offset_degrees":-0.09756337068836918}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006761896534207027,0.004029047210216195],"position_m":[0.3136761896534207,-0.1122709527897838,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038869525775344855,0.0032707289480616046],"position_m":[0.3141869525775345,0.0943707289480616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026775112788111803,0.0018904966960444818],"position_m":[0.3577775112788112,0.2985904966960445,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002416138948337287,0.00451729677833564],"position_m":[0.24641613894833728,-0.3472827032216644,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ea378682d58cd3755fb167e0f62bc83605849850e2260c4eceddd9b1ae459d26","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0116.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2553/tex_ceiling_textures_8605/tex_floor_textures_9799/tex_table_textures_6573/tex_wall_textures_1501","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":387226193435537225,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":387226193435537225,"visual_seed":387226193435537225,"scene_id":"lab_003","finished_at":"2026-09-03T03:45:14"} +{"episode_id":"ep_000090","started_at":"2026-09-03T03:45:18","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[-0.3568019244371322,-0.1865051340673025,0.71338606911949],"aabb_xy":[[-0.3759142317951111,-0.2056399129445445],[-0.33768961707915335,-0.16737035519006047]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.4020090211547134,-0.7758715461161592,0.71338606911949],"aabb_xy":[[0.35924231427529324,-0.8398715495379615],[0.4447757280341336,-0.7118715426943566]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.6261412163515774,-0.5356369783759778,0.71338606911949],"aabb_xy":[[0.5974918839911612,-0.5642825376530534],[0.6547905487119936,-0.5069914190989018]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.45285610999043846,-2.205516620060877,0.71338606911949],"aabb_xy":[[0.38885610677180055,-2.2522397319598855],[0.5168561132090763,-2.1587935081618688]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.536476498968547,0.9896914357439481,0.71338606911949],"aabb_xy":[[-0.5786609131293777,0.9256914354667372],[-0.49429208480771625,1.0536914360211596]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.3019501100624205,-0.33927640031607753,0.71338606911949],"aabb_xy":[[-0.36195011065843663,-0.394088872861301],[-0.24195010946640427,-0.28446392777085405]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.1351005369181083,0.5157272126039492,0.71338606911949],"aabb_xy":[[-0.19669129614210112,0.4517272144949024],[-0.07350977769411549,0.5797272107129962]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[-0.28599332593078547,0.7246183311024179,0.71338606911949],"aabb_xy":[[-0.3018778191961106,0.7102653908035939],[-0.2701088326654603,0.738971271401242]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[0.6268638838939982,-0.7605154609510396,0.71338606911949],"aabb_xy":[[0.6143965257842626,-0.7729807855843632],[0.6393312420037339,-0.7480501363177162]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.08441457241891237,-1.2797797096348857,0.71338606911949],"aabb_xy":[[-0.12941457388514122,-1.3247795664963664],[-0.03941457095268352,-1.234779852773405]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.285991612850366,0.558911208797626,0.71338606911949],"aabb_xy":[[0.27542413319226694,0.5483661786846175],[0.29655909250846496,0.5694562389106346]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.3825948313726916,-0.47751032703055074,0.71338606911949],"aabb_xy":[[-0.3977577043496288,-0.49267578432566955],[-0.3674319583957546,-0.46234486973543204]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.660020329450769,-1.7842647935903477,0.71338606911949],"aabb_xy":[[-0.6943366066253869,-1.8342647935635252],[-0.625704052276151,-1.7342647936171698]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[0.48759619680105915,0.725035207248617,0.71338606911949],"aabb_xy":[[0.46542366982440825,0.7028595400924939],[0.50976872377771,0.7472108744047402]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.1427441742176977,1.486064333985849,0.71338606911949],"aabb_xy":[[-0.15078050891898254,1.4780262146814322],[-0.13470783951641285,1.4941024532902658]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.1887927093215218,-1.1931507812452757,0.71338606911949],"aabb_xy":[[0.17099920238660535,-1.2109505268410734],[0.20658621625643822,-1.175351035649478]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.5864565658562286,0.7584446192058816,0.71338606911949],"aabb_xy":[[0.5663981542429883,0.738379532296724],[0.6065149774694689,0.7785097061150391]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.05326044015337461,-2.2171950249637833,0.71338606911949],"aabb_xy":[[-0.09011098809036222,-2.254695025786817],[-0.016409892216386994,-2.1796950241407496]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.48679126905674797,1.5768460015777719,0.71338606911949],"aabb_xy":[[0.42179126805624745,1.526059636423097],[0.5517912700572485,1.6276323667324468]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.1820287842589402,0.7625556442896122,0.71338606911949],"aabb_xy":[[-0.19286926248545508,0.7453693629989635],[-0.17118830603242527,0.7797419255802611]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.33050803621373975,-2.3045690102301597,0.71338606911949],"aabb_xy":[[-0.33779035259040335,-2.394569013839668],[-0.32322571983707604,-2.21456900662065]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.3852356932423646,0.4331107091333153,0.71338606911949],"aabb_xy":[[-0.43523569268256024,0.38314278464899887],[-0.335235693802169,0.4830786336176315]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936942344084939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2372.png","name":"2372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2372.png","name":"2372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2606.png","name":"2606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/300.png","name":"300"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2783.png","name":"2783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6036.png","name":"6036"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":675.5988077056949,"rotation_z_degrees":52.370031512407564,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023774390306361727,-0.011897215509838856,-0.01987800848364201]},{"name":"camera_2","offset_m":[-0.00678129038700114,0.009498053065464224,-0.0053563198101512065]},{"name":"camera_3","offset_m":[-0.005178564223348175,-0.018577024456519858,0.013903649020082853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017359116088310265,0.0006954441625373672,-0.00039383879414096553],"end_effector_yaw_offset_degrees":0.9932075820045028},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008883804228792625,0.0013274116074342458,4.953626231349621e-05],"end_effector_yaw_offset_degrees":0.7025634383157233},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[4.663387841643933e-05,-0.0014860641474115127,-0.001674937689840803],"end_effector_yaw_offset_degrees":-0.3344014891085225}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007528302925809069,0.0009579772329718697],"position_m":[0.3137528302925809,-0.11534202276702812,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038191284921143412,0.0015619092909015617],"position_m":[0.3141191284921144,0.09266190929090157,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009380196070357975,0.00211110324880546],"position_m":[0.35603801960703585,0.2988111032488055,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002532137824184282,-0.0006009464980242752],"position_m":[0.2465321378241843,-0.3524009464980243,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"657a714dbf7bc53aa71a66ecbe036ff8f2edb900772f12bc332f13c450ed7889","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0117.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2372/tex_ceiling_textures_6036/tex_floor_textures_2783/tex_table_textures_2606/tex_wall_textures_300","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6452367152057727463,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6452367152057727463,"visual_seed":6452367152057727463,"scene_id":"lab_003","finished_at":"2026-09-03T03:47:52"} +{"episode_id":"ep_000091","started_at":"2026-09-03T03:47:55","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.5771970969035505,-1.19279447303566,0.71338606911949],"aabb_xy":[[-0.6571970971771574,-1.2657440208613768],[-0.49719709662994344,-1.1198449252099434]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.5146977895864022,1.6462315880378369,0.71338606911949],"aabb_xy":[[-0.5368703165630531,1.6240559208817136],[-0.4925252626097514,1.6684072551939597]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.10397820012104253,1.2438218141328181,0.71338606911949],"aabb_xy":[[0.03997820372546945,1.1798585257140846],[0.1679781965166156,1.3077851025515517]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.4594203659831877,-1.2221532452337203,0.71338606911949],"aabb_xy":[[0.3794203638204252,-1.3021084288598639],[0.5394203681459502,-1.1421980616075766]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.6705368494723607,0.5603994542739508,0.71338606911949],"aabb_xy":[[-0.6930368492862631,0.55592483790347],[-0.6480368496584583,0.5648740706444315]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.09030675776913799,0.6862909071536505,0.71338606911949],"aabb_xy":[[0.08380512126113338,0.6765230851273407],[0.09680839427714262,0.6960587291799603]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.5850648559427495,-2.3275870933105383,0.71338606911949],"aabb_xy":[[-0.6089010735833545,-2.4175870941190247],[-0.5612286383021444,-2.237587092502052]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.09637710149368339,1.226902080054511,0.71338606911949],"aabb_xy":[[-0.11338719878373404,1.2107675915562368],[-0.07936700420363274,1.2430365685527847]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.49975058937114336,0.20315901715725815,0.71338606911949],"aabb_xy":[[-0.5497293978814592,0.15315901715153937],[-0.4497717808608274,0.25315901716297695]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.49215925919217507,-2.3741575038964657,0.71338606911949],"aabb_xy":[[0.45871908399615535,-2.4076011297273947],[0.5255994343881945,-2.340713878065535]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.06808744463058936,-1.878390412296389,0.71338606911949],"aabb_xy":[[0.01808744361145408,-1.9148566280342172],[0.11808744564972463,-1.8419241965585613]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.2051182301373014,-2.1389274135066936,0.71338606911949],"aabb_xy":[[-0.2401182301137972,-2.1483920295543104],[-0.17011823016080554,-2.1294627974590767]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.09563994738307069,-0.8221614163357347,0.71338606911949],"aabb_xy":[[0.06186438819237772,-0.8361999115488997],[0.12941550657376366,-0.8081229211225697]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.5812907229769095,-0.2383903751499048,0.71338606911949],"aabb_xy":[[-0.6412907232283107,-0.29267170018636945],[-0.5212907227255084,-0.18410905011344014]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.30244365647838434,-2.4802536252040586,0.71338606911949],"aabb_xy":[[0.29760006171715436,-2.4851052776830427],[0.3072872512396143,-2.4754019727250745]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.15185867504528483,-1.3414160195330496,0.71338606911949],"aabb_xy":[[-0.21585867531926306,-1.3914821197303373],[-0.0878586747713066,-1.2913499193357614]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.1253524878332165,1.442400211394952,0.71338606911949],"aabb_xy":[[-0.12879316407327368,1.4385387784205874],[-0.12191181159315934,1.4462616443693164]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.4340979657010219,1.4482519237620815,0.71338606911949],"aabb_xy":[[-0.5040979621109836,1.4278139881103993],[-0.36409796929106003,1.4686898594137627]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.35027467685421576,1.6768933043764558,0.71338606911949],"aabb_xy":[[0.295281465517079,1.6218933040376626],[0.40526788819135257,1.7318933047152498]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.5020660930997342,0.45031438987188643,0.71338606911949],"aabb_xy":[[-0.5670660941002347,0.39952802471721144],[-0.43706609209923364,0.5011007550265614]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.024270242025407396,-0.9295502215552691,0.71338606911949],"aabb_xy":[[-0.034026231534581286,-0.9393127556145036],[-0.014514252516233502,-0.9197876874960347]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.5929740733249445,0.7644304444211452,0.71338606911949],"aabb_xy":[[0.585561617783556,0.7585792339995172],[0.6003865288663329,0.7702816548427731]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.10824081081882331,-2.442005231196421,0.71338606911949],"aabb_xy":[[-0.14324081217030502,-2.462364967153242],[-0.07324080946734156,-2.4216454952396003]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.09042204802129306,-1.060668101758714,0.71338606911949],"aabb_xy":[[-0.14042204938218025,-1.1106460063341297],[-0.04042204666040582,-1.0106901971832984]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.26339391199566614,1.5605846011947642,0.71338606911949],"aabb_xy":[[-0.2976908230134067,1.5262877149848224],[-0.22909700097792546,1.594881487404705]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.022002138562257967,-2.2605299424751752,0.71338606911949],"aabb_xy":[[-0.030038473263542805,-2.2685680617795922],[-0.013965803860973122,-2.2524918231707582]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_26","position":[-0.11728082441278864,-0.5079428579091889,0.71338606911949],"aabb_xy":[[-0.18728082780435062,-0.5432586316126197],[-0.04728082102122667,-0.472627084205758]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.5943973621227157,1.1667909916305148,0.71338606911949],"aabb_xy":[[0.5864038723274337,1.1587928596900394],[0.6023908519179978,1.1747891235709906]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.6654209681799717,-1.4089311813897996,0.71338606911949],"aabb_xy":[[-0.6820981041730672,-1.4256311053637296],[-0.6487438321868761,-1.392231257415869]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[0.2401986005712844,-0.9969246892785089,0.71338606911949],"aabb_xy":[[0.15019860115291353,-1.0303001861226986],[0.3301985999896553,-0.9635491924343191]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[-0.16753609404926673,0.7585038165401792,0.71338606911949],"aabb_xy":[[-0.19618542640968292,0.7298582572631034],[-0.13888676168885047,0.787149375817255]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_31","position":[0.5079896779948676,1.6737822413472911,0.71338606911949],"aabb_xy":[[0.4999634073642417,1.6650307463699385],[0.5160159486254937,1.6825337363246438]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_32","position":[-0.17519236828773765,-1.5397391651958652,0.71338606911949],"aabb_xy":[[-0.21644117931765233,-1.5947391647080824],[-0.13394355725782287,-1.4847391656836475]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_33","position":[-0.20818283974522683,-0.17276852186053793,0.71338606911949],"aabb_xy":[[-0.2681828402530797,-0.2296152555464592],[-0.1481828392373739,-0.11592178817461661]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690484534627627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6224.png","name":"6224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6224.png","name":"6224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9162.png","name":"9162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2080.png","name":"2080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9095.png","name":"9095"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":649.6561282745038,"rotation_z_degrees":62.23650802168161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00035024413473876137,-0.00815094754703381,-0.010131073679772134]},{"name":"camera_2","offset_m":[0.010249708001767409,0.006328757841292557,-0.01418164390142599]},{"name":"camera_3","offset_m":[0.0021649715281608223,0.010192732638092596,-0.013962042600730477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017966311510462627,-0.00015686922678139793,-0.00027759098241474296],"end_effector_yaw_offset_degrees":-0.24366034246618762},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008346254094550804,-0.0017489942530068072,0.0007426144685193999],"end_effector_yaw_offset_degrees":-0.2631831504837687},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0010699303062932973,-0.0003859991409931717,6.650101148893877e-05],"end_effector_yaw_offset_degrees":-0.20085843470369635}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002039456228265962,-0.003441912931203889],"position_m":[0.31503945622826596,-0.11974191293120388,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002775529698064877,-0.002635523507509273],"position_m":[0.30752447030193514,0.08846447649249073,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015082876765871657,-0.00021685460947718383],"position_m":[0.35359171232341285,0.29648314539052284,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.330893797839315e-05,0.0005377172621449933],"position_m":[0.2440933089379784,-0.351262282737855,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"04813e761da2feb45df9674e9a14f218d8491f3537ec0f2e2e6e6685cae10c75","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6224/tex_ceiling_textures_9095/tex_floor_textures_2932/tex_table_textures_9162/tex_wall_textures_2080","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":5888354654891065132,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":5888354654891065132,"visual_seed":5888354654891065132,"scene_id":"lab_003","finished_at":"2026-09-03T03:50:27"} +{"episode_id":"ep_000092","started_at":"2026-09-03T03:50:30","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.35803746023198496,1.578702175953961,0.71338606911949],"aabb_xy":[[-0.4220374566593068,1.5315325521318648],[-0.294037463804663,1.6258717997760577]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.3641394235188382,-1.4693454837387459,0.71338606911949],"aabb_xy":[[0.33549009115842193,-1.4979910430158214],[0.3927887558792544,-1.4406999244616698]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.5117179192443012,-1.7667606469780623,0.71338606911949],"aabb_xy":[[-0.5292179194893505,-1.7842604348176294],[-0.49421791899925177,-1.7492608591384957]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.33859340901714,-2.4987573148301165,0.71338606911949],"aabb_xy":[[-0.346296599691217,-2.5064666855288547],[-0.3308902183430629,-2.4910479441313784]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.6197838934133364,0.7438489722433799,0.71338606911949],"aabb_xy":[[0.6117904036180544,0.7358508403029044],[0.6277773832086184,0.7518471041838557]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.42386084368543464,-1.4257769341886288,0.71338606911949],"aabb_xy":[[-0.44635726511929874,-1.4482769339953763],[-0.40136442225157054,-1.4032769343818814]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[0.42848928282159227,-0.5697411789734672,0.71338606911949],"aabb_xy":[[0.35848928018500587,-0.5898460439693325],[0.49848928545817855,-0.5496363139776015]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.6730329319639572,-1.9695316780273717,0.71338606911949],"aabb_xy":[[-0.6882051012455905,-1.9847005349555753],[-0.6578607626823239,-1.9543628210991686]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.00872115374491611,-0.9321456527403558,0.71338606911949],"aabb_xy":[[-0.05869444774817656,-0.9821456532949029],[0.04125214025834434,-0.8821456521858082]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.24974565904464774,1.2092831748591575,0.71338606911949],"aabb_xy":[[-0.33474565746207097,1.1244088793968723],[-0.16474566062722448,1.2941574703214422]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.14889918892544796,1.676587714355756,0.71338606911949],"aabb_xy":[[0.06889919176587267,1.6650401133979387],[0.22889918608502324,1.6881353153135727]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.2750979936592318,-0.4281500669624294,0.71338606911949],"aabb_xy":[[-0.30009799293119405,-0.4444954305585917],[-0.2500979943872695,-0.411804703366267]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.1430149838223227,-0.5966910686556999,0.71338606911949],"aabb_xy":[[-0.1881863016704917,-0.6606910658002383],[-0.09784366597415373,-0.5326910715111615]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.5115450763502514,0.8554287835063259,0.71338606911949],"aabb_xy":[[0.5055080633495868,0.8494020824373778],[0.5175820893509162,0.8614554845752742]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.6074859294607111,1.7891480706510072,0.71338606911949],"aabb_xy":[[0.598704702313475,1.7803683233624772],[0.6162671566079475,1.7979278179395377]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.264887197346905,1.788492775891815,0.71338606911949],"aabb_xy":[[-0.29934954474504677,1.7539988934939919],[-0.2304248499487632,1.8229866582896372]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.22396799876881973,0.7853201076077556,0.71338606911949],"aabb_xy":[[-0.26076263189372606,0.7484142325111733],[-0.1871733656439135,0.8222259827043379]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.3937665073944714,-1.964918991055165,0.71338606911949],"aabb_xy":[[0.3437890905292177,-2.0149189925444135],[0.44374392425972486,-1.9149189895659164]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.5936961814559192,0.8605813132716595,0.71338606911949],"aabb_xy":[[-0.6436954566243553,0.8105813119957125],[-0.543696906287483,0.9105813145476068]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.5983534982922148,-2.1462346894598223,0.71338606911949],"aabb_xy":[[-0.606379768922841,-2.1549861844371754],[-0.590327227661589,-2.13748319448247]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.42688128587857466,-0.27250475961676823,0.71338606911949],"aabb_xy":[[0.3893812860615411,-0.27714297092791007],[0.4643812856956082,-0.2678665483056264]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.3662085685339817,-0.8896391863053039,0.71338606911949],"aabb_xy":[[-0.37867592664371735,-0.9021045109386275],[-0.35374121042424606,-0.8771738616719805]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.050203819460574506,-2.187024047040174,0.71338606911949],"aabb_xy":[[-0.03979618421634367,-2.2484564536172775],[0.14020382313749266,-2.125591640463069]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.48398004960631025,-0.11664723149343414,0.71338606911949],"aabb_xy":[[0.48053937336625313,-0.12050866446779865],[0.4874207258463675,-0.1127857985190697]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.17825784836153546,-1.4446480511557718,0.71338606911949],"aabb_xy":[[0.1651066023902461,-1.4696480509124583],[0.19140909433282485,-1.4196480513990852]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.1310282015809251,0.909050691695088,0.71338606911949],"aabb_xy":[[-0.1685282018730999,0.9050092162944844],[-0.09352820128875025,0.9130921670956916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914848408505282,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4152.png","name":"4152"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1376.png","name":"1376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1753.png","name":"1753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":833.6033465232255,"rotation_z_degrees":87.46237825601371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014413863186975736,0.003936797726240532,-0.010116301836481281]},{"name":"camera_2","offset_m":[0.002542205855000375,-0.01218372742754402,0.0024849200289626117]},{"name":"camera_3","offset_m":[-0.012875387028891804,0.011909880941305292,-0.013523271826259897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006445025940158451,-0.0017862758791509137,0.0018194360738469969],"end_effector_yaw_offset_degrees":-0.15284040879207872},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005691820998742696,0.0018810887931171162,0.0010975530212474732],"end_effector_yaw_offset_degrees":-0.4710494376714307},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-4.455422020455341e-05,-1.5136649406367452e-05,0.0007588966022383276],"end_effector_yaw_offset_degrees":0.3139531852601338}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029260496423769646,-0.0010761827245190933],"position_m":[0.31007395035762303,-0.1173761827245191,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022330651690985084,0.0026749919204577463],"position_m":[0.30806693483090153,0.09377499192045774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001235954156710472,-0.003690539031635287],"position_m":[0.3563359541567105,0.2930094609683647,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00443880401786761,-0.00465811405480053],"position_m":[0.23956119598213238,-0.35645811405480055,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"547acb828b667ecda8cbf39e8d888923ec14ff97e57a4eb9e504f0996565ea39","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0119.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4810/tex_ceiling_textures_1456/tex_floor_textures_1753/tex_table_textures_4152/tex_wall_textures_1376","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6499939519715916004,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6499939519715916004,"visual_seed":6499939519715916004,"scene_id":"lab_003","finished_at":"2026-09-03T03:53:06"} +{"episode_id":"ep_000093","started_at":"2026-09-03T03:53:11","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.35061806977184207,0.8435883120774772,0.71338606911949],"aabb_xy":[[-0.3725078173607828,0.7535883147882281],[-0.3287283221829012,0.9335883093667263]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.4256375191628401,-0.7338013133492474,0.71338606911949],"aabb_xy":[[0.4154845036086906,-0.7698708549219875],[0.43579053471698936,-0.6977317717765069]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.22483013348959535,0.8425387499122947,0.71338606911949],"aabb_xy":[[-0.23798137946088474,0.8175387501556084],[-0.21167888751830602,0.8675387496689815]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.41245520837473854,-2.4806696724281743,0.71338606911949],"aabb_xy":[[-0.42432729138623965,-2.5656696721218246],[-0.4005831253632374,-2.395669672734524]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.04455634314002155,-1.0495638679244113,0.71338606911949],"aabb_xy":[[-0.10855634243418977,-1.1135500082932654],[0.01944365615414667,-0.9855777275555571]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.4232798282578385,1.7223647926045502,0.71338606911949],"aabb_xy":[[0.35927982591503693,1.6774239413604177],[0.48727983060064006,1.7673056438486827]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.3567263853758962,-0.5084204975721058,0.71338606911949],"aabb_xy":[[-0.3792400771993533,-0.5784204981731133],[-0.33421269355243893,-0.4384204969710982]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.4820331803232498,-2.257175228601991,0.71338606911949],"aabb_xy":[[0.45681234346341015,-2.2823989794548774],[0.5072540171830895,-2.2319514777491034]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.6077209122614451,1.1524485881228976,0.71338606911949],"aabb_xy":[[0.6013070986182601,1.146038767875229],[0.61413472590463,1.1588584083705658]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.36417905060616373,-1.6662634879981901,0.71338606911949],"aabb_xy":[[0.2991790496056632,-1.7170498531528648],[0.42917905160666425,-1.615477122843515]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.09230534171871085,0.9276645826808516,0.71338606911949],"aabb_xy":[[0.05480534142653601,0.9236231072802479],[0.12980534201088564,0.9317060580814551]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.2253957030825509,-0.6994524881242652,0.71338606911949],"aabb_xy":[[-0.24128019634787606,-0.7138054284230892],[-0.20951120981722576,-0.6850995478254411]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.142023310988866,0.6284232707539466,0.71338606911949],"aabb_xy":[[-0.19714851661845675,0.5684232693126592],[-0.08689810535927521,0.6884232721952335]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.23916853809824146,-1.3714928783866027,0.71338606911949],"aabb_xy":[[0.2041685367467597,-1.3918526143434233],[0.27416853944972314,-1.3511331424297817]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.22001113418445262,-0.9345264225005179,0.71338606911949],"aabb_xy":[[0.18952688405742246,-0.9845264222820139],[0.25049538431148277,-0.884526422719022]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.5836104706211576,-1.9536092948503574,0.71338606911949],"aabb_xy":[[-0.5891921422552864,-1.966109294668133],[-0.5780287989870287,-1.941109295032582]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.41668541400656944,-0.9913559408594508,0.71338606911949],"aabb_xy":[[0.35268541757924754,-1.0385255646815472],[0.48068541043389135,-0.9441863170373545]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.35043087144619856,-1.1555450029291932,0.71338606911949],"aabb_xy":[[0.3279308709341579,-1.1780368612945913],[0.3729308719582391,-1.1330531445637946]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.4486759719263842,-2.453656793078097,0.71338606911949],"aabb_xy":[[0.3986971634160683,-2.503656793083816],[0.4986547804367001,-2.4036567930723782]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.17980517893174075,-1.3491140810895317,0.71338606911949],"aabb_xy":[[-0.2154343348317005,-1.3847467478463846],[-0.144176023031781,-1.3134814143326787]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.5922753036959194,1.2014350181657623,0.71338606911949],"aabb_xy":[[-0.6030482776172872,1.1664350199467233],[-0.5815023297745516,1.2364350163848012]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.3906873727053327,0.5325770567468271,0.71338606911949],"aabb_xy":[[-0.39946859985256905,0.5237973094582971],[-0.3819061455580966,0.5413568040353574]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[0.4893989036935187,-1.2568843875240816,0.71338606911949],"aabb_xy":[[0.4854384199237843,-1.2645522521096022],[0.493359387463253,-1.249216522938561]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.43434802626766605,-0.2908125226919718,0.71338606911949],"aabb_xy":[[-0.4893480244694109,-0.3313344893184093],[-0.3793480280659212,-0.25029055606553413]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.5277656597902733,-1.4710399413843864,0.71338606911949],"aabb_xy":[[0.4931745769362282,-1.5360399416694173],[0.5623567426443186,-1.4060399410993552]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.035926193126587846,-1.6041588570522456,0.71338606911949],"aabb_xy":[[0.025514634446104134,-1.6095045903881438],[0.04633775180707156,-1.598813123716347]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.5745614089939745,-2.499446539731904,0.71338606911949],"aabb_xy":[[-0.6246588729750481,-2.5634465402417153],[-0.5244639450129008,-2.4354465392220916]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[0.6245783185886433,-0.43251090539106984,0.71338606911949],"aabb_xy":[[0.6199432034364099,-0.4363782404682184],[0.6292134337408766,-0.4286435703139211]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[0.5015058977347127,1.3528669618157316,0.71338606911949],"aabb_xy":[[0.48363678998025716,1.3390340538385206],[0.5193750054891682,1.3666998697929427]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[-0.36777652239047026,1.25893160084784,0.71338606911949],"aabb_xy":[[-0.3902765224006186,1.2448353812082367],[-0.345276522380322,1.2730278204874432]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_30","position":[-0.38062245473302275,-2.3027898527480892,0.71338606911949],"aabb_xy":[[-0.43062245509358876,-2.352769839957692],[-0.33062245437245663,-2.2528098655384863]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[-0.6551555591002615,0.8064724128712792,0.71338606911949],"aabb_xy":[[-0.6921896685283212,0.7720952055375697],[-0.6181214496722017,0.8408496202049885]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_32","position":[-0.569539182092858,0.41988621580134255,0.71338606911949],"aabb_xy":[[-0.6195234178010353,0.369886216987847],[-0.5195549463846808,0.4698862146148382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911994243083324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/184.png","name":"184"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6409.png","name":"6409"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1505.png","name":"1505"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":665.096560600507,"rotation_z_degrees":180.0518071404861,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018865241510475816,-0.01548295303803288,0.01306209238859413]},{"name":"camera_2","offset_m":[0.0006724066423217691,0.0028414499930413083,0.0043770046592312775]},{"name":"camera_3","offset_m":[3.6601534354765985e-05,0.00019815773526320538,0.0019680618542180367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006561762240320183,-0.0013206062545473795,-0.0006188628449723414],"end_effector_yaw_offset_degrees":-0.9761490260456172},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007423427195224837,0.00018772670372348447,-0.0006206748319207422],"end_effector_yaw_offset_degrees":0.21424061698470998},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0003025455907314206,0.0012164759483957533,-0.0014172181900439272],"end_effector_yaw_offset_degrees":-0.07604100876147668}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005532893043440111,-0.002802930993631506],"position_m":[0.312446710695656,-0.1191029309936315,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028442795083171027,0.0013828581160420742],"position_m":[0.31314427950831714,0.09248285811604208,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027015687712878766,0.003927383338555136],"position_m":[0.3523984312287122,0.30062738333855515,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003387828422728452,0.0037553083252527602],"position_m":[0.24061217157727155,-0.3480446916747472,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"700e7fbe3bd0c3f5c51facc49ed4d47e2db0edb85b6eb250bfdf201a1e1d0aef","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0120.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9289/tex_ceiling_textures_1505/tex_floor_textures_6409/tex_table_textures_5531/tex_wall_textures_184","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":1184297081733418552,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":1184297081733418552,"visual_seed":1184297081733418552,"scene_id":"lab_003","finished_at":"2026-09-03T03:55:45"} +{"episode_id":"ep_000094","started_at":"2026-09-03T03:55:49","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.27235386152211627,-1.524231782704483,0.71338606911949],"aabb_xy":[[-0.36235386094048716,-1.5576072795486726],[-0.18235386210374538,-1.4908562858602932]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.30345417841228045,0.27525591460189514,0.71338606911949],"aabb_xy":[[-0.30995581492028507,0.26548809257558537],[-0.29695254190427584,0.2850237366282049]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[-0.29727519269010916,1.3139452758959376,0.71338606911949],"aabb_xy":[[-0.3347751933546878,1.298258217895715],[-0.2597751920255304,1.3296323338961593]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.3698024188397202,1.3692984735346827,0.71338606911949],"aabb_xy":[[0.3058067214446236,1.305298475233974],[0.4337981162348168,1.4332984718353914]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.07444510183461661,1.01114051037843,0.71338606911949],"aabb_xy":[[0.019471379798283728,0.9561405108141967],[0.1294188238709495,1.066140509942663]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.5022574895068008,-2.2731618010538064,0.71338606911949],"aabb_xy":[[0.43825749033703093,-2.319928488172769],[0.5662574886765708,-2.226395113934844]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.611326109405615,1.2016710175729517,0.71338606911949],"aabb_xy":[[-0.6185698754518604,1.1216710193693493],[-0.6040823433593697,1.281671015776554]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.36314624415504415,0.790530624533488,0.71338606911949],"aabb_xy":[[0.3281462458443487,0.7828156096099425],[0.3981462424657396,0.7982456394570338]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.5941769104485215,-2.4404507530254738,0.71338606911949],"aabb_xy":[[-0.6118525410371197,-2.4581309693048765],[-0.576501279859923,-2.422770536746071]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.13379395960652285,1.211202557082891,0.71338606911949],"aabb_xy":[[-0.21379396007673884,1.202891849468543],[-0.053793959136306926,1.2195132646972395]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.10385214623267458,0.7188249220942584,0.71338606911949],"aabb_xy":[[-0.11187841686330058,0.7100734271169059],[-0.09582587560204858,0.7275764170716111]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.6271309757448904,-1.072382231214231,0.71338606911949],"aabb_xy":[[0.6210939627442257,-1.0784089322831791],[0.6331679887455551,-1.066355530145283]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.4825263591289788,-0.9086045018889011,0.71338606911949],"aabb_xy":[[0.475244042752315,-0.9986045054984098],[0.48980867550564233,-0.8186044982793919]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.17167465050390918,-1.4286785756616192,0.71338606911949],"aabb_xy":[[-0.20000436045244943,-1.4331393178553362],[-0.14334494055536898,-1.424217833467902]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.25498124546371265,-0.9313769448919753,0.71338606911949],"aabb_xy":[[-0.2662263010343304,-0.9426187426160706],[-0.24373618989309476,-0.92013514716788]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.512546794612383,-0.9385925954708896,0.71338606911949],"aabb_xy":[[-0.5625200886156434,-0.9885925960254368],[-0.4625735006091225,-0.8885925949163421]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.33565063956218466,0.6424831591461695,0.71338606911949],"aabb_xy":[[-0.38565064092307183,0.5925052545707539],[-0.2856506382012974,0.6924610637215851]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.46731844928054866,0.270402413391746,0.71338606911949],"aabb_xy":[[0.4586044802306142,0.24790241273255767],[0.47603241833048315,0.2929024140509341]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.46900481796200844,-0.027583133296321893,0.71338606911949],"aabb_xy":[[-0.47835182554430367,-0.04188675551396592],[-0.4596578103797132,-0.013279511078677864]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.5473921509108954,0.9762990523697228,0.71338606911949],"aabb_xy":[[0.4973921514706998,0.9263311278854064],[0.5973921503510911,1.0262669768540391]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.06214692654507048,-1.0292782827859146,0.71338606911949],"aabb_xy":[[-0.09964692671694242,-1.0619790181688218],[-0.02464692637319854,-0.9965775474030074]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.15498402556980595,-0.37045604171948376,0.71338606911949],"aabb_xy":[[-0.1894465035828937,-0.37711971890240653],[-0.12052154755671815,-0.3637923645365609]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.6813750537467482,0.12738718337263943,0.71338606911949],"aabb_xy":[[0.6653131262882306,0.04238718156004761],[0.6974369812052659,0.21238718518523123]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.4732515066876446,-0.5053236884238452,0.71338606911949],"aabb_xy":[[0.4357515055028517,-0.5097419111199056],[0.5107515078724372,-0.5009054657277846]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854884057049787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1468.png","name":"1468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1468.png","name":"1468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6920.png","name":"6920"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4747.png","name":"4747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9567.png","name":"9567"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.039631578201,"rotation_z_degrees":43.67239004327653,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013812431097964355,0.01117635707398085,-0.004380746666002659]},{"name":"camera_2","offset_m":[-0.010044864447481162,0.010403582828720965,0.003549609713479382]},{"name":"camera_3","offset_m":[0.016893327738890105,-0.01216024115472925,-0.001491698128991109]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001099390871863025,0.0007528735653481726,-7.908579114479942e-05],"end_effector_yaw_offset_degrees":-0.3213485153925677},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008147717849437057,-0.0004778942638101254,0.001799978771485601],"end_effector_yaw_offset_degrees":-0.5413573403582903},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0018813648424664212,0.0019732597457123024,0.000926231912736795],"end_effector_yaw_offset_degrees":0.6476088259289856}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007273469440700333,-0.0032982162252120388],"position_m":[0.31227265305593,-0.11959821622521204,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00057579012836709,0.0015009955078693956],"position_m":[0.3097242098716329,0.09260099550786939,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004838686427104764,-0.004860585370282959],"position_m":[0.35026131357289525,0.2918394146297171,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034883671639561985,-0.003065486609841561],"position_m":[0.2405116328360438,-0.3548654866098416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b2280cb9ad0e3f4869eff345f4d91ba07386a48ba0258c4c75f96e84a4784ded","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0121.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1468/tex_ceiling_textures_9567/tex_floor_textures_4747/tex_table_textures_7723/tex_wall_textures_6920","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":6877189915267879834,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":6877189915267879834,"visual_seed":6877189915267879834,"scene_id":"lab_003","finished_at":"2026-09-03T03:58:25"} +{"episode_id":"ep_000095","started_at":"2026-09-03T03:58:28","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.25588037345297887,-2.102242810264684,0.71338606911949],"aabb_xy":[[0.25144974409813875,-2.1076911819993667],[0.2603110028078191,-2.0967944385300017]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.4204357357647701,-2.2732672828767653,0.71338606911949],"aabb_xy":[[0.4005446958844299,-2.2859230941614626],[0.4403267756451104,-2.260611471592069]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.3593624186879443,0.5040521948299244,0.71338606911949],"aabb_xy":[[0.3218624178959488,0.49768435387173426],[0.3968624194799397,0.5104200357881145]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.26313304151280953,1.6375380445277359,0.71338606911949],"aabb_xy":[[-0.27449477616609563,1.6261695781214478],[-0.2517713068595233,1.648906510934024]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.3705899829541927,-0.8086517486894078,0.71338606911949],"aabb_xy":[[-0.42058481588213426,-0.8586517475846513],[-0.32059515002625105,-0.7586517497941643]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.41682187391579234,1.5764404445836946,0.71338606911949],"aabb_xy":[[-0.48082187320996056,1.5124543042148404],[-0.3528218746216241,1.6404265849525488]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.526652887525634,-0.5392073761213694,0.71338606911949],"aabb_xy":[[-0.5766358377131132,-0.5892073757639297],[-0.4766699373381546,-0.4892073764788089]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[0.07306051224908106,-1.8318624883193095,0.71338606911949],"aabb_xy":[[0.03846942939503583,-1.8968624886043404],[0.10765159510312626,-1.7668624880342783]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.05146434487513163,-2.230023588764467,0.71338606911949],"aabb_xy":[[-0.13146434227872503,-2.3100161599626494],[0.028535652528461793,-2.150031017566284]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.15124053634491974,0.4794608860686793,0.71338606911949],"aabb_xy":[[-0.18238745518850286,0.40946088738187214],[-0.12009361750133662,0.5494608847554865]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.26745726591886554,-1.2359513460323628,0.71338606911949],"aabb_xy":[[-0.28455934387723375,-1.2530581515636325],[-0.25035518796049744,-1.218844540501093]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.5352293653033943,-1.070542561617617,0.71338606911949],"aabb_xy":[[-0.6152293667335215,-1.1500597166302262],[-0.45522936387326707,-0.9910254066050073]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.009303830515312028,-1.452529605251449,0.71338606911949],"aabb_xy":[[-0.028196170669480766,-1.4569478279475094],[0.04680383170010482,-1.4481113825553884]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.6152848775780242,-2.436458547950744,0.71338606911949],"aabb_xy":[[0.5552848770701712,-2.4933052816366654],[0.675284878085877,-2.3796118142648224]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.16751140092927597,-1.7861550967911857,0.71338606911949],"aabb_xy":[[-0.19251140048101445,-1.7962975806563206],[-0.14251140137753748,-1.7760126129260512]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.13861219195997843,-2.572293517099381,0.71338606911949],"aabb_xy":[[0.12983096481274223,-2.5810732643879115],[0.14739341910721468,-2.563513769810851]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.03843702442749353,1.6800747390340454,0.71338606911949],"aabb_xy":[[-0.088410089960009,1.6300747392215131],[0.011536041105021934,1.730074738846579]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.5292676627633075,-0.5830531232573883,0.71338606911949],"aabb_xy":[[0.46926766112038576,-0.6350532725493324],[0.5892676644062295,-0.531052973965444]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.46970083144286345,1.632887087373883,0.71338606911949],"aabb_xy":[[0.46578695824744093,1.624138071967326],[0.473614704638286,1.6416361027804396]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.30352017411865806,0.43139483857393035,0.71338606911949],"aabb_xy":[[-0.36752017051423114,0.3674315501551968],[-0.23952017772308498,0.4953581269926639]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[0.6303195182898222,0.7001787392376722,0.71338606911949],"aabb_xy":[[0.6202378112112485,0.6201787413455574],[0.6404012253683955,0.7801787371297867]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.47551556849464105,-2.33850566138593,0.71338606911949],"aabb_xy":[[-0.4980155680183484,-2.3610016088365504],[-0.4530155689709336,-2.316009713935309]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.403098390421849,-1.8520235171383093,0.71338606911949],"aabb_xy":[[-0.4405983910864277,-1.8677105751385312],[-0.36559838975727027,-1.8363364591380869]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.40074688446294154,-2.100383921778252,0.71338606911949],"aabb_xy":[[-0.4657468823445894,-2.151507585484793],[-0.33574688658129376,-2.0492602580717114]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.09152803202781412,0.7474133110982066,0.71338606911949],"aabb_xy":[[0.0868929168755807,0.7435459760210579],[0.09616314718004748,0.7512806461753552]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.10117069603510698,1.2791059425260989,0.71338606911949],"aabb_xy":[[-0.15116997120354317,1.229105941250152],[-0.05117142086667084,1.3291059438020463]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.5464291298616881,-1.4685036490870693,0.71338606911949],"aabb_xy":[[-0.5742741666422952,-1.4992881478253812],[-0.518584093081081,-1.4377191503487579]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[0.4564771819438107,-1.6508961914254987,0.71338606911949],"aabb_xy":[[0.40649976507855706,-1.7008961929147473],[0.5064545988090642,-1.6008961899362502]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[-0.2758385271894485,1.4883277698475852,0.71338606911949],"aabb_xy":[[-0.31175203161443815,1.4524142616308306],[-0.23992502276445876,1.5242412780643397]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_29","position":[-0.5948216564449915,-1.2236969561354898,0.71338606911949],"aabb_xy":[[-0.6123216566900408,-1.2411967439750564],[-0.577321656199942,-1.2061971682959227]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_30","position":[0.16148387507631512,1.8146821436933602,0.71338606911949],"aabb_xy":[[0.0714838764818452,1.7984315573799392],[0.25148387367078506,1.8309327300067813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897136191558383,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/485.png","name":"485"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/485.png","name":"485"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6382.png","name":"6382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/457.png","name":"457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6589.png","name":"6589"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":622.0595844080606,"rotation_z_degrees":323.2923675548568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013236056976237896,-0.001289276508703932,-0.001127355740533624]},{"name":"camera_2","offset_m":[0.006103581188033148,-0.012746558972662084,-0.01099591056385147]},{"name":"camera_3","offset_m":[0.01870914123046021,0.006908640200792942,0.013985487700641345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001826417861780688,-0.0018083536491920547,-0.0011698180368154283],"end_effector_yaw_offset_degrees":0.23962963164477613},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009223261100682195,0.0012685457684286465,0.0002244949961559624],"end_effector_yaw_offset_degrees":-0.186093568651585},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0016457324252642644,0.0019693588242420713,-0.000803580642471604],"end_effector_yaw_offset_degrees":-0.02680709073488674}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014502857547915803,0.002461754728583153],"position_m":[0.31154971424520844,-0.11383824527141685,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004375802007756703,0.003543453760163142],"position_m":[0.3059241979922433,0.09464345376016314,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004728967280941584,0.004704454015555737],"position_m":[0.35037103271905845,0.30140445401555577,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038010443264238367,-0.0011912293623399118],"position_m":[0.24780104432642383,-0.3529912293623399,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9bd267353a434d41f6f8eb0c0603a6ad0e77e12dfae59888e6eed08c8596b95c","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0122.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_485/tex_ceiling_textures_6589/tex_floor_textures_6838/tex_table_textures_6382/tex_wall_textures_457","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8947986281712897611,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8947986281712897611,"visual_seed":8947986281712897611,"scene_id":"lab_003","finished_at":"2026-09-03T04:01:16"} +{"episode_id":"ep_000096","started_at":"2026-09-03T04:04:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.45725869249588214,-1.0064966894380827,0.71338606911949],"aabb_xy":[[0.4485447234459476,-1.0289966900972707],[0.46597266154581657,-0.9839966887788943]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.2590394693047301,-0.7273147773414381,0.71338606911949],"aabb_xy":[[0.22403947017477438,-0.7330599984171021],[0.2940394684346857,-0.7215695562657739]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.5538533607048581,0.3455370104920368,0.71338606911949],"aabb_xy":[[-0.5763497821387222,0.32303701068528934],[-0.531356939270994,0.3680370102987842]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.3348705608679976,-1.863509453623141,0.71338606911949],"aabb_xy":[[0.2548705603977817,-1.8718201612374892],[0.41487056133821365,-1.8551987460087926]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.4824775131472834,0.38395808147299304,0.71338606911949],"aabb_xy":[[0.4599775126352427,0.36146622310759463],[0.504977513659324,0.40644993983839134]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.5192598027786097,-0.21043765545904414,0.71338606911949],"aabb_xy":[[0.46944302331377497,-0.2604376539433475],[0.5690765822434445,-0.16043765697474074]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.3859377368975714,1.785741685952694,0.71338606911949],"aabb_xy":[[-0.39203236478568965,1.7771722914010255],[-0.379843109009453,1.794311080504363]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.41074302990222356,-2.466750582565337,0.71338606911949],"aabb_xy":[[-0.5007430293205944,-2.500126079409527],[-0.32074303048385266,-2.4333750857211474]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.15739293403952592,-1.8587393188978922,0.71338606911949],"aabb_xy":[[-0.22138863143462248,-1.9227393171986007],[-0.09339723664442931,-1.7947393205971833]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.5406423534004582,0.9085678653058635,0.71338606911949],"aabb_xy":[[-0.5816602967868291,0.8585678646749061],[-0.4996244100140873,0.9585678659368208]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.680354957525896,-0.126803149603127,0.71338606911949],"aabb_xy":[[0.6453549561744143,-0.1471628855599478],[0.7153549588773778,-0.10644341364630615]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.40295071412638905,-1.7304651325456133,0.71338606911949],"aabb_xy":[[0.3793655906624942,-1.795465134791045],[0.4265358375902839,-1.6654651303001815]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.40971523649246644,-1.149410050657599,0.71338606911949],"aabb_xy":[[-0.4297736481057067,-1.1694751375667563],[-0.3896568248792261,-1.1293449637484414]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.6579029982228752,-0.777804847346764,0.71338606911949],"aabb_xy":[[0.6461348114282178,-0.8628048472519857],[0.6696711850175329,-0.6928048474415425]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.11394554818830094,-0.9146486892853665,0.71338606911949],"aabb_xy":[[-0.11927806284291394,-0.9199730175306021],[-0.10861303353368797,-0.909324361040131]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.253571702905099,1.4605744430757217,0.71338606911949],"aabb_xy":[[0.18957169961539086,1.4172395240718039],[0.31757170619480707,1.503909362079639]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.17617762636054246,-2.1879741814338054,0.71338606911949],"aabb_xy":[[0.1681342664345873,-2.272974182529172],[0.18422098628649763,-2.102974180338439]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.4047968861633134,-2.3421134249661253,0.71338606911949],"aabb_xy":[[-0.4433425789885144,-2.380659196022314],[-0.36625119333811235,-2.3035676539099366]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.4774361942672637,-2.1629301085822874,0.71338606911949],"aabb_xy":[[-0.484679960313509,-2.2429301067858898],[-0.47019242822101837,-2.082930110378685]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.11727762354691429,0.534522256012278,0.71338606911949],"aabb_xy":[[-0.1546089000721569,0.4998692012174258],[-0.07994634702167167,0.5691753108071304]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.22200080555729318,0.14410911300539464,0.71338606911949],"aabb_xy":[[-0.2274587511943132,0.06410910969773553],[-0.21654285992027306,0.22410911631305375]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.30724184239025143,-1.934338455110012,0.71338606911949],"aabb_xy":[[0.2722418431974331,-1.9453055011076745],[0.34224184158306964,-1.923371409112349]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.011793895759610762,-1.0334350690812113,0.71338606911949],"aabb_xy":[[-0.057878987014342236,-1.0974350663337664],[0.03429119549512071,-0.9694350718286563]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.22814353949111654,-1.6458410508064905,0.71338606911949],"aabb_xy":[[0.20359732386836582,-1.6760899473555273],[0.25268975511386726,-1.6155921542574532]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.5763417031912039,0.16856629001179746,0.71338606911949],"aabb_xy":[[0.5541691762145531,0.14639062285567425],[0.5985142301678548,0.19074195716792058]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.46941046101651973,-1.3306638018640236,0.71338606911949],"aabb_xy":[[0.4519104618821526,-1.3405434289016112],[0.48691046015088696,-1.3207841748264355]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[0.2420426784040609,0.7946227286694119,0.71338606911949],"aabb_xy":[[0.17804267813008265,0.7445566284721239],[0.30604267867803914,0.8446888288666998]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[0.20101518569187637,1.0495637073748947,0.71338606911949],"aabb_xy":[[0.11729296019179392,0.9595637038401987],[0.28473741119195883,1.1395637109095906]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[0.2740546722994739,-1.0644561841097164,0.71338606911949],"aabb_xy":[[0.2561855645450184,-1.078289092086927],[0.2919237800539294,-1.0506232761325054]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.4182804172200555,-0.639079814673807,0.71338606911949],"aabb_xy":[[-0.48228041926978754,-0.6791742977631151],[-0.35428041517032355,-0.5989853315844992]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[-0.21753426348678884,-0.9279144639185246,0.71338606911949],"aabb_xy":[[-0.2257488086024728,-0.9365910542161658],[-0.20931971837110483,-0.9192378736208832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972881544900668,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9181.png","name":"9181"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9029.png","name":"9029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5015.png","name":"5015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9042.png","name":"9042"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":829.9458304659228,"rotation_z_degrees":262.38431364025985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0040117145606302675,-0.004293066229476755,-0.01533599655762874]},{"name":"camera_2","offset_m":[0.004694135474858224,-0.01552890822735804,0.0030582634164930365]},{"name":"camera_3","offset_m":[0.0026990022358640113,0.0030780583230960237,0.017991676142330593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014534404151845103,-0.0010490641523732708,0.0007753692347356286],"end_effector_yaw_offset_degrees":0.7222246930469822},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019432256054702055,-0.0005840642221406065,-0.0013515707778835443],"end_effector_yaw_offset_degrees":-0.03656320891416187},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[-0.0005047448101322435,0.00085942622264997,0.0006402105313856499],"end_effector_yaw_offset_degrees":0.14539251223171545}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037641165496578224,0.0038108207532103608],"position_m":[0.31262358834503423,-0.11248917924678964,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017792878351013453,0.00123469565566974],"position_m":[0.3085207121648987,0.09233469565566974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004574070901185658,0.002835175422774095],"position_m":[0.3596740709011857,0.29953517542277414,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00388682348942014,-0.0015635350567944585],"position_m":[0.24788682348942012,-0.35336353505679446,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8571a61d448474c5aee5ca62bc3a6dbd6369b2aacc486e397706a00bcd406992","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2158/tex_ceiling_textures_9042/tex_floor_textures_5015/tex_table_textures_9181/tex_wall_textures_9029","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8665866385052139880,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8665866385052139880,"visual_seed":8665866385052139880,"scene_id":"lab_003","finished_at":"2026-09-03T04:06:51"} +{"episode_id":"ep_000097","started_at":"2026-09-03T04:06:54","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.6651639421746096,0.9471387391862027,0.71338606911949],"aabb_xy":[[-0.6901639417263481,0.936996255321068],[-0.6401639426228711,0.9572812230513374]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.628401627956261,1.5971313696303135,0.71338606911949],"aabb_xy":[[-0.6697061710199969,1.5331313700621965],[-0.5870970848925249,1.6611313691984306]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.5955004855642021,-2.1989253561321513,0.71338606911949],"aabb_xy":[[-0.613000484698569,-2.208804983169739],[-0.5780004864298347,-2.1890457290945635]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.5797968068360924,1.6445351212891866,0.71338606911949],"aabb_xy":[[0.5246716012065016,1.5845351198478994],[0.6349220124656831,1.7045351227304737]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[0.006100868964030615,1.6912715322300316,0.71338606911949],"aabb_xy":[[-0.04388336674414661,1.6412715334165362],[0.05608510467220784,1.7412715310435274]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.2938283962530208,0.8805201178333837,0.71338606911949],"aabb_xy":[[-0.3112591113320272,0.8632480031695328],[-0.2763976811740142,0.8977922324972344]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.4540047276200678,1.6282393018867505,0.71338606911949],"aabb_xy":[[0.4500442438503335,1.6205714373012297],[0.4579652113898022,1.6359071664722709]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.6018198790541247,-0.16061883865014837,0.71338606911949],"aabb_xy":[[0.5969205867475612,-0.1882957579527171],[0.6067191713606882,-0.13294191934757957]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.7109094753915881,-1.284836079828695,0.71338606911949],"aabb_xy":[[0.6977582294202987,-1.3098360795853816],[0.7240607213628775,-1.2598360800720085]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.14102692982093046,-1.1834193108655922,0.71338606911949],"aabb_xy":[[0.1354452581868017,-1.1959193106833677],[0.14660860145505922,-1.1709193110478167]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.37537400801754595,1.6999135845617448,0.71338606911949],"aabb_xy":[[-0.455374008487762,1.6916028769473967],[-0.29537400754733006,1.7082242921760933]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.45895202171837024,-2.4879734807622595,0.71338606911949],"aabb_xy":[[0.408952023072449,-2.537893024421722],[0.5089520203642914,-2.438053937102797]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.120900932135651,0.9395726464717558,0.71338606911949],"aabb_xy":[[0.11605733737442102,0.9347209939927718],[0.12574452689688098,0.94442429895074]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.4018998067787376,-2.3302523726824553,0.71338606911949],"aabb_xy":[[0.3953981702707331,-2.3400201947087655],[0.4084014432867423,-2.320484550656146]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.5136511688967802,-2.3677495898346113,0.71338606911949],"aabb_xy":[[0.5030836892386811,-2.37829461994762],[0.5242186485548791,-2.3572045597216027]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.5459499463513058,-1.6368912799968238,0.71338606911949],"aabb_xy":[[-0.5764341964783359,-1.68689127977832],[-0.5154656962242756,-1.586891280215328]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.40280244591232967,-0.21211050308110302,0.71338606911949],"aabb_xy":[[-0.46680244230790274,-0.2760737914998366],[-0.3388024495167566,-0.14814721466236946]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.07100976790100044,-1.6389905847304844,0.71338606911949],"aabb_xy":[[-0.12110723188207408,-1.7029905852402962],[-0.020912303919926836,-1.5749905842206726]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.45657843407029153,-0.7925402093689347,0.71338606911949],"aabb_xy":[[-0.49407843441851923,-0.8043316049500181],[-0.4190784337220637,-0.780748813787851]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.3557841682385343,0.7817129466445563,0.71338606911949],"aabb_xy":[[0.32148725722079363,0.7474160604346147],[0.3900810792562749,0.8160098328544974]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.4965866163110126,0.4398746680609187,0.71338606911949],"aabb_xy":[[-0.5048011614266963,0.4311980777632773],[-0.4883720711953285,0.44855125835855986]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908514609169258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8786.png","name":"8786"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2842.png","name":"2842"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7394.png","name":"7394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1703.png","name":"1703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4508.png","name":"4508"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":791.3516128113474,"rotation_z_degrees":67.65692696791689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019983437603890025,0.01030848605359834,0.015521218269403069]},{"name":"camera_2","offset_m":[0.019214024853415706,0.009300870367317474,-0.010376669930238544]},{"name":"camera_3","offset_m":[0.006278110037247837,-0.002383421192200613,-0.010484142649365476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001601929774277731,0.0005408819617514615,-0.0012521577221116832],"end_effector_yaw_offset_degrees":0.796997477990744},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013194669561822489,0.0009392598543433127,-0.0009180932231757054],"end_effector_yaw_offset_degrees":0.525034834317089},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010777558292101239,-0.0011008545220326377,0.0016148031042526757],"end_effector_yaw_offset_degrees":-0.004213498562912754}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036394775655216307,-0.0001354872617487634],"position_m":[0.30936052243447837,-0.11643548726174877,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008915536170853904,-0.001228674802956168],"position_m":[0.30940844638291465,0.08987132519704383,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026039443403028553,0.0029237446896581863],"position_m":[0.35249605565969716,0.2996237446896582,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003947544530839503,-0.0022139170479753122],"position_m":[0.2400524554691605,-0.3540139170479753,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c06141285bbcb86c6557e7b016ee435963313bfcd981e5c0c60e1126ae082cab","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0125.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8786/tex_ceiling_textures_4508/tex_floor_textures_1703/tex_table_textures_2842/tex_wall_textures_7394","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8933540261429123731,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8933540261429123731,"visual_seed":8933540261429123731,"scene_id":"lab_003","finished_at":"2026-09-03T04:09:25"} +{"episode_id":"ep_000098","started_at":"2026-09-03T04:09:28","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.5813041210924077,-2.4903774318268894,0.71338606911949],"aabb_xy":[[0.5438041208002328,-2.494418907227493],[0.6188041213845824,-2.4863359564262857]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.5944549275263994,-1.0716455087768275,0.71338606911949],"aabb_xy":[[-0.6444549284769322,-1.103194655780349],[-0.5444549265758666,-1.040096361773306]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.48669577245471274,-0.7263549824676587,0.71338606911949],"aabb_xy":[[-0.5366957718949084,-0.776322906951975],[-0.43669577301451706,-0.6763870579833424]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.3774052845715477,0.8694059150320688,0.71338606911949],"aabb_xy":[[-0.42239787128999806,0.82440591575762],[-0.33241269785309724,0.9144059143065175]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.010534090795711437,-1.3534103356362561,0.71338606911949],"aabb_xy":[[-0.04443963124062145,-1.4084103352004893],[0.06550781283204432,-1.298410336072023]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.34315094327860507,-1.600150550469218,0.71338606911949],"aabb_xy":[[0.33511460857732017,-1.6081886697736345],[0.35118727797988986,-1.592112431164801]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.3103744552666738,-2.0500199674487094,0.71338606911949],"aabb_xy":[[-0.34537445661815547,-2.07037970340553],[-0.275374453915192,-2.029660231491888]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.3523401515719717,-1.6421739835419618,0.71338606911949],"aabb_xy":[[-0.3697708666509781,-1.6594460982058126],[-0.33490943649296506,-1.624901868878111]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.39319533193850303,0.10637664076468933,0.71338606911949],"aabb_xy":[[-0.4276576793366448,0.07188275836686661],[-0.3587329845403612,0.14087052316251197]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.4020113705194234,0.2121082702541166,0.71338606911949],"aabb_xy":[[-0.42451137103146397,0.18961641188871822],[-0.3795113700073828,0.23460012861951493]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.3188986493876978,0.39107417788716736,0.71338606911949],"aabb_xy":[[-0.3340615223646349,0.3759087205920487],[-0.3037357764107607,0.40623963518228623]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.6485889779772509,1.4340630208581149,0.71338606911949],"aabb_xy":[[0.6405949893995475,1.4260629407630243],[0.6565829665549543,1.442063100953205]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.35057202690900624,1.6709222596126243,0.71338606911949],"aabb_xy":[[0.33796932777192984,1.658326863387759],[0.36317472604608275,1.68351765583749]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.6106173648425235,-1.5657046586131267,0.71338606911949],"aabb_xy":[[0.5997768866160086,-1.5828909399037758],[0.6214578430690384,-1.548518377322478]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.42583585759020326,-2.28380714096322,0.71338606911949],"aabb_xy":[[0.4197988445895386,-2.289833842032168],[0.43187287059086804,-2.277780439894272]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.5721765903199572,-0.9080367607252515,0.71338606911949],"aabb_xy":[[0.5521181787067169,-0.9281018476344091],[0.5922350019331974,-0.887971673816094]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.010058198675928054,0.8790237959577949,0.71338606911949],"aabb_xy":[[-0.014194055008628248,0.841523796513438],[-0.00592234234322786,0.916523795402152]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.5383476845513073,0.15568053200717724,0.71338606911949],"aabb_xy":[[-0.5666773944998476,0.1512197898134602],[-0.5100179746027671,0.16014127420089433]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.13335146786130248,0.9642175363918271,0.71338606911949],"aabb_xy":[[-0.19735146644787493,0.9172105729923182],[-0.06935146927473002,1.0112244997913358]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.24457628643336893,-1.049761786428071,0.71338606911949],"aabb_xy":[[-0.25198874197475735,-1.055612996849699],[-0.2371638308919804,-1.043910576006443]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.35033020835742346,1.2796253165018894,0.71338606911949],"aabb_xy":[[-0.415330209357924,1.2288389513472144],[-0.28533020735692294,1.3304116816565643]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.5124143337953364,1.7779373137646952,0.71338606911949],"aabb_xy":[[-0.5474143320654563,1.770863186069707],[-0.4774143355252165,1.7850114414596834]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.07957222321344615,0.46819456225924405,0.71338606911949],"aabb_xy":[[-0.08972523876759551,0.4321250206865036],[-0.06941920765929675,0.5042641038319843]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.5884688127738352,1.259974910702876,0.71338606911949],"aabb_xy":[[-0.594435351714571,1.2540137660435118],[-0.5825022738330993,1.26593605536224]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.09282616991587034,1.3419969394294196,0.71338606911949],"aabb_xy":[[0.028826168237872984,1.2934795479501051],[0.1568261715938677,1.3905143309087336]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_25","position":[0.7073292131267113,-1.7173979628689,0.71338606911949],"aabb_xy":[[0.7023731929418302,-1.7398979630710218],[0.7122852333115925,-1.6948979626667786]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[-0.511723464551883,-1.4943800231351207,0.71338606911949],"aabb_xy":[[-0.5170559792064959,-1.4997043513803563],[-0.5063909498972701,-1.4890556948898852]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[0.20134309979056786,-2.440932212047324,0.71338606911949],"aabb_xy":[[0.13734310267846214,-2.4899645818417344],[0.26534309690267355,-2.391899842252913]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.5436976665469608,-1.498478332237714,0.71338606911949],"aabb_xy":[[0.5397837933515384,-1.5072273476442708],[0.5476115397423833,-1.4897293168311572]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_29","position":[-0.1830707753553179,-1.4884231004394033,0.71338606911949],"aabb_xy":[[-0.20758439945232376,-1.5126876937414397],[-0.15855715125831205,-1.4641585071373668]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[0.3974421201134295,-1.410501842491513,0.71338606911949],"aabb_xy":[[0.3818863507031643,-1.42605227573592],[0.4129978895236948,-1.3949514092471056]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[-0.2567022184272614,-0.6848508111320644,0.71338606911949],"aabb_xy":[[-0.32070222171696944,-0.7281857301359819],[-0.19270221513755323,-0.6415158921281466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947186333725649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5743.png","name":"5743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5743.png","name":"5743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7078.png","name":"7078"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9510.png","name":"9510"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2200.png","name":"2200"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":803.3189170307373,"rotation_z_degrees":13.747277913436434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015349456657500475,-0.001270357566401703,0.016973244444204335]},{"name":"camera_2","offset_m":[-0.01284858620585997,-0.0005942315606921322,-0.016843075206740537]},{"name":"camera_3","offset_m":[-0.007965742487397795,-0.0031252260072152684,-0.0034397679905894124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019671741128695647,-0.00045839492653325874,-0.0007109474970855834],"end_effector_yaw_offset_degrees":-0.367038285948033},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015049870861346048,-0.0018372529757410493,-0.001590466498706769],"end_effector_yaw_offset_degrees":0.5923186810492531},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.0010806703662800828,0.001747727081002974,0.00014661367847518259],"end_effector_yaw_offset_degrees":-0.24385420752223097}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00473132431697064,0.0029544906137329496],"position_m":[0.31773132431697065,-0.11334550938626706,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002369859157958283,-0.0031764877239364143],"position_m":[0.3126698591579583,0.08792351227606358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002110230854100544,0.002032811067881433],"position_m":[0.3572102308541006,0.29873281106788147,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025925546766116304,-0.0015812385233610138],"position_m":[0.24140744532338837,-0.353381238523361,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f4c44400e18082ea58543c310ccd8c49df98c70a248ed3033ce3d37b9ee710f","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0126.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5743/tex_ceiling_textures_2200/tex_floor_textures_9510/tex_table_textures_9497/tex_wall_textures_7078","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":2069244064609335420,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":2069244064609335420,"visual_seed":2069244064609335420,"scene_id":"lab_003","finished_at":"2026-09-03T04:12:11"} +{"episode_id":"ep_000099","started_at":"2026-09-03T04:12:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[0.10426810586925706,-1.1019203327365026,0.71338606911949],"aabb_xy":[[0.09546605056028434,-1.1097316588914314],[0.11307016117822977,-1.0941090065815733]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.36962763756922135,-1.9929581887467223,0.71338606911949],"aabb_xy":[[0.3614130924535373,-2.001634779044363],[0.37784218268490527,-1.9842815984490807]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.6071141397030235,1.6078122431202924,0.71338606911949],"aabb_xy":[[0.5726517923048816,1.5733183607224692],[0.6415764871011652,1.6423061255181146]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.3284610921130784,1.5324948698878846,0.71338606911949],"aabb_xy":[[0.2950209169170587,1.4990512440569546],[0.3619012673090979,1.5659384957188147]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.6299533287508432,1.7949003383357574,0.71338606911949],"aabb_xy":[[0.609894917137603,1.7748352514265997],[0.6500117403640836,1.8149654252449146]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.5741634824371291,-0.465259455898424,0.71338606911949],"aabb_xy":[[0.5373129345001415,-0.5027594567214578],[0.6110140303741167,-0.42775945507539037]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.18108016014222994,1.6975732579232035,0.71338606911949],"aabb_xy":[[-0.18519611025430255,1.6934577028903577],[-0.17696421003015722,1.7016888129560488]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.01116112310834716,-0.702285045531178,0.71338606911949],"aabb_xy":[[-0.04493668229904013,-0.716323540744343],[0.022614436082345816,-0.688246550318013]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.36426397310965153,-1.1904329869281765,0.71338606911949],"aabb_xy":[[0.3142639721591187,-1.2219821339316976],[0.41426397406018434,-1.1588838399246548]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.39131591336755145,-1.787214070314323,0.71338606911949],"aabb_xy":[[0.32631591481047856,-1.8169666037282055],[0.45631591192462423,-1.7574615369004403]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.33007839602350403,-0.9324737010083659,0.71338606911949],"aabb_xy":[[-0.3940783974314947,-0.9842626525322905],[-0.26607839461551336,-0.8806847494844411]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.09893752506250464,0.2210722012272024,0.71338606911949],"aabb_xy":[[-0.11714334872375232,0.21004680064521078],[-0.08073170140125696,0.23209760180919406]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.4460307468163295,-1.1971428577857957,0.71338606911949],"aabb_xy":[[-0.5100307461104977,-1.26112899815465],[-0.38203074752216126,-1.1331567174169417]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.41579499592844676,1.2921369060207102,0.71338606911949],"aabb_xy":[[-0.4807949940843658,1.265840661470798],[-0.3507949977725277,1.3184331505706224]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.6355747408138833,-0.640031440994709,0.71338606911949],"aabb_xy":[[-0.6442887098638177,-0.662531441653897],[-0.6268607717639487,-0.6175314403355205]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.23665557831460193,-1.9184733787427954,0.71338606911949],"aabb_xy":[[-0.3266555780377761,-1.9415467312779753],[-0.14665557859142775,-1.8954000262076156]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.21869415878546516,-2.323332713565706,0.71338606911949],"aabb_xy":[[-0.24369415805742745,-2.3396780771618677],[-0.19369415951350288,-2.306987349969543]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[-0.035637835862060596,-1.4206004138155086,0.71338606911949],"aabb_xy":[[-0.04213947237006521,-1.4303682358418184],[-0.02913619935405598,-1.4108325917891988]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.5495997416387195,-1.1148063752398203,0.71338606911949],"aabb_xy":[[0.49962667610620415,-1.1648063750523534],[0.5995728071712351,-1.0648063754272876]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.491869961612593,-0.854332095802449,0.71338606911949],"aabb_xy":[[0.4545386850873504,-0.8889851505973013],[0.5292012381378356,-0.8196790410075968]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.11188952012428743,-0.848808773602836,0.71338606911949],"aabb_xy":[[-0.18188952193303287,-0.8701625423670234],[-0.041889518315541996,-0.8274550048386486]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.12797941306625615,0.4871567940501471,0.71338606911949],"aabb_xy":[[-0.17797941342682216,0.43717680684054405],[-0.07797941270569005,0.5371367812597498]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.3031121428544481,1.0060153957584008,0.71338606911949],"aabb_xy":[[0.2531121411929533,0.9560169535026982],[0.3531121445159428,1.0560138380141035]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.578854067072162,1.2653282239869705,0.71338606911949],"aabb_xy":[[-0.6288540683560019,1.2153493695963482],[-0.528854065788322,1.3153070783775924]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.16252079742071146,-0.029550554182981248,0.71338606911949],"aabb_xy":[[-0.19683707459532937,-0.07955055415615897],[-0.1282045202460935,0.020449445790196478]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[0.449337222368847,0.12328655979209291,0.71338606911949],"aabb_xy":[[0.41819030352526393,0.053286561105285735],[0.48048414121243016,0.19328655847890008]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[0.038364541507944105,-1.7891460012474982,0.71338606911949],"aabb_xy":[[0.03132309055719651,-1.7961727529852929],[0.0454059924586917,-1.782119249509704]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.6115801566690289,-2.3617172363675567,0.71338606911949],"aabb_xy":[[-0.6259145817951924,-2.3737774519220958],[-0.5972457315428655,-2.3496570208130176]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.1937516623257255,1.4081465911614601,0.71338606911949],"aabb_xy":[[0.18650789627948014,1.3281465929578578],[0.2009954283719708,1.4881465893650625]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[-0.5359437520442791,0.5647340662719311,0.71338606911949],"aabb_xy":[[-0.6159437553082923,0.5511740339630177],[-0.455943748780266,0.5782940985808444]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_30","position":[-0.35113856841054747,-2.2384987985781026,0.71338606911949],"aabb_xy":[[-0.38863856959534027,-2.2429170212741627],[-0.31363856722575467,-2.2340805758820417]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.2695805107883548,-1.760269469845672,0.71338606911949],"aabb_xy":[[-0.2796622178669283,-1.8402694677377867],[-0.25949880370978134,-1.6802694719535574]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_32","position":[-0.2803251141955994,0.47898716875444913,0.71338606911949],"aabb_xy":[[-0.3178251143674713,0.44628643337154195],[-0.24282511402372742,0.5116879041373563]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_33","position":[0.19460182715250252,-1.061031544840352,0.71338606911949],"aabb_xy":[[0.1721370571810974,-1.0835315457192125],[0.21706659712390763,-1.0385315439614915]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_34","position":[0.335302803249125,-0.979927024718247,0.71338606911949],"aabb_xy":[[0.3007117203950797,-1.0449270250032778],[0.36989388610317014,-0.9149270244332158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902105513673776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4869.png","name":"4869"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4869.png","name":"4869"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8729.png","name":"8729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4111.png","name":"4111"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":692.4592118721868,"rotation_z_degrees":39.08099527517342,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01892333778033552,-0.009510120725651454,-0.014835993837782117]},{"name":"camera_2","offset_m":[-0.002492583859525027,-0.006589125279959852,-0.003576345161080713]},{"name":"camera_3","offset_m":[-0.011885808515423762,-0.019703270953964402,-0.018004466102568367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.1020515946318366e-05,-0.0016056390408533657,0.0014187184060573655],"end_effector_yaw_offset_degrees":0.2527827625942203},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018455834180827815,-0.001806931502864975,0.00021415440340652068],"end_effector_yaw_offset_degrees":-0.7907601931885764},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.001702268077800617,-0.0014139821567108477,-0.000729296825385954],"end_effector_yaw_offset_degrees":0.6741433739105553}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_lbk_00017","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013525144310652226,-0.004987730522091228],"position_m":[0.3116474855689348,-0.12128773052209123,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000257353599604113,0.00026560381630983364],"position_m":[0.3100426464003959,0.09136560381630983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002842958548921175,0.0019415346719577706],"position_m":[0.35225704145107883,0.2986415346719578,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007800251112194999,-0.004031621240694482],"position_m":[0.2432199748887805,-0.3558316212406945,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"520011b31dd2249f136e5d95e2d8132edbf16ac50dbb54e65fd04e2b040a413d","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/dataset/episode_0127.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4869/tex_ceiling_textures_4111/tex_floor_textures_1318/tex_table_textures_8729/tex_wall_textures_262","seeds":{"action_seed":7849331405013718693,"physical_seed":4845417622841587732,"visual_seed":8451614920364491266,"layout_id":"layout_00017","physical_randomization_enabled":true},"episode_seed":8451614920364491266,"visual_seed":8451614920364491266,"scene_id":"lab_003","finished_at":"2026-09-03T04:14:54"} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..887ab9bc0819caf72274dda06c0442b3e8c6304f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/resolved_config.yaml @@ -0,0 +1,232 @@ +name: fast_2beaker_dual_target_s03_psl_lbk_00017 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker a from home. Shake the current contents of + beaker a once. Place beaker a at home. + layout_id: layout_00017 + reproducibility: + enabled: true + layout_id: layout_00017 + action_seed: 7849331405013718693 + step_seeds: + - 3030943202933364417 + - 4812653209273302290 + - 2775566628856368117 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.313 + - 0.313 + 'y': + - -0.1163 + - -0.1163 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3103 + - 0.3103 + 'y': + - 0.0911 + - 0.0911 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3551 + - 0.3551 + 'y': + - 0.2967 + - 0.2967 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.244 + - 0.244 + 'y': + - -0.3518 + - -0.3518 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + steps: + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.3 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + - skill: shake + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + shake_distance: 0.08 + shake_center_offset_z: 0.0 + fallback_height_offset: 0.23 + events_dt: + - 0.04 + - 0.018 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.036 + - 0.015 + position_only: true + position_threshold: 0.04 + - skill: place + target_object: beaker_a + target_key: beaker_a_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cc5a0b22c3593460db9ce490c8247a341d014a1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_0_success.json @@ -0,0 +1,684 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33453334985985833, + -0.11763844892771529, + 1.05121018058852 + ], + "current_z": 1.05121018058852, + "required_z": 0.8611066063547373, + "initial_z": 0.7611066063547374, + "lift_margin": 0.19010357423378255, + "gripper_z": 1.0535892898187267, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3300457340132304, + -0.12203749580132166, + 1.0535892898187267 + ], + "object_minus_gripper": [ + 0.004487615846627935, + 0.0043990468736063715, + -0.0023791092302067884 + ], + "object_to_gripper_xy": 0.006284131553611219, + "object_to_gripper_z": -0.0023791092302067884, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33453334985985833, + -0.14189409811463746, + 1.05121018058852 + ], + "finger_b": [ + 0.32370961957852884, + -0.11763844892771529, + 1.05121018058852 + ], + "finger_midpoint": [ + 0.32912148471919356, + -0.12976627352117637, + 1.05121018058852 + ], + "object_minus_finger_midpoint": [ + 0.005411865140664773, + 0.012127824593461081, + 0.0 + ], + "finger_gap": 0.02656105522531075, + "fingertip_max_gap": 0.09412390498740733, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328052761265538, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.05121018058852, + "object_top_z": 1.1025955102310792, + "finger_top_clearance": 0.05138532964255926, + "fingertip_min_top_clearance": 0.015415598892767779, + "object_projection_between_fingers": 0.8339406730836122, + "object_to_finger_line_xy": 0.009884268616994417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04956195249370367, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.554450801128744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33479348957333654, + -0.12230790723624316, + 1.2434497676630794 + ], + "held_position": [ + 0.33950672870097504, + -0.11815563949210853, + 1.240993764614538 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006744471919114805, + "max_held_gripper_dist": 0.0067525791429514015, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002456003048541433, + "max_held_gripper_z_dist": 0.002468245617389009, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733159031024858, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33950672870097504, + -0.14313289961598225, + 1.240993764614538 + ], + "held_grasp_finger_b": [ + 0.3307089740931898, + -0.11815563949210853, + 1.240993764614538 + ], + "held_grasp_midpoint": [ + 0.33510785139708243, + -0.1306442695540454, + 1.240993764614538 + ], + "held_grasp_object_position": [ + 0.33950672870097504, + -0.11815563949210853, + 1.240993764614538 + ], + "held_grasp_finger_gap": 0.02648138986976437, + "held_grasp_max_gap": 0.12498321890830993, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024538358250634683, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04661446614576638, + -0.9988469816636076, + -0.011480364430013212 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038146843143643163, + "held_grasp_line_xy_max_dist": 0.04749160945415497, + "held_grasp_object_top_z": 0.049720749258995056, + "held_grasp_top_clearance": 0.037041467499354344, + "held_grasp_min_top_clearance": 0.014916224777698515 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2929343870963091, + -0.12165289896731343, + 0.7611148256579311 + ], + "target_position": [ + 0.3106030908047094, + -0.11975735130547456, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.017770092618597716, + "xy_threshold": 0.08, + "gripper_dist": 0.20310032772115227, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611148256579311, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525018014389527, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0897403671653511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17580622387477501, + "release_required_pad_clearance": 0.05487018358267555, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.782260105855762, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4c8aef5b9563b828c1e372aa4d422a426bc2935099ecc1dbb1adddfeca2ae15b", + "visual_seed": 298997948854194828, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06ade8a1eba052f44b7380cbded9105b550c2681 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_100_success.json @@ -0,0 +1,684 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33155924531777603, + -0.11764116127640654, + 1.0509062435663918 + ], + "current_z": 1.0509062435663918, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.18979973555162577, + "gripper_z": 1.0536974418055174, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3275482620720801, + -0.12195164182593933, + 1.0536974418055174 + ], + "object_minus_gripper": [ + 0.0040109832456959316, + 0.004310480549532786, + -0.0027911982391255474 + ], + "object_to_gripper_xy": 0.005887973264643271, + "object_to_gripper_z": -0.0027911982391255474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33155924531777603, + -0.1412390928617023, + 1.0509062435663918 + ], + "finger_b": [ + 0.32047274735506825, + -0.11764116127640654, + 1.0509062435663918 + ], + "finger_midpoint": [ + 0.32601599633642214, + -0.12944012706905442, + 1.0509062435663918 + ], + "object_minus_finger_midpoint": [ + 0.005543248981353888, + 0.011798965792647872, + 0.0 + ], + "finger_gap": 0.026072453129336006, + "fingertip_max_gap": 0.09704424354143296, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013036226564667996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509062435663918, + "object_top_z": 1.1034594117997873, + "finger_top_clearance": 0.05255316823339551, + "fingertip_min_top_clearance": 0.015765950470018667, + "object_projection_between_fingers": 0.8191889483153962, + "object_to_finger_line_xy": 0.010034284811893399, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05102212177071648, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.74522295469185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33251186411302924, + -0.12259995615046874, + 1.2444389164330225 + ], + "held_position": [ + 0.33687429375241046, + -0.11865520268144067, + 1.2415673329094052 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0065450641114561245, + "max_held_gripper_dist": 0.0065545506149124735, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028715835236172715, + "max_held_gripper_z_dist": 0.0028827013820795777, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08730086602378288, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33687429375241046, + -0.14361762588758614, + 1.2415673329094052 + ], + "held_grasp_finger_b": [ + 0.32863702258551825, + -0.11865520268144067, + 1.2415673329094052 + ], + "held_grasp_midpoint": [ + 0.33275565816896435, + -0.1311364142845134, + 1.2415673329094052 + ], + "held_grasp_object_position": [ + 0.33687429375241046, + -0.11865520268144067, + 1.2415673329094052 + ], + "held_grasp_finger_gap": 0.026286407297301466, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024376543058184166, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0647422434291674, + -0.9978936046213108, + 0.004098264467484513 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003302337787436056, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03699867912592398, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30340329732998905, + -0.11684527664549506, + 0.7611065780327444 + ], + "target_position": [ + 0.3081162110588295, + -0.11862096150045441, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005036329270373913, + "xy_threshold": 0.08, + "gripper_dist": 0.2136638190734854, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065780327444, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573931730261187, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601031713181954, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18502576277254265, + "release_required_pad_clearance": 0.053005158565909774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0430414611771213, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8aaed97b443a01684ae83836ad45714a2cad28765632178dc3881a977410e577", + "visual_seed": 4584468174919584535, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a224031f847cb3e319f56fb35a5d87ee34ca9587 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_101_success.json @@ -0,0 +1,684 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3398082248137611, + -0.11120763137375692, + 1.0535542131630873 + ], + "current_z": 1.0535542131630873, + "required_z": 0.8611066868287004, + "initial_z": 0.7611066868287004, + "lift_margin": 0.1924475263343869, + "gripper_z": 1.0557830235231995, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33575367419403024, + -0.11541902249351321, + 1.0557830235231995 + ], + "object_minus_gripper": [ + 0.004054550619730868, + 0.004211391119756297, + -0.0022288103601122433 + ], + "object_to_gripper_xy": 0.005845955515698197, + "object_to_gripper_z": -0.0022288103601122433, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3398082248137611, + -0.13508726739527369, + 1.0535542131630873 + ], + "finger_b": [ + 0.32916298427534807, + -0.11120763137375692, + 1.0535542131630873 + ], + "finger_midpoint": [ + 0.33448560454455456, + -0.1231474493845153, + 1.0535542131630873 + ], + "object_minus_finger_midpoint": [ + 0.005322620269206546, + 0.011939818010758385, + 0.0 + ], + "finger_gap": 0.0261449452598546, + "fingertip_max_gap": 0.09506982940942912, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013072472629927312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0535542131630873, + "object_top_z": 1.1048176373400471, + "finger_top_clearance": 0.05126342417695984, + "fingertip_min_top_clearance": 0.015379027253087917, + "object_projection_between_fingers": 0.8342187215161353, + "object_to_finger_line_xy": 0.009722891629424349, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050034914704714564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4560110577889973, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 215, + "max_stable_success_frames": 215, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3406276583359822, + -0.11559858960914478, + 1.2458106266336886 + ], + "held_position": [ + 0.3449288556162202, + -0.11164799063913657, + 1.2435013229524339 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006280160328973579, + "max_held_gripper_dist": 0.006288214212502762, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002309303681254704, + "max_held_gripper_z_dist": 0.0023228041587119996, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08701907052923355, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3449288556162202, + -0.13644326892754144, + 1.2435013229524339 + ], + "held_grasp_finger_b": [ + 0.3364672849966055, + -0.11164799063913657, + 1.2435013229524339 + ], + "held_grasp_midpoint": [ + 0.34069807030641286, + -0.124045629783339, + 1.2435013229524339 + ], + "held_grasp_object_position": [ + 0.3449288556162202, + -0.11164799063913657, + 1.2435013229524339 + ], + "held_grasp_finger_gap": 0.02619931302057688, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024485299632055205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03472862131474287, + -0.9993498772473688, + -0.009682236686137768 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037995993699371142, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03718374157229091, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30998881646518617, + -0.10123104823395454, + 0.7611067359744736 + ], + "target_position": [ + 0.3163242496061601, + -0.11219702505422241, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01266453160232953, + "xy_threshold": 0.08, + "gripper_dist": 0.21421509502659028, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067359744736, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07612363492328164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08751806405606953, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886165359697141, + "release_required_pad_clearance": 0.05375903202803477, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5269306719794518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "deabc994391aed2d062ff7380a4df9dac28e4dda01165febf1150e02e476ca41", + "visual_seed": 6955456532461881325, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_103_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c414460f1c065d78e5e6fbf303842afed4b6c516 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_103_success.json @@ -0,0 +1,684 @@ +{ + "episode": 103, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3338612232585659, + -0.11556746369481972, + 1.052407544987903 + ], + "current_z": 1.052407544987903, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19130109657778172, + "gripper_z": 1.0548138697624887, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3298779362069667, + -0.11976269848152343, + 1.0548138697624887 + ], + "object_minus_gripper": [ + 0.003983287051599171, + 0.004195234786703708, + -0.0024063247745857996 + ], + "object_to_gripper_xy": 0.005785029874685741, + "object_to_gripper_z": -0.0024063247745857996, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3338612232585659, + -0.1393984875939657, + 1.052407544987903 + ], + "finger_b": [ + 0.32326664665997523, + -0.11556746369481972, + 1.052407544987903 + ], + "finger_midpoint": [ + 0.32856393495927055, + -0.1274829756443927, + 1.052407544987903 + ], + "object_minus_finger_midpoint": [ + 0.005297288299295322, + 0.01191551194957298, + 0.0 + ], + "finger_gap": 0.026079930087810264, + "fingertip_max_gap": 0.09516667615866428, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013039965043905125, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052407544987903, + "object_top_z": 1.1035886256568475, + "finger_top_clearance": 0.051181080668944556, + "fingertip_min_top_clearance": 0.0153543242006834, + "object_projection_between_fingers": 0.8349732431763174, + "object_to_finger_line_xy": 0.009680992520771961, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05008333807933214, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5625559907179074, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3342545827024356, + -0.11932782075670609, + 1.2455374921086182 + ], + "held_position": [ + 0.3384372692364485, + -0.11532824027165497, + 1.2430547346464753 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006297268877381766, + "max_held_gripper_dist": 0.006305957756787103, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024827574621428816, + "max_held_gripper_z_dist": 0.0024960510847309436, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08712675306127671, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3384372692364485, + -0.1398924604770696, + 1.2430547346464753 + ], + "held_grasp_finger_b": [ + 0.32970763399499303, + -0.11532824027165497, + 1.2430547346464753 + ], + "held_grasp_midpoint": [ + 0.33407245161572074, + -0.1276103503743623, + 1.2430547346464753 + ], + "held_grasp_object_position": [ + 0.3384372692364485, + -0.11532824027165497, + 1.2430547346464753 + ], + "held_grasp_finger_gap": 0.026069281650037114, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024387067420250638, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.019590022582660523, + -0.999750082290659, + -0.010770514148901844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004125509363217805, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03735570260845124, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3132853296562636, + -0.11217247780262829, + 0.761106807005637 + ], + "target_position": [ + 0.3105715000785815, + -0.11797216032607459, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006403217031264113, + "xy_threshold": 0.08, + "gripper_dist": 0.21686919207188385, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106807005637, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516276943739542, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09099504240548194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18946145675807693, + "release_required_pad_clearance": 0.05549752120274097, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.136959150661524, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 103, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1acd7ff4b12f6866ec5f49017754306bd639f11310fbc8a9573960d46cf4cd81", + "visual_seed": 2138495076728483893, + "episode_index": 103, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_104_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65903ba6e960777f347cd2fc31151e47ba950a81 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_104_success.json @@ -0,0 +1,684 @@ +{ + "episode": 104, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3366624484955399, + -0.11210537981677061, + 1.0497078029099354 + ], + "current_z": 1.0497078029099354, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1886012948951693, + "gripper_z": 1.0522853133806598, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3323904773442307, + -0.11649959010052692, + 1.0522853133806598 + ], + "object_minus_gripper": [ + 0.004271971151309173, + 0.004394210283756306, + -0.002577510470724409 + ], + "object_to_gripper_xy": 0.006128525233323878, + "object_to_gripper_z": -0.002577510470724409, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3366624484955399, + -0.13599179422408267, + 1.0497078029099354 + ], + "finger_b": [ + 0.32557297803099505, + -0.11210537981677061, + 1.0497078029099354 + ], + "finger_midpoint": [ + 0.33111771326326744, + -0.12404858702042665, + 1.0497078029099354 + ], + "object_minus_finger_midpoint": [ + 0.005544735232272446, + 0.011943207203656034, + 0.0 + ], + "finger_gap": 0.026335093476611338, + "fingertip_max_gap": 0.09673909488335422, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013167546738305688, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0497078029099354, + "object_top_z": 1.1018281532349186, + "finger_top_clearance": 0.05212035032498319, + "fingertip_min_top_clearance": 0.015636105097494957, + "object_projection_between_fingers": 0.822682381954817, + "object_to_finger_line_xy": 0.01005835378215066, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05086954744167711, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.881294355899485, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3371392401812224, + -0.11662627240128233, + 1.244491720912353 + ], + "held_position": [ + 0.34170539817492407, + -0.11254715437954008, + 1.2418386950753066 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006672896578756747, + "max_held_gripper_dist": 0.006681483652871219, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026530258370462967, + "max_held_gripper_z_dist": 0.0026677431200083923, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08688305956509584, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34170539817492407, + -0.1375060739489856, + 1.2418386950753066 + ], + "held_grasp_finger_b": [ + 0.3329472874932685, + -0.11254715437954008, + 1.2418386950753066 + ], + "held_grasp_midpoint": [ + 0.3373263428340963, + -0.12502661416426283, + 1.2418386950753066 + ], + "held_grasp_object_position": [ + 0.34170539817492407, + -0.11254715437954008, + 1.2418386950753066 + ], + "held_grasp_finger_gap": 0.026450938901789088, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024598515802479813, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.038982162903699026, + -0.9992390027303895, + 0.001344022963375546 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003889287177196477, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03707958207153423, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29673133261432966, + -0.1135431656913278, + 0.7611068383969704 + ], + "target_position": [ + 0.3129943635666256, + -0.11357926537705137, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016263071018188555, + "xy_threshold": 0.08, + "gripper_dist": 0.20593633298326938, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068383969704, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571256927102622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08815667400801412, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17802601281606434, + "release_required_pad_clearance": 0.05407833700400706, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.168735471701573, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 104, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b45f40857c23e5d791a324345b2c7f168f2ea5c6d18b3d08967663a53f72dc04", + "visual_seed": 6098692070653390128, + "episode_index": 104, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_105_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e94f27c6914206728da6a7930b12500ce808aa14 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_105_success.json @@ -0,0 +1,684 @@ +{ + "episode": 105, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3413688035710442, + -0.10835010536826403, + 1.0498568527221712 + ], + "current_z": 1.0498568527221712, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18875040431205015, + "gripper_z": 1.0522337357779037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33709528385958465, + -0.11271313614683272, + 1.0522337357779037 + ], + "object_minus_gripper": [ + 0.004273519711459561, + 0.004363030778568686, + -0.0023768830557324705 + ], + "object_to_gripper_xy": 0.0061072914044583695, + "object_to_gripper_z": -0.0023768830557324705, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3413688035710442, + -0.13232098319572264, + 1.0498568527221712 + ], + "finger_b": [ + 0.3304106187456749, + -0.10835010536826403, + 1.0498568527221712 + ], + "finger_midpoint": [ + 0.3358897111583595, + -0.12033554428199333, + 1.0498568527221712 + ], + "object_minus_finger_midpoint": [ + 0.005479092412684683, + 0.011985438913729302, + 0.0 + ], + "finger_gap": 0.026356873837500166, + "fingertip_max_gap": 0.0951723085587591, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013178436918750095, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498568527221712, + "object_top_z": 1.1016076934195693, + "finger_top_clearance": 0.051750840697398104, + "fingertip_min_top_clearance": 0.015525252209219414, + "object_projection_between_fingers": 0.8271420147257025, + "object_to_finger_line_xy": 0.009966178511121655, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050086154279379555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0427033963467864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34223708675086534, + -0.11305333586166331, + 1.2419481417432583 + ], + "held_position": [ + 0.3468051921989562, + -0.10901957836971432, + 1.2394701221899727 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006578705632204426, + "max_held_gripper_dist": 0.006586636329399748, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024780195532856375, + "max_held_gripper_z_dist": 0.00249264741169819, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08743131291698655, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3468051921989562, + -0.13407026727247076, + 1.2394701221899727 + ], + "held_grasp_finger_b": [ + 0.3383376156633773, + -0.10901957836971432, + 1.2394701221899727 + ], + "held_grasp_midpoint": [ + 0.34257140393116675, + -0.12154492282109254, + 1.2394701221899727 + ], + "held_grasp_object_position": [ + 0.3468051921989562, + -0.10901957836971432, + 1.2394701221899727 + ], + "held_grasp_finger_gap": 0.02644308731764451, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024526882848072598, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.057037128903016154, + -0.9983697134842716, + -0.002163590495935841 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003512592777189739, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03697384239170279, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30273179301422537, + -0.11057443256434005, + 0.7611084666018711 + ], + "target_position": [ + 0.3175994995126925, + -0.11283886945132814, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01503916124455464, + "xy_threshold": 0.08, + "gripper_dist": 0.20687525177566396, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611084666018711, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569094622453619, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09127884282864827, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17940306997977384, + "release_required_pad_clearance": 0.05563942141432414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.437131684662704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 105, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4c38f86ea30d0e3418e83ba87552552c414f0702e8ae1ad5d140895a58b9c581", + "visual_seed": 7992647618428847114, + "episode_index": 105, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_106_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b7fded5c8756ee6b36288eef6659e4c80bbd374d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_106_success.json @@ -0,0 +1,684 @@ +{ + "episode": 106, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3375252022999594, + -0.1167180137660463, + 1.0514830360547611 + ], + "current_z": 1.0514830360547611, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.19037628962141617, + "gripper_z": 1.054146721035738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33325131655210716, + -0.12096297406500894, + 1.054146721035738 + ], + "object_minus_gripper": [ + 0.004273885747852257, + 0.004244960298962638, + -0.0026636849809769103 + ], + "object_to_gripper_xy": 0.0060237685318630585, + "object_to_gripper_z": -0.0026636849809769103, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3375252022999594, + -0.14092399979912004, + 1.0514830360547611 + ], + "finger_b": [ + 0.3270625685246755, + -0.1167180137660463, + 1.0514830360547611 + ], + "finger_midpoint": [ + 0.33229388541231747, + -0.12882100678258318, + 1.0514830360547611 + ], + "object_minus_finger_midpoint": [ + 0.005231316887641946, + 0.012102993016536875, + 0.0 + ], + "finger_gap": 0.02637037097480944, + "fingertip_max_gap": 0.09508382346796071, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013185185487404726, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514830360547611, + "object_top_z": 1.102980429000968, + "finger_top_clearance": 0.05149739294620681, + "fingertip_min_top_clearance": 0.015449217883862026, + "object_projection_between_fingers": 0.8425837475881307, + "object_to_finger_line_xy": 0.009603898529740626, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05004191173398036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1314672860688186, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33774925940423445, + -0.12041112686547066, + 1.2453447443813925 + ], + "held_position": [ + 0.3421691189207461, + -0.11632378415504176, + 1.2426243203839418 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006606227009731104, + "max_held_gripper_dist": 0.0066166689000575025, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027204239974507605, + "max_held_gripper_z_dist": 0.0027350346734729136, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700394347394358, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3421691189207461, + -0.14104953770559717, + 1.2426243203839418 + ], + "held_grasp_finger_b": [ + 0.33325666877416665, + -0.11632378415504176, + 1.2426243203839418 + ], + "held_grasp_midpoint": [ + 0.3377128938474564, + -0.12868666093031947, + 1.2426243203839418 + ], + "held_grasp_object_position": [ + 0.3421691189207461, + -0.11632378415504176, + 1.2426243203839418 + ], + "held_grasp_finger_gap": 0.026282972743928098, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457051157578741, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01692376796784104, + -0.999821654112449, + -0.008381291405095805 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004247632124977113, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0372841620438957, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3126015838836817, + -0.11646428554146836, + 0.7611106362323004 + ], + "target_position": [ + 0.31392552224448367, + -0.11972004333396029, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0035146509907208333, + "xy_threshold": 0.08, + "gripper_dist": 0.21580840333351503, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611106362323004, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553145952915868, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08760143665743002, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1874585750391192, + "release_required_pad_clearance": 0.05380071832871501, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6095256979928383, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 106, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0e69c6f9ad3e9ec476e2a1da8cda3ad9ed20b7534605c834171f14808a1d2c8d", + "visual_seed": 8956168914572526254, + "episode_index": 106, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_108_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6fdcc85c17a30d68a00ea7667962295a409808db --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_108_success.json @@ -0,0 +1,684 @@ +{ + "episode": 108, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33252142699224, + -0.11328927827677526, + 1.0524452493474605 + ], + "current_z": 1.0524452493474605, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.1913386817280497, + "gripper_z": 1.0551415505866464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32837635101867635, + -0.11766003626724107, + 1.0551415505866464 + ], + "object_minus_gripper": [ + 0.004145075973563672, + 0.0043707579904658095, + -0.00269630123918585 + ], + "object_to_gripper_xy": 0.00602371814063669, + "object_to_gripper_z": -0.00269630123918585, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33252142699224, + -0.13701791143814582, + 1.0524452493474605 + ], + "finger_b": [ + 0.3213806425806283, + -0.11328927827677526, + 1.0524452493474605 + ], + "finger_midpoint": [ + 0.32695103478643417, + -0.12515359485746053, + 1.0524452493474605 + ], + "object_minus_finger_midpoint": [ + 0.005570392205805852, + 0.011864316580685264, + 0.0 + ], + "finger_gap": 0.02621383430581846, + "fingertip_max_gap": 0.09419430171116935, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106917152909217, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524452493474605, + "object_top_z": 1.1037251280647244, + "finger_top_clearance": 0.051279878717263916, + "fingertip_min_top_clearance": 0.01538396361517914, + "object_projection_between_fingers": 0.8193780858805515, + "object_to_finger_line_xy": 0.010084582947652694, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04959715085558468, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7575132714442538, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3334810301879901, + -0.11841321383392156, + 1.2488155052216212 + ], + "held_position": [ + 0.33798657469561827, + -0.11443601775715875, + 1.2460360489034112 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006621434691067589, + "max_held_gripper_dist": 0.006630762089327599, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002779456318209972, + "max_held_gripper_z_dist": 0.002793574711474678, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08648931832005217, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33798657469561827, + -0.1395553180446877, + 1.2460360489034112 + ], + "held_grasp_finger_b": [ + 0.32965209849822197, + -0.11425112010783281, + 1.2460360489034112 + ], + "held_grasp_midpoint": [ + 0.3338193365969201, + -0.12690321907626026, + 1.2460360489034112 + ], + "held_grasp_object_position": [ + 0.33798657469561827, + -0.11443601775715875, + 1.2460360489034112 + ], + "held_grasp_finger_gap": 0.0266414325199021, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02459063085780077, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07666112197490546, + -0.9970504189512414, + -0.0036789192302590923 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003199562345706509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036970356623552664, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30885238634018164, + -0.11656988657028483, + 0.7611063203516724 + ], + "target_position": [ + 0.3088919440336962, + -0.11492054169940723, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0016498191762149112, + "xy_threshold": 0.08, + "gripper_dist": 0.21744152764051827, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063203516724, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751645797723072, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734335539480324, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1885788701256341, + "release_required_pad_clearance": 0.053671677697401624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.353059115435898, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 108, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7027a4e2066ca8bc03a442c6c9784f3ffe61e85f2d362fcfa4a9da6db0fdb7f1", + "visual_seed": 6403062357796489822, + "episode_index": 108, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5f68cf3387088c106d9a05ba131f5c2657464a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_10_success.json @@ -0,0 +1,684 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33210204179166414, + -0.1101565641359148, + 1.053553440247565 + ], + "current_z": 1.053553440247565, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19244699183744396, + "gripper_z": 1.0560200515346014, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3280940472045081, + -0.1144321700243379, + 1.0560200515346014 + ], + "object_minus_gripper": [ + 0.004007994587156061, + 0.004275605888423101, + -0.002466611287036402 + ], + "object_to_gripper_xy": 0.005860445915098149, + "object_to_gripper_z": -0.002466611287036402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33210204179166414, + -0.13382023152496617, + 1.053553440247565 + ], + "finger_b": [ + 0.321139458565628, + -0.1101565641359148, + 1.053553440247565 + ], + "finger_midpoint": [ + 0.32662075017864606, + -0.12198839783044049, + 1.053553440247565 + ], + "object_minus_finger_midpoint": [ + 0.00548129161301808, + 0.011831833694525687, + 0.0 + ], + "finger_gap": 0.02607963545158218, + "fingertip_max_gap": 0.09531484373355156, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013039817725791098, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053553440247565, + "object_top_z": 1.1051349199414489, + "finger_top_clearance": 0.051581479693883825, + "fingertip_min_top_clearance": 0.015474443908165146, + "object_projection_between_fingers": 0.8233056046565798, + "object_to_finger_line_xy": 0.009947030266865779, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050157421866775784, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3143825318124147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3331142138458422, + -0.11475753154155882, + 1.2484358267821922 + ], + "held_position": [ + 0.33745441909004426, + -0.1108321334417734, + 1.245887595411158 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006382759193634157, + "max_held_gripper_dist": 0.006392374513172283, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025482313710343263, + "max_held_gripper_z_dist": 0.0025599903417605763, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08742863806477394, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33745441909004426, + -0.135778627211885, + 1.245887595411158 + ], + "held_grasp_finger_b": [ + 0.32915619580119293, + -0.1108321334417734, + 1.245887595411158 + ], + "held_grasp_midpoint": [ + 0.3333053074456186, + -0.1233053803268292, + 1.245887595411158 + ], + "held_grasp_object_position": [ + 0.33745441909004426, + -0.1108321334417734, + 1.245887595411158 + ], + "held_grasp_finger_gap": 0.026290455704948354, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024400688418409967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0602879784133873, + -0.9981752046755189, + -0.003408875153606771 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00338984971360601, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037019622754382336, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31009408282374196, + -0.11210780904216165, + 0.761106430550072 + ], + "target_position": [ + 0.3086290163443779, + -0.11458204823178177, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0028754615901465646, + "xy_threshold": 0.08, + "gripper_dist": 0.21548488564680976, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106430550072, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540816844178962, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673377354795579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18703385812611137, + "release_required_pad_clearance": 0.0533668867739779, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.749831871406879, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b49ba6faa3a2f5785a418ffe749d21c05999211de7a31cbad17a7f81de8c3bf5", + "visual_seed": 4565940851962754815, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_110_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f2e522d9471971bd5f051cd158663d6da32808d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_110_success.json @@ -0,0 +1,684 @@ +{ + "episode": 110, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3398340827133038, + -0.11286158211708228, + 1.0508309832543188 + ], + "current_z": 1.0508309832543188, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1897245348441975, + "gripper_z": 1.05366160451483, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33527642733549495, + -0.1173176414998003, + 1.05366160451483 + ], + "object_minus_gripper": [ + 0.0045576553778088336, + 0.004456059382718022, + -0.002830621260511146 + ], + "object_to_gripper_xy": 0.006374063677527791, + "object_to_gripper_z": -0.002830621260511146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3398340827133038, + -0.13712914925396247, + 1.0508309832543188 + ], + "finger_b": [ + 0.3288820148376973, + -0.11286158211708228, + 1.0508309832543188 + ], + "finger_midpoint": [ + 0.33435804877550057, + -0.12499536568552237, + 1.0508309832543188 + ], + "object_minus_finger_midpoint": [ + 0.005476033937803215, + 0.012133783568440096, + 0.0 + ], + "finger_gap": 0.026624473806910794, + "fingertip_max_gap": 0.09709566257697747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013312236903455387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508309832543188, + "object_top_z": 1.1029281151373829, + "finger_top_clearance": 0.052097131883064085, + "fingertip_min_top_clearance": 0.015629139564919226, + "object_projection_between_fingers": 0.8307883787040052, + "object_to_finger_line_xy": 0.009982546298810291, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051047831288488735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.229296020259174, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33982288655813786, + -0.11693819908520467, + 1.2450714217653436 + ], + "held_position": [ + 0.34457364778863003, + -0.11269432090694806, + 1.2421761021523303 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006997364498332883, + "max_held_gripper_dist": 0.007007410619225794, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028953196130132586, + "max_held_gripper_z_dist": 0.0029209004266941285, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870121639409393, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34457364778863003, + -0.13762702430955445, + 1.2421761021523303 + ], + "held_grasp_finger_b": [ + 0.3353547045230044, + -0.11269432090694806, + 1.2421761021523303 + ], + "held_grasp_midpoint": [ + 0.3399641761558172, + -0.12516067260825126, + 1.2421761021523303 + ], + "held_grasp_object_position": [ + 0.34457364778863003, + -0.11269432090694806, + 1.2421761021523303 + ], + "held_grasp_finger_gap": 0.026582486977278184, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024865879398359794, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00717879873456052, + -0.999974207931368, + -0.00021981983945829064 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004519860259486309, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03722112943266591, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3653400903031968, + -0.0900309259040553, + 0.7414668061001065 + ], + "target_position": [ + 0.31593313163005643, + -0.11676420395703327, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.056175757411780707, + "xy_threshold": 0.08, + "gripper_dist": 0.2652335954850963, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7414668061001065, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.08810898356137871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.11570147044539635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.2380038955418832, + "release_required_pad_clearance": 0.06785073522269817, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.489275632171792, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 335, + "max_placed_release_frames": 335 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 110, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4d2bae37f8d6b7681d3576a5e6c53ab4239bd69db6a401a288f1d408f69d96ce", + "visual_seed": 2467542087367610688, + "episode_index": 110, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_111_success.json new file mode 100644 index 0000000000000000000000000000000000000000..dc53a7bf9b2fd2488c33b5aace2131e002565389 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_111_success.json @@ -0,0 +1,684 @@ +{ + "episode": 111, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33834802684212534, + -0.10903182716303843, + 1.0511525566892623 + ], + "current_z": 1.0511525566892623, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19004604867449626, + "gripper_z": 1.0535980256524795, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33421229072613345, + -0.11327666993444949, + 1.0535980256524795 + ], + "object_minus_gripper": [ + 0.004135736115991884, + 0.004244842771411059, + -0.002445468963217179 + ], + "object_to_gripper_xy": 0.005926466348096507, + "object_to_gripper_z": -0.002445468963217179, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33834802684212534, + -0.13300507030561143, + 1.0511525566892623 + ], + "finger_b": [ + 0.32770381777373725, + -0.10903182716303843, + 1.0511525566892623 + ], + "finger_midpoint": [ + 0.33302592230793127, + -0.12101844873432493, + 1.0511525566892623 + ], + "object_minus_finger_midpoint": [ + 0.005322104534194072, + 0.011986621571286507, + 0.0 + ], + "finger_gap": 0.02623005096191158, + "fingertip_max_gap": 0.09543217490085723, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115025480955807, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511525566892623, + "object_top_z": 1.1025900460800377, + "finger_top_clearance": 0.051437489390775415, + "fingertip_min_top_clearance": 0.015431246817232624, + "object_projection_between_fingers": 0.8353246771420577, + "object_to_finger_line_xy": 0.009728391775806559, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05021608745042862, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.53996692563192, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3388345209431713, + -0.11294861062167637, + 1.2455346902683344 + ], + "held_position": [ + 0.3431854254162067, + -0.10892917228135868, + 1.2430227755324466 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006433969998800595, + "max_held_gripper_dist": 0.0064423932420269526, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025119147358878546, + "max_held_gripper_z_dist": 0.0025269646585868166, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08698944947382953, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3431854254162067, + -0.13369966578677173, + 1.2430227755324466 + ], + "held_grasp_finger_b": [ + 0.3344222856904341, + -0.10892917228135868, + 1.2430227755324466 + ], + "held_grasp_midpoint": [ + 0.3388038555533204, + -0.1213144190340652, + 1.2430227755324466 + ], + "held_grasp_object_position": [ + 0.3431854254162067, + -0.10892917228135868, + 1.2430227755324466 + ], + "held_grasp_finger_gap": 0.02627489231862092, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02455529515467102, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02371946764396712, + -0.9997036255432135, + -0.005481599259478331 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0040871343027549046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03723474548357453, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31635579914588624, + -0.11645199946012583, + 0.761106432141199 + ], + "target_position": [ + 0.31484860290295413, + -0.11304356383326718, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0037268047892461413, + "xy_threshold": 0.08, + "gripper_dist": 0.21911054577907688, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106432141199, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526890197828699, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08845389869376856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1896073624343501, + "release_required_pad_clearance": 0.05422694934688428, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4712430681360975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 111, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7a6173fbfad1727f4097bd84c152d49b06b6080dbd42163ed2b90e8bb45d7425", + "visual_seed": 8491716432154949219, + "episode_index": 111, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_113_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1a22298a74fb66944d91a8bef29b9e1ccd5e42 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_113_success.json @@ -0,0 +1,684 @@ +{ + "episode": 113, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33508765333176904, + -0.11519734460934868, + 1.0524939030004448 + ], + "current_z": 1.0524939030004448, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.19138739498567903, + "gripper_z": 1.054933717198777, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33099879594843207, + -0.11951350966211739, + 1.054933717198777 + ], + "object_minus_gripper": [ + 0.004088857383336975, + 0.004316165052768717, + -0.0024398141983321686 + ], + "object_to_gripper_xy": 0.005945421386580709, + "object_to_gripper_z": -0.0024398141983321686, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33508765333176904, + -0.138925318743957, + 1.0524939030004448 + ], + "finger_b": [ + 0.3240773378279668, + -0.11519734460934868, + 1.0524939030004448 + ], + "finger_midpoint": [ + 0.32958249557986796, + -0.12706133167665284, + 1.0524939030004448 + ], + "object_minus_finger_midpoint": [ + 0.00550515775190108, + 0.011863987067304169, + 0.0 + ], + "finger_gap": 0.026158054285934745, + "fingertip_max_gap": 0.09223130405906191, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013079027142967365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524939030004448, + "object_top_z": 1.1025585575034929, + "finger_top_clearance": 0.05006465450304809, + "fingertip_min_top_clearance": 0.01501939635091446, + "object_projection_between_fingers": 0.8228306244353261, + "object_to_finger_line_xy": 0.009987458494899288, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048615652029530956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.513503367605661, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3359816613068095, + -0.12003810909189644, + 1.2461275718697098 + ], + "held_position": [ + 0.3403951166209861, + -0.1160663136762528, + 1.2436044800842714 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006451336202036615, + "max_held_gripper_dist": 0.006460358583906946, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002523091785438414, + "max_held_gripper_z_dist": 0.002535378665062815, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08732070074335069, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3403951166209861, + -0.14101536872651024, + 1.2436044800842714 + ], + "held_grasp_finger_b": [ + 0.3320290050109239, + -0.1160663136762528, + 1.2436044800842714 + ], + "held_grasp_midpoint": [ + 0.336212060815955, + -0.1285408412013815, + 1.2436044800842714 + ], + "held_grasp_object_position": [ + 0.3403951166209861, + -0.1160663136762528, + 1.2436044800842714 + ], + "held_grasp_finger_gap": 0.026314390955763996, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024306313709627287, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06903206500848057, + -0.9973862184373402, + -0.021337883492213994 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003322861124502762, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03698956325474741, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3033141546390625, + -0.11615295496407034, + 0.7611062649381419 + ], + "target_position": [ + 0.31154434376943263, + -0.11662241050442594, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008243567287651188, + "xy_threshold": 0.08, + "gripper_dist": 0.20910468423005796, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062649381419, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552973632270871, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747941740752795, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18100202549349234, + "release_required_pad_clearance": 0.053739708703763975, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.488223857481411, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 113, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f0d2ecb5a998e5857c894ca40918fd4adea4973326e57dffcc1a633ef1e82ca9", + "visual_seed": 8691534169355431896, + "episode_index": 113, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_114_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9b9eb5d4c6f0fae9e46d28221c9f05fa1ff7ba --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_114_success.json @@ -0,0 +1,684 @@ +{ + "episode": 114, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3399663499414878, + -0.11591629221890944, + 1.0519794750113798 + ], + "current_z": 1.0519794750113798, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.19087302660125838, + "gripper_z": 1.0548093733958133, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33547302901761167, + -0.12032588903621107, + 1.0548093733958133 + ], + "object_minus_gripper": [ + 0.00449332092387611, + 0.004409596817301631, + -0.0028298983844334824 + ], + "object_to_gripper_xy": 0.006295591871786125, + "object_to_gripper_z": -0.0028298983844334824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3399663499414878, + -0.14016445825786836, + 1.0519794750113798 + ], + "finger_b": [ + 0.32911805400365557, + -0.11591629221890944, + 1.0519794750113798 + ], + "finger_midpoint": [ + 0.3345422019725717, + -0.1280403752383889, + 1.0519794750113798 + ], + "object_minus_finger_midpoint": [ + 0.005424147968916104, + 0.012124083019479467, + 0.0 + ], + "finger_gap": 0.026564244408748154, + "fingertip_max_gap": 0.0960606808354014, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013282122204374084, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0519794750113798, + "object_top_z": 1.1035557389464725, + "finger_top_clearance": 0.05157626393509274, + "fingertip_min_top_clearance": 0.01547287918052782, + "object_projection_between_fingers": 0.8332260890248483, + "object_to_finger_line_xy": 0.009902456741953891, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0505303404177007, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.939373283709514, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3400097693674833, + -0.12006503501846692, + 1.2439551013546462 + ], + "held_position": [ + 0.3446764649060809, + -0.1158429926402567, + 1.2410559348122199 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006928842308358144, + "max_held_gripper_dist": 0.006937478719281884, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002899166542426279, + "max_held_gripper_z_dist": 0.002916373443724307, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08732271640494184, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3446764649060809, + -0.14068582264106425, + 1.2410559348122199 + ], + "held_grasp_finger_b": [ + 0.33558533873630325, + -0.1158429926402567, + 1.2410559348122199 + ], + "held_grasp_midpoint": [ + 0.3401309018211921, + -0.12826440764066047, + 1.2410559348122199 + ], + "held_grasp_object_position": [ + 0.3446764649060809, + -0.1158429926402567, + 1.2410559348122199 + ], + "held_grasp_finger_gap": 0.026454012502526707, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024758313336957324, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.009042917754074684, + -0.9999071620421293, + -0.01019278839906246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0044348649914310685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03725888309537119, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3065254019909412, + -0.10604091864589103, + 0.7611065752190805 + ], + "target_position": [ + 0.31612664106087773, + -0.11869617820721906, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01588519393154079, + "xy_threshold": 0.08, + "gripper_dist": 0.21055090350959313, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065752190805, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07909645582156509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09579963557240843, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1847405962608358, + "release_required_pad_clearance": 0.05789981778620422, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.704263713992441, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 114, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "89eace543a9e1350f06485df8825ffbc44160f8e68eb91d57fdf05394c700b9e", + "visual_seed": 5504666336324880244, + "episode_index": 114, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_115_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4be9ca44de591f268e6d299be0f8a73eedf357b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_115_success.json @@ -0,0 +1,684 @@ +{ + "episode": 115, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.337833055661881, + -0.11248156929813767, + 1.0524236984969804 + ], + "current_z": 1.0524236984969804, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1913172500868593, + "gripper_z": 1.05597828560693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33349669578597696, + -0.1167894125124267, + 1.05597828560693 + ], + "object_minus_gripper": [ + 0.004336359875904028, + 0.004307843214289023, + -0.003554587109949603 + ], + "object_to_gripper_xy": 0.006112407883334225, + "object_to_gripper_z": -0.003554587109949603, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.337833055661881, + -0.1367917782109798, + 1.0524236984969804 + ], + "finger_b": [ + 0.3273643659135344, + -0.11248156929813767, + 1.0524236984969804 + ], + "finger_midpoint": [ + 0.3325987107877077, + -0.12463667375455872, + 1.0524236984969804 + ], + "object_minus_finger_midpoint": [ + 0.005234344874173291, + 0.012155104456421054, + 0.0 + ], + "finger_gap": 0.026468466567467888, + "fingertip_max_gap": 0.09432521225707705, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013234233283733937, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524236984969804, + "object_top_z": 1.1027180324656831, + "finger_top_clearance": 0.050294333968702754, + "fingertip_min_top_clearance": 0.015088300190610825, + "object_projection_between_fingers": 0.843567460578918, + "object_to_finger_line_xy": 0.009615065314695359, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049662606128538525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8818568458827296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33798851518478246, + -0.11614530242108335, + 1.244752854634938 + ], + "held_position": [ + 0.3424322082490776, + -0.11194303601895109, + 1.2411436557747764 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0071015327483823255, + "max_held_gripper_dist": 0.007118781341086648, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0036091988601616443, + "max_held_gripper_z_dist": 0.003630865272561845, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08661582543323722, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3424322082490776, + -0.13670537292210933, + 1.2411436557747764 + ], + "held_grasp_finger_b": [ + 0.33342218914816557, + -0.11194303601895109, + 1.2411436557747764 + ], + "held_grasp_midpoint": [ + 0.3379271986986216, + -0.1243242044705302, + 1.2411436557747764 + ], + "held_grasp_object_position": [ + 0.3424322082490776, + -0.11194303601895109, + 1.2411436557747764 + ], + "held_grasp_finger_gap": 0.026350593410857222, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024799860651414974, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00504657330508746, + -0.999679110511769, + -0.024823539318047587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004577744691917563, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03736578946626057, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31037865772175127, + -0.12905326487616187, + 0.7611065310480868 + ], + "target_position": [ + 0.3141774640704349, + -0.11376618920286975, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015752003438158545, + "xy_threshold": 0.08, + "gripper_dist": 0.21471992258816414, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065310480868, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07571662787519985, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09501618616353312, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1825462748561029, + "release_required_pad_clearance": 0.05750809308176656, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.738286908667055, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 115, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fa459ba46a99c9f17641533f3df2cd5b4d50aecad019d326bb59bc52a83a2993", + "visual_seed": 6373684815500492756, + "episode_index": 115, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_116_success.json new file mode 100644 index 0000000000000000000000000000000000000000..504a5d93da02c120d0000dbe8a3cfa8a98c74be5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_116_success.json @@ -0,0 +1,684 @@ +{ + "episode": 116, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33744634933531475, + -0.10961120501276324, + 1.0514365124053198 + ], + "current_z": 1.0514365124053198, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19033006399519858, + "gripper_z": 1.054128899244119, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33303313956357805, + -0.11393923256780872, + 1.054128899244119 + ], + "object_minus_gripper": [ + 0.004413209771736704, + 0.00432802755504548, + -0.0026923868387991323 + ], + "object_to_gripper_xy": 0.006181281663747842, + "object_to_gripper_z": -0.0026923868387991323, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33744634933531475, + -0.13388943395587857, + 1.0514365124053198 + ], + "finger_b": [ + 0.32682492700696975, + -0.10961120501276324, + 1.0514365124053198 + ], + "finger_midpoint": [ + 0.3321356381711422, + -0.12175031948432091, + 1.0514365124053198 + ], + "object_minus_finger_midpoint": [ + 0.005310711164172532, + 0.012139114471557674, + 0.0 + ], + "finger_gap": 0.026499943639400236, + "fingertip_max_gap": 0.09647932378779431, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013249971819700135, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514365124053198, + "object_top_z": 1.1034451114045865, + "finger_top_clearance": 0.052008598999266686, + "fingertip_min_top_clearance": 0.01560257969977999, + "object_projection_between_fingers": 0.8393519513702595, + "object_to_finger_line_xy": 0.009730938544551322, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050739661893897156, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.726966997635589, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33761012772428484, + -0.11364525413526193, + 1.2467652362974233 + ], + "held_position": [ + 0.34220025799716025, + -0.10951064210896538, + 1.2440120199982114 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006763468970891292, + "max_held_gripper_dist": 0.006771997992878633, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027532162992118803, + "max_held_gripper_z_dist": 0.0027709157114204075, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08698615593033834, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34220025799716025, + -0.13441760733095914, + 1.2440120199982114 + ], + "held_grasp_finger_b": [ + 0.333204137234831, + -0.10951064210896538, + 1.2440120199982114 + ], + "held_grasp_midpoint": [ + 0.3377021976159956, + -0.12196412471996226, + 1.2440120199982114 + ], + "held_grasp_object_position": [ + 0.34220025799716025, + -0.10951064210896538, + 1.2440120199982114 + ], + "held_grasp_finger_gap": 0.02648182594422103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024793149683257076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.012437168014835399, + -0.999922540810707, + 0.0004787801487905474 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004342830536515088, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03721178896306369, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31043977374992704, + -0.12314498017448226, + 0.761107566141872 + ], + "target_position": [ + 0.3136761896534207, + -0.1122709527897838, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011345433418938157, + "xy_threshold": 0.08, + "gripper_dist": 0.21455897884928762, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107566141872, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547783314090993, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09553882718313926, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18362704423313386, + "release_required_pad_clearance": 0.05776941359156963, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.375162670172172, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 116, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea378682d58cd3755fb167e0f62bc83605849850e2260c4eceddd9b1ae459d26", + "visual_seed": 387226193435537225, + "episode_index": 116, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_117_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7eaf2ed0c102d3b7a5b15dfa3c7430dbc0d43493 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_117_success.json @@ -0,0 +1,684 @@ +{ + "episode": 117, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.337175950863695, + -0.11215295266327448, + 1.0511991028605925 + ], + "current_z": 1.0511991028605925, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.19009253524118186, + "gripper_z": 1.0535590379975968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33321766755220905, + -0.11642926494486776, + 1.0535590379975968 + ], + "object_minus_gripper": [ + 0.003958283311485955, + 0.004276312281593281, + -0.0023599351370042765 + ], + "object_to_gripper_xy": 0.0058270793287627165, + "object_to_gripper_z": -0.0023599351370042765, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.337175950863695, + -0.13572039947177392, + 1.0511991028605925 + ], + "finger_b": [ + 0.32613552193133666, + -0.11215295266327448, + 1.0511991028605925 + ], + "finger_midpoint": [ + 0.33165573639751583, + -0.1239366760675242, + 1.0511991028605925 + ], + "object_minus_finger_midpoint": [ + 0.005520214466179174, + 0.011783723404249727, + 0.0 + ], + "finger_gap": 0.026025288088355636, + "fingertip_max_gap": 0.09367464487243835, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013012644044177823, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0511991028605925, + "object_top_z": 1.1017417717780784, + "finger_top_clearance": 0.05054266891748593, + "fingertip_min_top_clearance": 0.015162800675245813, + "object_projection_between_fingers": 0.8200380038545171, + "object_to_finger_line_xy": 0.009997765278256084, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049337322436219175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1647964486376337, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33829009765144763, + -0.11678916973930997, + 1.2448202956431782 + ], + "held_position": [ + 0.342594377552787, + -0.11287909515886847, + 1.2423696399541604 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006310405850640994, + "max_held_gripper_dist": 0.006318939545810528, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002450655689017811, + "max_held_gripper_z_dist": 0.0024629534933893193, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08737925133614886, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.342594377552787, + -0.13780272916967365, + 1.2423696399541604 + ], + "held_grasp_finger_b": [ + 0.3343541515534385, + -0.11287909515886847, + 1.2423696399541604 + ], + "held_grasp_midpoint": [ + 0.33847426455311275, + -0.12534091216427107, + 1.2423696399541604 + ], + "held_grasp_object_position": [ + 0.342594377552787, + -0.11287909515886847, + 1.2423696399541604 + ], + "held_grasp_finger_gap": 0.026250502029959412, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024339994828079824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06425239805180756, + -0.9978259630295137, + -0.01466208882853914 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033160429510065313, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03702079837510815, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31566020509137926, + -0.12129276454834101, + 0.761109016552573 + ], + "target_position": [ + 0.3137528302925809, + -0.11534202276702812, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006248952421882727, + "xy_threshold": 0.08, + "gripper_dist": 0.21589765275146297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761109016552573, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538450102754028, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08786089748916424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1855456650281466, + "release_required_pad_clearance": 0.053930448744582124, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8659872965837834, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 117, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "657a714dbf7bc53aa71a66ecbe036ff8f2edb900772f12bc332f13c450ed7889", + "visual_seed": 6452367152057727463, + "episode_index": 117, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_118_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_118_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8f787cfdc6352ffae4051797abb53f7de2fd3007 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_118_success.json @@ -0,0 +1,684 @@ +{ + "episode": 118, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33849596826943884, + -0.11736544309142402, + 1.0515751583433897 + ], + "current_z": 1.0515751583433897, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1904686503286236, + "gripper_z": 1.0537351812413547, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33445072987829677, + -0.12155807742458571, + 1.0537351812413547 + ], + "object_minus_gripper": [ + 0.00404523839114207, + 0.004192634333161693, + -0.0021600228979650193 + ], + "object_to_gripper_xy": 0.005825988010009622, + "object_to_gripper_z": -0.0021600228979650193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33849596826943884, + -0.14130118556297472, + 1.0515751583433897 + ], + "finger_b": [ + 0.32796436989239863, + -0.11736544309142402, + 1.0515751583433897 + ], + "finger_midpoint": [ + 0.33323016908091874, + -0.12933331432719936, + 1.0515751583433897 + ], + "object_minus_finger_midpoint": [ + 0.005265799188520104, + 0.011967871235775335, + 0.0 + ], + "finger_gap": 0.02615022623304953, + "fingertip_max_gap": 0.09250004012578791, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013075113116524753, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0515751583433897, + "object_top_z": 1.1017682408813951, + "finger_top_clearance": 0.050193082538005473, + "fingertip_min_top_clearance": 0.015057924761401609, + "object_projection_between_fingers": 0.8378049197318724, + "object_to_finger_line_xy": 0.009639749358957604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04875002006289396, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5091209358304956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3392635862991061, + -0.12161808556159535, + 1.2455321472335403 + ], + "held_position": [ + 0.3435448048250179, + -0.1176780485942704, + 1.2433041886211202 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006230290759599814, + "max_held_gripper_dist": 0.0062397467610180194, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002227958612420089, + "max_held_gripper_z_dist": 0.0022412813839731704, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08723156993868217, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3435448048250179, + -0.1424906492526119, + 1.2433041886211202 + ], + "held_grasp_finger_b": [ + 0.33509243630597396, + -0.1176780485942704, + 1.2433041886211202 + ], + "held_grasp_midpoint": [ + 0.33931862056549594, + -0.13008434892344115, + 1.2433041886211202 + ], + "held_grasp_object_position": [ + 0.3435448048250179, + -0.1176780485942704, + 1.2433041886211202 + ], + "held_grasp_finger_gap": 0.026212738983403743, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02438814403239844, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04645592775982012, + -0.9987186347347962, + -0.020073251092919353 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003653906459898146, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03713351543257576, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30821853433205565, + -0.12132846880201811, + 0.7611064203292224 + ], + "target_position": [ + 0.31503945622826596, + -0.11974191293120388, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0070030089993813605, + "xy_threshold": 0.08, + "gripper_dist": 0.21075966975532093, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064203292224, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543533367996964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0888065862328352, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182166986694425, + "release_required_pad_clearance": 0.0544032931164176, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8322380993771996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 118, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "04813e761da2feb45df9674e9a14f218d8491f3537ec0f2e2e6e6685cae10c75", + "visual_seed": 5888354654891065132, + "episode_index": 118, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_119_success.json new file mode 100644 index 0000000000000000000000000000000000000000..73c75fa18752cf53c8ecf8daa78dc2260614c279 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_119_success.json @@ -0,0 +1,684 @@ +{ + "episode": 119, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3336729728848767, + -0.1162792651465806, + 1.0531946304729494 + ], + "current_z": 1.0531946304729494, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.1920879436442492, + "gripper_z": 1.0558541439812443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3293666469326113, + -0.12063088027684811, + 1.0558541439812443 + ], + "object_minus_gripper": [ + 0.004306325952265377, + 0.004351615130267508, + -0.002659513508294964 + ], + "object_to_gripper_xy": 0.006122172608570214, + "object_to_gripper_z": -0.002659513508294964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3336729728848767, + -0.14033031882615055, + 1.0531946304729494 + ], + "finger_b": [ + 0.32283985657363345, + -0.1162792651465806, + 1.0531946304729494 + ], + "finger_midpoint": [ + 0.32825641472925504, + -0.12830479198636557, + 1.0531946304729494 + ], + "object_minus_finger_midpoint": [ + 0.0054165581556216424, + 0.012025526839784972, + 0.0 + ], + "finger_gap": 0.026378202973487013, + "fingertip_max_gap": 0.09966479502606793, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013189101486743517, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0531946304729494, + "object_top_z": 1.106497496709998, + "finger_top_clearance": 0.05330286623704872, + "fingertip_min_top_clearance": 0.01599085987111465, + "object_projection_between_fingers": 0.8313383282674113, + "object_to_finger_line_xy": 0.009877392412993955, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052332397513033965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.9019373234739265, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33367969852079615, + -0.12013905306518538, + 1.2478810059334584 + ], + "held_position": [ + 0.33818697333238434, + -0.11599357150851845, + 1.2451752911164884 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00669488134582041, + "max_held_gripper_dist": 0.0067077986532936415, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027057148169700174, + "max_held_gripper_z_dist": 0.0027258792890536565, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08667945282693205, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33818697333238434, + -0.14074091093464872, + 1.2451752911164884 + ], + "held_grasp_finger_b": [ + 0.3290554314698927, + -0.11599357150851845, + 1.2451752911164884 + ], + "held_grasp_midpoint": [ + 0.3336212024011385, + -0.12836724122158358, + 1.2451752911164884 + ], + "held_grasp_object_position": [ + 0.33818697333238434, + -0.11599357150851845, + 1.2451752911164884 + ], + "held_grasp_finger_gap": 0.026378321884807966, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024742088771420364, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0004003464488508343, + -0.9999355537043697, + 0.011345843320652138 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0045629773355307345, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0373455499040277, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30849546144646733, + -0.11164757097297705, + 0.761106571008892 + ], + "target_position": [ + 0.31007395035762303, + -0.1173761827245191, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005942105674131614, + "xy_threshold": 0.08, + "gripper_dist": 0.21537854101842413, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106571008892, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564077362494387, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09293677828418644, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18737621697687848, + "release_required_pad_clearance": 0.05646838914209322, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.291719071867806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 119, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "547acb828b667ecda8cbf39e8d888923ec14ff97e57a4eb9e504f0996565ea39", + "visual_seed": 6499939519715916004, + "episode_index": 119, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9531e4b235a060c3f08ab98530375e203f6bebd0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_11_success.json @@ -0,0 +1,684 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3320865232185388, + -0.11399828341763953, + 1.0514402024105978 + ], + "current_z": 1.0514402024105978, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19033375400047658, + "gripper_z": 1.0545052355620421, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32752731644336364, + -0.1184146233044942, + 1.0545052355620421 + ], + "object_minus_gripper": [ + 0.004559206775175184, + 0.004416339886854678, + -0.003065033151444352 + ], + "object_to_gripper_xy": 0.006347473860917183, + "object_to_gripper_z": -0.003065033151444352, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3320865232185388, + -0.1383430947837468, + 1.0514402024105978 + ], + "finger_b": [ + 0.32130045776645766, + -0.11399828341763953, + 1.0514402024105978 + ], + "finger_midpoint": [ + 0.32669349049249824, + -0.12617068910069315, + 1.0514402024105978 + ], + "object_minus_finger_midpoint": [ + 0.005393032726040581, + 0.012172405683053625, + 0.0 + ], + "finger_gap": 0.026627223820517305, + "fingertip_max_gap": 0.0964857107098682, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313611910258646, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514402024105978, + "object_top_z": 1.1033121269035564, + "finger_top_clearance": 0.05187192449295863, + "fingertip_min_top_clearance": 0.015561577347887573, + "object_projection_between_fingers": 0.8359129432817543, + "object_to_finger_line_xy": 0.009861513561585456, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0507428553549341, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.927364079284364, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3318808877719363, + -0.11777881465092457, + 1.2444967770099105 + ], + "held_position": [ + 0.33658461458107924, + -0.11351398073893419, + 1.2413777336549017 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007074057226396862, + "max_held_gripper_dist": 0.007085605268729168, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003119043355008788, + "max_held_gripper_z_dist": 0.003139822968386996, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08656764921902459, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33658461458107924, + -0.13834856975195908, + 1.2413777336549017 + ], + "held_grasp_finger_b": [ + 0.32733840361450434, + -0.11351398073893419, + 1.2413777336549017 + ], + "held_grasp_midpoint": [ + 0.33196150909779176, + -0.12593127524544664, + 1.2413777336549017 + ], + "held_grasp_object_position": [ + 0.33658461458107924, + -0.11351398073893419, + 1.2413777336549017 + ], + "held_grasp_finger_gap": 0.02649998544686896, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024806367151948814, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.002978261400405884, + -0.9999724485936144, + -0.006799412674775017 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004586881008954476, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03728952886089889, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2956548927873662, + -0.10685650237742406, + 0.7611074890820239 + ], + "target_position": [ + 0.3082114279042737, + -0.11609980307359441, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.015591830614201626, + "xy_threshold": 0.08, + "gripper_dist": 0.20700856950000834, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074890820239, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07727547183805338, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653777601771566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18028341874799117, + "release_required_pad_clearance": 0.05326888800885783, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5536479709140698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "091d0c34cc722dc9650135f9ae04ec396044fb4176b2ddcd334fb10ad32de3a1", + "visual_seed": 9147616169978824295, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_120_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5e197fa27d7f4f8ab765430abf4d2fbf320c7b92 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_120_success.json @@ -0,0 +1,684 @@ +{ + "episode": 120, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33639661702962576, + -0.11745964779566352, + 1.0504152023087703 + ], + "current_z": 1.0504152023087703, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18930857508471455, + "gripper_z": 1.0532259675960265, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33173865180172535, + -0.1219015150126714, + 1.0532259675960265 + ], + "object_minus_gripper": [ + 0.004657965227900407, + 0.004441867217007872, + -0.0028107652872562117 + ], + "object_to_gripper_xy": 0.006436367332421181, + "object_to_gripper_z": -0.0028107652872562117, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33639661702962576, + -0.14190124772067705, + 1.0504152023087703 + ], + "finger_b": [ + 0.3256099623908213, + -0.11745964779566352, + 1.0504152023087703 + ], + "finger_midpoint": [ + 0.3310032897102235, + -0.12968044775817028, + 1.0504152023087703 + ], + "object_minus_finger_midpoint": [ + 0.00539332731940223, + 0.01222079996250676, + 0.0 + ], + "finger_gap": 0.026715982579558314, + "fingertip_max_gap": 0.09626708320565727, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335799128977915, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0504152023087703, + "object_top_z": 1.1023294879250782, + "finger_top_clearance": 0.051914285616307954, + "fingertip_min_top_clearance": 0.015574285684892351, + "object_projection_between_fingers": 0.8369836200442072, + "object_to_finger_line_xy": 0.009868366114771907, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05063354160282864, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6451092020764344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33607681668001677, + -0.12117747125213468, + 1.2432505866975867 + ], + "held_position": [ + 0.3408657602314622, + -0.11687568216446596, + 1.2403863031204794 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007045813658038598, + "max_held_gripper_dist": 0.007054724437746091, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028642835771073294, + "max_held_gripper_z_dist": 0.0028855274936507858, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08664373861870704, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3408657602314622, + -0.14172721154915907, + 1.2403863031204794 + ], + "held_grasp_finger_b": [ + 0.33147931916224604, + -0.11687568216446596, + 1.2403863031204794 + ], + "held_grasp_midpoint": [ + 0.3361725396968541, + -0.12930144685681252, + 1.2403863031204794 + ], + "held_grasp_object_position": [ + 0.3408657602314622, + -0.11687568216446596, + 1.2403863031204794 + ], + "held_grasp_finger_gap": 0.026565085896795678, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02482025484351432, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003273759720018309, + -0.9999780460798361, + -0.005761063760177264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0046530677887273615, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037279393695651176, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31410049224649594, + -0.12656569417869057, + 0.7611062975973669 + ], + "target_position": [ + 0.312446710695656, + -0.1191029309936315, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007643809768313931, + "xy_threshold": 0.08, + "gripper_dist": 0.2156775118016091, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062975973669, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548377987949807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08798815980396733, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18490352883402267, + "release_required_pad_clearance": 0.05399407990198367, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9991824382044543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 120, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "700e7fbe3bd0c3f5c51facc49ed4d47e2db0edb85b6eb250bfdf201a1e1d0aef", + "visual_seed": 1184297081733418552, + "episode_index": 120, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_121_success.json new file mode 100644 index 0000000000000000000000000000000000000000..192a7ccaaa2d7fd9d2f90bd042d6943e67f52f21 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_121_success.json @@ -0,0 +1,684 @@ +{ + "episode": 121, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3354897032209113, + -0.11638213188268534, + 1.0509665271818496 + ], + "current_z": 1.0509665271818496, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1898600787717285, + "gripper_z": 1.053984460663835, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3316761029103271, + -0.1205073660620746, + 1.053984460663835 + ], + "object_minus_gripper": [ + 0.0038136003105841976, + 0.004125234179389259, + -0.0030179334819855352 + ], + "object_to_gripper_xy": 0.005617927052186532, + "object_to_gripper_z": -0.0030179334819855352, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3354897032209113, + -0.1402786994274814, + 1.0509665271818496 + ], + "finger_b": [ + 0.32522570161569464, + -0.11638213188268534, + 1.0509665271818496 + ], + "finger_midpoint": [ + 0.330357702418303, + -0.12833041565508335, + 1.0509665271818496 + ], + "object_minus_finger_midpoint": [ + 0.005132000802608339, + 0.01194828377239801, + 0.0 + ], + "finger_gap": 0.02600760791335663, + "fingertip_max_gap": 0.09545753949765143, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013003803956678302, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509665271818496, + "object_top_z": 1.1015894550683294, + "finger_top_clearance": 0.05062292788647982, + "fingertip_min_top_clearance": 0.015186878365943977, + "object_projection_between_fingers": 0.844248368637173, + "object_to_finger_line_xy": 0.009430871476380217, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050228769748825716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2887943915482984, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33605855879537716, + -0.12006249119345698, + 1.2463982511967637 + ], + "held_position": [ + 0.3400875172730362, + -0.1161059387904173, + 1.2432199125149013 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006479864976164467, + "max_held_gripper_dist": 0.006491426712968093, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003178338681862458, + "max_held_gripper_z_dist": 0.003187469584289282, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08636988566257708, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3400875172730362, + -0.1406286463842376, + 1.2432199125149013 + ], + "held_grasp_finger_b": [ + 0.3313257556877347, + -0.1161059387904173, + 1.2432199125149013 + ], + "held_grasp_midpoint": [ + 0.33570663648038546, + -0.12836729258732746, + 1.2432199125149013 + ], + "held_grasp_object_position": [ + 0.3400875172730362, + -0.1161059387904173, + 1.2432199125149013 + ], + "held_grasp_finger_gap": 0.026040961076920284, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024563402035665864, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004834700197595094, + -0.9999320609840572, + -0.010606558828164081 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004442010457846223, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03748090954272987, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30324783275508005, + -0.11489781258796047, + 0.7611064023192311 + ], + "target_position": [ + 0.31227265305593, + -0.11959821622521204, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0101755184543944, + "xy_threshold": 0.08, + "gripper_dist": 0.2096603712702446, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064023192311, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577866954067113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09197346737452271, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1821285881702835, + "release_required_pad_clearance": 0.055986733687261356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.208913864683434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 121, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b2280cb9ad0e3f4869eff345f4d91ba07386a48ba0258c4c75f96e84a4784ded", + "visual_seed": 6877189915267879834, + "episode_index": 121, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_122_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0f3398fd61c37ea48d7949dd65e08274b74ce9e1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_122_success.json @@ -0,0 +1,684 @@ +{ + "episode": 122, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3350987870934155, + -0.11305287039842632, + 1.050214711826042 + ], + "current_z": 1.050214711826042, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18910826341592102, + "gripper_z": 1.052698615395141, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3309731603140398, + -0.11733923123249558, + 1.052698615395141 + ], + "object_minus_gripper": [ + 0.004125626779375724, + 0.004286360834069261, + -0.0024839035690988887 + ], + "object_to_gripper_xy": 0.005949259241497637, + "object_to_gripper_z": -0.0024839035690988887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3350987870934155, + -0.13690664004910041, + 1.050214711826042 + ], + "finger_b": [ + 0.32425283948818373, + -0.11305287039842632, + 1.050214711826042 + ], + "finger_midpoint": [ + 0.32967581329079965, + -0.12497975522376337, + 1.050214711826042 + ], + "object_minus_finger_midpoint": [ + 0.00542297380261586, + 0.011926884825337047, + 0.0 + ], + "finger_gap": 0.026203757478706242, + "fingertip_max_gap": 0.09241954900718949, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01310187873935311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050214711826042, + "object_top_z": 1.1002414882673484, + "finger_top_clearance": 0.050026776441306264, + "fingertip_min_top_clearance": 0.015008032932391845, + "object_projection_between_fingers": 0.828680080509765, + "object_to_finger_line_xy": 0.00987326859625831, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04870977450359475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.775249107138491, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3358337607485001, + -0.11746993386002642, + 1.2445729272259045 + ], + "held_position": [ + 0.3402411604248254, + -0.11348275914110817, + 1.2420122670217881 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006471453841834819, + "max_held_gripper_dist": 0.00648035428994724, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002560660204116383, + "max_held_gripper_z_dist": 0.002571961227144426, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722970468085381, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3402411604248254, + -0.13839602513623106, + 1.2420122670217881 + ], + "held_grasp_finger_b": [ + 0.3317531023741819, + -0.11348275914110817, + 1.2420122670217881 + ], + "held_grasp_midpoint": [ + 0.3359971313995036, + -0.12593939213866961, + 1.2420122670217881 + ], + "held_grasp_object_position": [ + 0.3402411604248254, + -0.11348275914110817, + 1.2420122670217881 + ], + "held_grasp_finger_gap": 0.0263195355584942, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024420254020245596, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053286084049878085, + -0.9983656658995079, + -0.020654064967007505 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003583650004098556, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03705782768526543, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3098320873113634, + -0.11382374033688034, + 0.7611068481360471 + ], + "target_position": [ + 0.31154971424520844, + -0.11383824527141685, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0017176881780450678, + "xy_threshold": 0.08, + "gripper_dist": 0.21271411985235844, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068481360471, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550275489416472, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08685060248394498, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18387284904645454, + "release_required_pad_clearance": 0.05342530124197249, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8646045751452145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 186, + "max_placed_release_frames": 186 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 122, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9bd267353a434d41f6f8eb0c0603a6ad0e77e12dfae59888e6eed08c8596b95c", + "visual_seed": 8947986281712897611, + "episode_index": 122, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_124_success.json new file mode 100644 index 0000000000000000000000000000000000000000..243e6f6537291ba5fe68c4a1eb32571ab092d41d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_124_success.json @@ -0,0 +1,684 @@ +{ + "episode": 124, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33615647185678366, + -0.11099405595773232, + 1.0523405258452203 + ], + "current_z": 1.0523405258452203, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1912341370397439, + "gripper_z": 1.0547452862819295, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320974879140697, + -0.11529917079900805, + 1.0547452862819295 + ], + "object_minus_gripper": [ + 0.0040589839427139784, + 0.004305114841275728, + -0.00240476043670923 + ], + "object_to_gripper_xy": 0.005916871170118752, + "object_to_gripper_z": -0.00240476043670923, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33615647185678366, + -0.1346916843425113, + 1.0523405258452203 + ], + "finger_b": [ + 0.3251443145315453, + -0.11099405595773232, + 1.0523405258452203 + ], + "finger_midpoint": [ + 0.33065039319416445, + -0.12284287015012181, + 1.0523405258452203 + ], + "object_minus_finger_midpoint": [ + 0.005506078662619207, + 0.011848814192389492, + 0.0 + ], + "finger_gap": 0.026131306894583047, + "fingertip_max_gap": 0.09316247040056883, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013065653447291535, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0523405258452203, + "object_top_z": 1.1028232714144854, + "finger_top_clearance": 0.05048274556926513, + "fingertip_min_top_clearance": 0.015144823670779572, + "object_projection_between_fingers": 0.8224083453285645, + "object_to_finger_line_xy": 0.009986565657086107, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049081235200284415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7905102406648103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3371679842285673, + -0.11569545965051883, + 1.2447287184954006 + ], + "held_position": [ + 0.3415502630614354, + -0.11173557624627584, + 1.2422303729550563 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006413016044199525, + "max_held_gripper_dist": 0.006421967016515376, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024983455403442267, + "max_held_gripper_z_dist": 0.0025101200684598535, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741804351364384, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3415502630614354, + -0.13666274659593913, + 1.2422303729550563 + ], + "held_grasp_finger_b": [ + 0.3332362868922101, + -0.11173557624627584, + 1.2422303729550563 + ], + "held_grasp_midpoint": [ + 0.3373932749768227, + -0.12419916142110748, + 1.2422303729550563 + ], + "held_grasp_object_position": [ + 0.3415502630614354, + -0.11173557624627584, + 1.2422303729550563 + ], + "held_grasp_finger_gap": 0.026277100703532327, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024326366047071134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06539536564333606, + -0.9977089741733777, + -0.01732769477688167 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033401711394508387, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03701337153502302, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31049580743562855, + -0.1131655274857134, + 0.761106324764653 + ], + "target_position": [ + 0.31262358834503423, + -0.11248917924678964, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002232688634522638, + "xy_threshold": 0.08, + "gripper_dist": 0.21440637978333418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106324764653, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557382255265636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594208152971543, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18530489949503326, + "release_required_pad_clearance": 0.052971040764857716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9771785186355391, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 124, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8571a61d448474c5aee5ca62bc3a6dbd6369b2aacc486e397706a00bcd406992", + "visual_seed": 8665866385052139880, + "episode_index": 124, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_125_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0498584080d19cd89901b3fe8abdd10cfb77506d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_125_success.json @@ -0,0 +1,684 @@ +{ + "episode": 125, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3328149793393369, + -0.11337969165618418, + 1.0502606861771002 + ], + "current_z": 1.0502606861771002, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.18915423776697915, + "gripper_z": 1.0527932011263605, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3287993761084739, + -0.11766813305956429, + 1.0527932011263605 + ], + "object_minus_gripper": [ + 0.00401560323086303, + 0.004288441403380111, + -0.0025325149492603227 + ], + "object_to_gripper_xy": 0.0058750148066147355, + "object_to_gripper_z": -0.0025325149492603227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3328149793393369, + -0.13702914765927296, + 1.0502606861771002 + ], + "finger_b": [ + 0.3218144409910122, + -0.11337969165618418, + 1.0502606861771002 + ], + "finger_midpoint": [ + 0.32731471016517455, + -0.12520441965772858, + 1.0502606861771002 + ], + "object_minus_finger_midpoint": [ + 0.005500269174162353, + 0.011824728001544396, + 0.0 + ], + "finger_gap": 0.02608272633746316, + "fingertip_max_gap": 0.09345992392256583, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013041363168731586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502606861771002, + "object_top_z": 1.1008129096706705, + "finger_top_clearance": 0.05055222349357025, + "fingertip_min_top_clearance": 0.015165667048071057, + "object_projection_between_fingers": 0.8221221345638361, + "object_to_finger_line_xy": 0.009974292729718507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922996196128292, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9537724240094465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.333744724629489, + -0.11795229674311174, + 1.2437561834938042 + ], + "held_position": [ + 0.3380850435940853, + -0.1140036967029899, + 1.2411403427034298 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006424362538950567, + "max_held_gripper_dist": 0.006433629326528901, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026158407903744685, + "max_held_gripper_z_dist": 0.00262688371012354, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08747096085121306, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3380850435940853, + -0.13890230122936917, + 1.2411403427034298 + ], + "held_grasp_finger_b": [ + 0.3297786796607933, + -0.1140036967029899, + 1.2411403427034298 + ], + "held_grasp_midpoint": [ + 0.33393186162743926, + -0.12645299896617954, + 1.2411403427034298 + ], + "held_grasp_object_position": [ + 0.3380850435940853, + -0.1140036967029899, + 1.2411403427034298 + ], + "held_grasp_finger_gap": 0.026247593968844626, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02431798266189623, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06341255823073427, + -0.9978354578940204, + -0.017413972208093705 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033625255030803225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03703453095254139, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.28560649981717295, + -0.11470977229877176, + 0.7611066730866712 + ], + "target_position": [ + 0.30936052243447837, + -0.11643548726174877, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.023816626180819565, + "xy_threshold": 0.08, + "gripper_dist": 0.20258088289528225, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066730866712, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551390979181724, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087490400449719, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17621612067111864, + "release_required_pad_clearance": 0.0537452002248595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4979565569318702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 125, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c06141285bbcb86c6557e7b016ee435963313bfcd981e5c0c60e1126ae082cab", + "visual_seed": 8933540261429123731, + "episode_index": 125, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_126_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_126_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6726e148b8529c79c83b4b790aef9b19a76dfb8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_126_success.json @@ -0,0 +1,684 @@ +{ + "episode": 126, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34146521462423557, + -0.1109142499657317, + 1.0504982076557057 + ], + "current_z": 1.0504982076557057, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1893917592455845, + "gripper_z": 1.0533136997776784, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3370769742043187, + -0.11530558553499401, + 1.0533136997776784 + ], + "object_minus_gripper": [ + 0.004388240419916867, + 0.004391335569262314, + -0.0028154921219727402 + ], + "object_to_gripper_xy": 0.006208098103675596, + "object_to_gripper_z": -0.0028154921219727402, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34146521462423557, + -0.13509061852301238, + 1.0504982076557057 + ], + "finger_b": [ + 0.3306478560238808, + -0.1109142499657317, + 1.0504982076557057 + ], + "finger_midpoint": [ + 0.3360565353240582, + -0.12300243424437204, + 1.0504982076557057 + ], + "object_minus_finger_midpoint": [ + 0.005408679300177355, + 0.012088184278640349, + 0.0 + ], + "finger_gap": 0.026486072636503495, + "fingertip_max_gap": 0.09734082693086685, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013243036318251742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0504982076557057, + "object_top_z": 1.102920232354587, + "finger_top_clearance": 0.05242202469888135, + "fingertip_min_top_clearance": 0.015726607409664407, + "object_projection_between_fingers": 0.8331956690715258, + "object_to_finger_line_xy": 0.009874036514496653, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051170413465433426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0932559503252546, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3416413924323929, + -0.11461188187592757, + 1.2426988862219512 + ], + "held_position": [ + 0.3462029685672709, + -0.11041209176724426, + 1.2398109334474436 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006840064694070435, + "max_held_gripper_dist": 0.006854060072725624, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002887952774507596, + "max_held_gripper_z_dist": 0.0029043367890269067, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08768173713038686, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3462029685672709, + -0.13521807858000787, + 1.2398109334474436 + ], + "held_grasp_finger_b": [ + 0.33714327416768297, + -0.11041209176724426, + 1.2398109334474436 + ], + "held_grasp_midpoint": [ + 0.34167312136747696, + -0.12281508517362606, + 1.2398109334474436 + ], + "held_grasp_object_position": [ + 0.3462029685672709, + -0.11041209176724426, + 1.2398109334474436 + ], + "held_grasp_finger_gap": 0.02640861685830833, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02471151619036766, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.010275393650989353, + -0.9999444208330462, + 0.0023604089012655427 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004402260127991013, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0372714000485978, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3221239948576719, + -0.11163294772843733, + 0.7611064520814299 + ], + "target_position": [ + 0.31773132431697065, + -0.11334550938626706, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004714702738350859, + "xy_threshold": 0.08, + "gripper_dist": 0.21969055448469102, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064520814299, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754213851412418, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08882766976606125, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19061655660883972, + "release_required_pad_clearance": 0.05441383488303063, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.854033499400326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 126, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0f4c44400e18082ea58543c310ccd8c49df98c70a248ed3033ce3d37b9ee710f", + "visual_seed": 2069244064609335420, + "episode_index": 126, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_127_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_127_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7bdb10ab4b343321d25d47710a595cfbf3ceed7e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_127_success.json @@ -0,0 +1,684 @@ +{ + "episode": 127, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3352539070457156, + -0.12030254766886393, + 1.0526701452730434 + ], + "current_z": 1.0526701452730434, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1915636372582773, + "gripper_z": 1.0552346776259771, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33106020420840665, + -0.12463029532149907, + 1.0552346776259771 + ], + "object_minus_gripper": [ + 0.004193702837308966, + 0.004327747652635133, + -0.002564532352933746 + ], + "object_to_gripper_xy": 0.00602632087036047, + "object_to_gripper_z": -0.002564532352933746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3352539070457156, + -0.14418982620203594, + 1.0526701452730434 + ], + "finger_b": [ + 0.3243393982127925, + -0.12030254766886393, + 1.0526701452730434 + ], + "finger_midpoint": [ + 0.32979665262925406, + -0.13224618693544993, + 1.0526701452730434 + ], + "object_minus_finger_midpoint": [ + 0.005457254416461554, + 0.011943639266585995, + 0.0 + ], + "finger_gap": 0.026262684150430943, + "fingertip_max_gap": 0.09593151991599017, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013131342075215465, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526701452730434, + "object_top_z": 1.1045879446230202, + "finger_top_clearance": 0.05191779934997687, + "fingertip_min_top_clearance": 0.015575339804993026, + "object_projection_between_fingers": 0.8272849542152448, + "object_to_finger_line_xy": 0.00992731401906312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050465759957995085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3873505909781114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33590383695794773, + -0.12495451626655499, + 1.2468211675041165 + ], + "held_position": [ + 0.3403836671844202, + -0.12092852756250828, + 1.244186165846774 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006574245024132078, + "max_held_gripper_dist": 0.006583123365611687, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026350016573424284, + "max_held_gripper_z_dist": 0.002647106636269214, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08741611597614804, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3403836671844202, + -0.14585244139626755, + 1.244186165846774 + ], + "held_grasp_finger_b": [ + 0.33183722964891493, + -0.12092852756250828, + 1.244186165846774 + ], + "held_grasp_midpoint": [ + 0.3361104484166676, + -0.13339048447938792, + 1.244186165846774 + ], + "held_grasp_object_position": [ + 0.3403836671844202, + -0.12092852756250828, + 1.244186165846774 + ], + "held_grasp_finger_gap": 0.026348492847617484, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02448424974017594, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.048049742375784674, + -0.9988360587359975, + -0.004213078014949412 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003669870926528369, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03706747107819533, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30732362525363105, + -0.11711984746825807, + 0.7611079086962909 + ], + "target_position": [ + 0.3116474855689348, + -0.12128773052209123, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006005582168007375, + "xy_threshold": 0.08, + "gripper_dist": 0.2134426057551986, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079086962909, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579177451930955, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09139254043122429, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18493403953059326, + "release_required_pad_clearance": 0.055696270215612145, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.567563279841697, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 127, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "520011b31dd2249f136e5d95e2d8132edbf16ac50dbb54e65fd04e2b040a413d", + "visual_seed": 8451614920364491266, + "episode_index": 127, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..37420d5a0b5416097af8bbf55ed34643f5bb3087 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_13_success.json @@ -0,0 +1,684 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33255715727650137, + -0.11677207792965581, + 1.0500265400411792 + ], + "current_z": 1.0500265400411792, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.1889199724217685, + "gripper_z": 1.052746692111787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.327776542129776, + -0.12144174821490154, + 1.052746692111787 + ], + "object_minus_gripper": [ + 0.004780615146725342, + 0.004669670285245731, + -0.0027201520706077176 + ], + "object_to_gripper_xy": 0.0066828213917481515, + "object_to_gripper_z": -0.0027201520706077176, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33255715727650137, + -0.14102139103445605, + 1.0500265400411792 + ], + "finger_b": [ + 0.32106967329111824, + -0.11677207792965581, + 1.0500265400411792 + ], + "finger_midpoint": [ + 0.3268134152838098, + -0.12889673448205594, + 1.0500265400411792 + ], + "object_minus_finger_midpoint": [ + 0.0057437419926915645, + 0.012124656552400123, + 0.0 + ], + "finger_gap": 0.0268326568637746, + "fingertip_max_gap": 0.09784238408826954, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013416328431887307, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0500265400411792, + "object_top_z": 1.1028252588881742, + "finger_top_clearance": 0.05279871884699494, + "fingertip_min_top_clearance": 0.015839615654098447, + "object_projection_between_fingers": 0.8167168737239943, + "object_to_finger_line_xy": 0.010381513741339877, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05142119204413477, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.24304754961319, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33273628092457247, + -0.12219574686820364, + 1.2433995477322104 + ], + "held_position": [ + 0.3378548570570856, + -0.11791408710295682, + 1.2405929217549476 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007239446204366255, + "max_held_gripper_dist": 0.007247575208067874, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028066259772627777, + "max_held_gripper_z_dist": 0.002823952343642855, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08738166945307152, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3378548570570856, + -0.143248994096134, + 1.2405929217549476 + ], + "held_grasp_finger_b": [ + 0.32891853705923024, + -0.11791408710295682, + 1.2405929217549476 + ], + "held_grasp_midpoint": [ + 0.33338669705815793, + -0.1305815405995454, + 1.2405929217549476 + ], + "held_grasp_object_position": [ + 0.3378548570570856, + -0.11791408710295682, + 1.2405929217549476 + ], + "held_grasp_finger_gap": 0.026864759955320804, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02490915524391451, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.044741803166796434, + -0.99897672097671, + 0.006609235659629897 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003897834253772416, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036865845377758256, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3020829102513597, + -0.11996867269192762, + 0.7611074985981003 + ], + "target_position": [ + 0.30830935846336566, + -0.11973000029783033, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0062310209314763495, + "xy_threshold": 0.08, + "gripper_dist": 0.21128013312310756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611074985981003, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558151882375783, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09000992048652416, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1823343822758468, + "release_required_pad_clearance": 0.05500496024326208, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.082591739506198, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb4e8f04d21d253fcd41c7065deb1fb950848e3c25bc1b0aea4df4df23a47bc1", + "visual_seed": 5995497372517573318, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aae1a216167faa3bed242a5b64a8f89193709846 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_14_success.json @@ -0,0 +1,684 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33698072711699134, + -0.11786673153490985, + 1.0506538630851976 + ], + "current_z": 1.0506538630851976, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18954723586114186, + "gripper_z": 1.05324863171558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33286615403367453, + -0.12218225922635433, + 1.05324863171558 + ], + "object_minus_gripper": [ + 0.004114573083316808, + 0.004315527691444471, + -0.002594768630382438 + ], + "object_to_gripper_xy": 0.005962674811993291, + "object_to_gripper_z": -0.002594768630382438, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33698072711699134, + -0.14163595791758568, + 1.0506538630851976 + ], + "finger_b": [ + 0.32600191955988733, + -0.11786673153490985, + 1.0506538630851976 + ], + "finger_midpoint": [ + 0.33149132333843934, + -0.12975134472624777, + 1.0506538630851976 + ], + "object_minus_finger_midpoint": [ + 0.0054894037785520045, + 0.01188461319133792, + 0.0 + ], + "finger_gap": 0.02618225235167549, + "fingertip_max_gap": 0.09824820473042103, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309112617583775, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506538630851976, + "object_top_z": 1.1036282003334104, + "finger_top_clearance": 0.052974337248212766, + "fingertip_min_top_clearance": 0.01589230117446386, + "object_projection_between_fingers": 0.8241686395405472, + "object_to_finger_line_xy": 0.00996697147103685, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05162410236521052, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.22207005168447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3376732951354713, + -0.12226472132063669, + 1.2440891681291162 + ], + "held_position": [ + 0.34207862894571917, + -0.11825199780997343, + 1.2414193596330763 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006529685548192175, + "max_held_gripper_dist": 0.006538494333564963, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002669808496039927, + "max_held_gripper_z_dist": 0.002682307260592598, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08725078871010104, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34207862894571917, + -0.14310095863441755, + 1.2414193596330763 + ], + "held_grasp_finger_b": [ + 0.3335217676817892, + -0.11825199780997343, + 1.2414193596330763 + ], + "held_grasp_midpoint": [ + 0.3378001983137542, + -0.1306764782221955, + 1.2414193596330763 + ], + "held_grasp_object_position": [ + 0.34207862894571917, + -0.11825199780997343, + 1.2414193596330763 + ], + "held_grasp_finger_gap": 0.026280995581311285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02449074195314923, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03951791836928935, + -0.9991923394096294, + 0.007280315437571572 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037851946455399257, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03713672974859513, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32014852845269315, + -0.12015354917062811, + 0.7611142913419726 + ], + "target_position": [ + 0.3134677961395136, + -0.12106093232494189, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006742071523581899, + "xy_threshold": 0.08, + "gripper_dist": 0.2184414136065162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611142913419726, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07517190151392097, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503936661405591, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18968004456962476, + "release_required_pad_clearance": 0.052519683307027956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.08714390091179752, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "101f0c076daf594ffdf434b142ffba1c67d393b6783a265611dc8e362641cb3d", + "visual_seed": 5590610865883673416, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa23550990ad2383bd7052370d3cb2ea4aa8a60 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_16_success.json @@ -0,0 +1,684 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3394106404248325, + -0.11864950228887304, + 1.0513954233150873 + ], + "current_z": 1.0513954233150873, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.190288736486387, + "gripper_z": 1.0542226900375302, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3351423943848248, + -0.12307293640867364, + 1.0542226900375302 + ], + "object_minus_gripper": [ + 0.004268246040007695, + 0.004423434119800604, + -0.0028272667224429338 + ], + "object_to_gripper_xy": 0.006146925546178147, + "object_to_gripper_z": -0.0028272667224429338, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3394106404248325, + -0.14249441002535365, + 1.0513954233150873 + ], + "finger_b": [ + 0.32824675011066684, + -0.11864950228887304, + 1.0513954233150873 + ], + "finger_midpoint": [ + 0.33382869526774966, + -0.13057195615711334, + 1.0513954233150873 + ], + "object_minus_finger_midpoint": [ + 0.005581945157082824, + 0.011922453868240299, + 0.0 + ], + "finger_gap": 0.026328920826877704, + "fingertip_max_gap": 0.10263262325616027, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013164460413438845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0513954233150873, + "object_top_z": 1.1063383803545548, + "finger_top_clearance": 0.0549429570394675, + "fingertip_min_top_clearance": 0.016482887111840233, + "object_projection_between_fingers": 0.8202102184924684, + "object_to_finger_line_xy": 0.01011062839498225, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.053816311628080135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.555929898451865, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33973551336717606, + -0.12265136102200998, + 1.2466642222813356 + ], + "held_position": [ + 0.34427298186340155, + -0.11851356557392122, + 1.243774557308373 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0067867617595160894, + "max_held_gripper_dist": 0.006796176828549338, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028896649729626134, + "max_held_gripper_z_dist": 0.0029020399393098195, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0869090616038124, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34427298186340155, + -0.14334522046360457, + 1.243774557308373 + ], + "held_grasp_finger_b": [ + 0.33524763014876746, + -0.11851356557392122, + 1.243774557308373 + ], + "held_grasp_midpoint": [ + 0.33976030600608453, + -0.13092939301876289, + 1.243774557308373 + ], + "held_grasp_object_position": [ + 0.34427298186340155, + -0.11851356557392122, + 1.243774557308373 + ], + "held_grasp_finger_gap": 0.026420977615016134, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024675445926487388, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015721268289064314, + -0.999423357502726, + 0.030096415091530264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004333159981724903, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03724063713114244, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3123048957996353, + -0.12384941499530293, + 0.7611108015203334 + ], + "target_position": [ + 0.3158201351005027, + -0.11987577591420372, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005305347763266988, + "xy_threshold": 0.08, + "gripper_dist": 0.21298674683194838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611108015203334, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516932604349101, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09391513492459812, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18381792913159004, + "release_required_pad_clearance": 0.05695756746229906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.41230318659419, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8fba077ac7925f81af42e6500d3ed344f1064985e2775b7666b8ca19e57ffcf6", + "visual_seed": 4908529714360244915, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd7cf58ce995f136304bf95d07c970fd60cd8e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_18_success.json @@ -0,0 +1,684 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3359156299178784, + -0.11323626568905647, + 1.0534623625760444 + ], + "current_z": 1.0534623625760444, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19235591416592324, + "gripper_z": 1.055488357694275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3320661183918535, + -0.11741125315685443, + 1.055488357694275 + ], + "object_minus_gripper": [ + 0.0038495115260248625, + 0.004174987467797958, + -0.00202599511823065 + ], + "object_to_gripper_xy": 0.005678843134412877, + "object_to_gripper_z": -0.00202599511823065, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3359156299178784, + -0.13686214882269276, + 1.0534623625760444 + ], + "finger_b": [ + 0.3251912071804365, + -0.11323626568905647, + 1.0534623625760444 + ], + "finger_midpoint": [ + 0.33055341854915743, + -0.12504920725587462, + 1.0534623625760444 + ], + "object_minus_finger_midpoint": [ + 0.005362211368720948, + 0.011812941566818155, + 0.0 + ], + "finger_gap": 0.025946013121394985, + "fingertip_max_gap": 0.09174521978024766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0129730065606975, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0534623625760444, + "object_top_z": 1.1033466926124462, + "finger_top_clearance": 0.0498843300364018, + "fingertip_min_top_clearance": 0.014965299010920573, + "object_projection_between_fingers": 0.8291533046535997, + "object_to_finger_line_xy": 0.009765429358454395, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837260989012383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7352556965076615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33702531902507593, + -0.11777130441616344, + 1.2452297489648916 + ], + "held_position": [ + 0.34116888056896366, + -0.11390125985829391, + 1.2431199915224738 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006049580449396322, + "max_held_gripper_dist": 0.006058371320611044, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0021097574424178145, + "max_held_gripper_z_dist": 0.002120920755581679, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0874799723779738, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34116888056896366, + -0.1386558264426908, + 1.2431199915224738 + ], + "held_grasp_finger_b": [ + 0.33299010262008666, + -0.11390125985829391, + 1.2431199915224738 + ], + "held_grasp_midpoint": [ + 0.33707949159452516, + -0.12627854315049236, + 1.2431199915224738 + ], + "held_grasp_object_position": [ + 0.34116888056896366, + -0.11390125985829391, + 1.2431199915224738 + ], + "held_grasp_finger_gap": 0.02607069188798748, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0242095307956666, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.059970709508959816, + -0.997796419822826, + -0.02838694400147923 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00335854998169048, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037124997555751375, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3114909845362126, + -0.11666056174140982, + 0.7611079033920497 + ], + "target_position": [ + 0.31262012278330353, + -0.1145614935502898, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0023834933295512808, + "xy_threshold": 0.08, + "gripper_dist": 0.21654274947086888, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611079033920497, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753558689780038, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879369384027716, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18737017513658838, + "release_required_pad_clearance": 0.0539684692013858, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9459896780758124, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5a8f5e3fd29211e98762150b92795597e0ab214010275b16fd8c25a04081373e", + "visual_seed": 7258898092204734123, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1f813cb4bc63b149a3731b122eeab9119c5874 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_1_success.json @@ -0,0 +1,684 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33803755196289687, + -0.11752103819544306, + 1.0504335626323642 + ], + "current_z": 1.0504335626323642, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.18932699501295347, + "gripper_z": 1.0529713224601218, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3338646184000157, + -0.12177649772241035, + 1.0529713224601218 + ], + "object_minus_gripper": [ + 0.004172933562881176, + 0.004255459526967292, + -0.002537759827757613 + ], + "object_to_gripper_xy": 0.00596005958912131, + "object_to_gripper_z": -0.002537759827757613, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33803755196289687, + -0.1415317498583773, + 1.0504335626323642 + ], + "finger_b": [ + 0.32740217722408516, + -0.11752103819544306, + 1.0504335626323642 + ], + "finger_midpoint": [ + 0.332719864593491, + -0.12952639402691019, + 1.0504335626323642 + ], + "object_minus_finger_midpoint": [ + 0.005317687369405855, + 0.012005355831467127, + 0.0 + ], + "finger_gap": 0.026260721056275672, + "fingertip_max_gap": 0.09804541606161357, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013130360528137843, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0504335626323642, + "object_top_z": 1.103270306912052, + "finger_top_clearance": 0.052836744279687764, + "fingertip_min_top_clearance": 0.015851023283906363, + "object_projection_between_fingers": 0.8359817021113191, + "object_to_finger_line_xy": 0.009724139551752222, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05152270803080679, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.073016635579389, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33840543925796257, + -0.12124412867141172, + 1.246037266497873 + ], + "held_position": [ + 0.3427855445430978, + -0.1172032923542835, + 1.2434455867867804 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006498498609338966, + "max_held_gripper_dist": 0.0065074312214589425, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025916797110925316, + "max_held_gripper_z_dist": 0.002606553504312048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08690242162199158, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3427855445430978, + -0.14195947215757249, + 1.2434455867867804 + ], + "held_grasp_finger_b": [ + 0.33392325874661793, + -0.1172032923542835, + 1.2434455867867804 + ], + "held_grasp_midpoint": [ + 0.33835440164485786, + -0.129581382255928, + 1.2434455867867804 + ], + "held_grasp_object_position": [ + 0.3427855445430978, + -0.1172032923542835, + 1.2434455867867804 + ], + "held_grasp_finger_gap": 0.026294648656927547, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024600127335285975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01710695314330061, + -0.9998204181672855, + 0.008153745761756315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004219957565848739, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03726857969458915, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.314011049986747, + -0.11626008315398068, + 0.7611065410426774 + ], + "target_position": [ + 0.3145462143143984, + -0.12114046148191941, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00490963272367747, + "xy_threshold": 0.08, + "gripper_dist": 0.21726187300652472, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065410426774, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553988097219695, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08892701648470684, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18903317463750882, + "release_required_pad_clearance": 0.05446350824235342, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9560711281840364, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e08f64d609f01d4cdfd506dc3ffc7b8cf9685f292e127b13e0135635400d97cf", + "visual_seed": 9046415058294426429, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..701a25a0c7f58caddfcc0df106c9cd7b934c59c9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_20_success.json @@ -0,0 +1,684 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3328999092607659, + -0.11888468331893477, + 1.0529184572493366 + ], + "current_z": 1.0529184572493366, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.191811889629926, + "gripper_z": 1.0555096734447273, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3286064388046715, + -0.12325217072061542, + 1.0555096734447273 + ], + "object_minus_gripper": [ + 0.004293470456094406, + 0.00436748740168065, + -0.002591216195390711 + ], + "object_to_gripper_xy": 0.0061244456697071535, + "object_to_gripper_z": -0.002591216195390711, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3328999092607659, + -0.142869492233915, + 1.0529184572493366 + ], + "finger_b": [ + 0.3219535681301072, + -0.11888468331893477, + 1.0529184572493366 + ], + "finger_midpoint": [ + 0.3274267386954366, + -0.1308770877764249, + 1.0529184572493366 + ], + "object_minus_finger_midpoint": [ + 0.0054731705653293106, + 0.011992404457490127, + 0.0 + ], + "finger_gap": 0.02636462483777961, + "fingertip_max_gap": 0.09411501160821253, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131823124188898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0529184572493366, + "object_top_z": 1.1040075305404737, + "finger_top_clearance": 0.0510890732911371, + "fingertip_min_top_clearance": 0.015326721987341129, + "object_projection_between_fingers": 0.8276168688058368, + "object_to_finger_line_xy": 0.00995826422535769, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04955750580410627, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.946339404153983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33358239145678026, + -0.12406777036078402, + 1.2489609464126923 + ], + "held_position": [ + 0.33818726358986906, + -0.12003880986637858, + 1.2462975187379817 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006673171435381528, + "max_held_gripper_dist": 0.00668253665707965, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026634276747106167, + "max_held_gripper_z_dist": 0.002676267316314984, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08637219647523016, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33818726358986906, + -0.14514807179542435, + 1.2462975187379817 + ], + "held_grasp_finger_b": [ + 0.329702568893988, + -0.12003142996642933, + 1.2462975187379817 + ], + "held_grasp_midpoint": [ + 0.33394491624192857, + -0.13258975088092684, + 1.2462975187379817 + ], + "held_grasp_object_position": [ + 0.33818726358986906, + -0.12003880986637858, + 1.2462975187379817 + ], + "held_grasp_finger_gap": 0.02651104941054454, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457868179429021, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.058266752509068875, + -0.9982647191037065, + -0.00851681541686511 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003505499556599265, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036943900660739895, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3135743483757223, + -0.1199058902951762, + 0.7611063637508476 + ], + "target_position": [ + 0.30913963059706145, + -0.11981850361382311, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0044355786779684565, + "xy_threshold": 0.08, + "gripper_dist": 0.22141043055253026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063637508476, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531818349905756, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08933368039990379, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19222213860674459, + "release_required_pad_clearance": 0.0546668401999519, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.376770863321857, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "010bc837c559c779380cc93ada23397822d192bc6e8d58f80cd00c0b9ab34bf9", + "visual_seed": 5653518105160447141, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b04c3867f4ea4055dbb808c18462c40d440fc053 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_21_success.json @@ -0,0 +1,684 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3413272461475927, + -0.11935364724140204, + 1.0503445921815975 + ], + "current_z": 1.0503445921815975, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18923808416683163, + "gripper_z": 1.0527231637745968, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3372649595200533, + -0.12366228236481251, + 1.0527231637745968 + ], + "object_minus_gripper": [ + 0.00406228662753938, + 0.0043086351234104675, + -0.002378571592999368 + ], + "object_to_gripper_xy": 0.005921698174592454, + "object_to_gripper_z": -0.002378571592999368, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3413272461475927, + -0.14306003490703123, + 1.0503445921815975 + ], + "finger_b": [ + 0.3303163633890741, + -0.11935364724140204, + 1.0503445921815975 + ], + "finger_midpoint": [ + 0.3358218047683334, + -0.13120684107421665, + 1.0503445921815975 + ], + "object_minus_finger_midpoint": [ + 0.0055054413792592904, + 0.011853193832814607, + 0.0 + ], + "finger_gap": 0.026138713726481213, + "fingertip_max_gap": 0.09617215750536509, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013069356863240619, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0503445921815975, + "object_top_z": 1.1025456345233167, + "finger_top_clearance": 0.052201042341719184, + "fingertip_min_top_clearance": 0.015660312702515788, + "object_projection_between_fingers": 0.8225500619433426, + "object_to_finger_line_xy": 0.009986270095218394, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05058607875268255, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3851066118204725, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34235280867714, + -0.12433673332388065, + 1.2436696722231735 + ], + "held_position": [ + 0.34674868019309635, + -0.12038351897374154, + 1.241199033819672 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0064074678464896605, + "max_held_gripper_dist": 0.006417119865625276, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024706384035015905, + "max_held_gripper_z_dist": 0.002482231534343571, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875152488609267, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34674868019309635, + -0.14534292905796878, + 1.241199033819672 + ], + "held_grasp_finger_b": [ + 0.33848630118888867, + -0.12038351897374154, + 1.241199033819672 + ], + "held_grasp_midpoint": [ + 0.3426174906909925, + -0.13286322401585515, + 1.241199033819672 + ], + "held_grasp_object_position": [ + 0.34674868019309635, + -0.12038351897374154, + 1.241199033819672 + ], + "held_grasp_finger_gap": 0.02629142557112102, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02437980097504267, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06396376002365572, + -0.9979520236591154, + 0.0006291886144162983 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033244903543214127, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03700185675472409, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3014395358577268, + -0.11654705597102924, + 0.7611097199754878 + ], + "target_position": [ + 0.3177863945485287, + -0.1209908506358529, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.016940103307836116, + "xy_threshold": 0.08, + "gripper_dist": 0.2059601846652167, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611097199754878, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564921274247247, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09338393565284585, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17902575827842848, + "release_required_pad_clearance": 0.056691967826422926, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.795402361526016, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ca417a53f2179b41f03bde128659e3044c83d9a4c64ef0d5305632c6c93cbaec", + "visual_seed": 5240661909121831172, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..747528bb4d2955517b0c40bf6d7526ec6d2fac0a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_23_success.json @@ -0,0 +1,684 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33536379662945354, + -0.11499527071189325, + 1.0524956217063064 + ], + "current_z": 1.0524956217063064, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.1913892329008302, + "gripper_z": 1.055580004358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3312241703794906, + -0.11914072608568915, + 1.055580004358 + ], + "object_minus_gripper": [ + 0.004139626249962947, + 0.004145455373795903, + -0.003084382651693529 + ], + "object_to_gripper_xy": 0.005858438848832991, + "object_to_gripper_z": -0.003084382651693529, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33536379662945354, + -0.13914327434461574, + 1.0524956217063064 + ], + "finger_b": [ + 0.3250847211173522, + -0.11499527071189325, + 1.0524956217063064 + ], + "finger_midpoint": [ + 0.3302242588734029, + -0.1270692725282545, + 1.0524956217063064 + ], + "object_minus_finger_midpoint": [ + 0.005139537756050638, + 0.012074001816361257, + 0.0 + ], + "finger_gap": 0.02624472276152788, + "fingertip_max_gap": 0.09606146251119216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122361380763942, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524956217063064, + "object_top_z": 1.1041005453358226, + "finger_top_clearance": 0.051604923629516186, + "fingertip_min_top_clearance": 0.01548147708885489, + "object_projection_between_fingers": 0.846600432861275, + "object_to_finger_line_xy": 0.00945786911382872, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05053073125559608, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0760587323623367, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3358359083538678, + -0.11911351327964262, + 1.2475375081766706 + ], + "held_position": [ + 0.3401391863162443, + -0.1151385366889789, + 1.2444002400954393 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066453811878110555, + "max_held_gripper_dist": 0.00665530975035967, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031372680812313813, + "max_held_gripper_z_dist": 0.0031578979104756044, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08687490809284419, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3401391863162443, + -0.1399390719270011, + 1.2444002400954393 + ], + "held_grasp_finger_b": [ + 0.33153226373219363, + -0.1151385366889789, + 1.2444002400954393 + ], + "held_grasp_midpoint": [ + 0.335835725024219, + -0.12753880430799, + 1.2444002400954393 + ], + "held_grasp_object_position": [ + 0.3401391863162443, + -0.1151385366889789, + 1.2444002400954393 + ], + "held_grasp_finger_gap": 0.026251584037162837, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024747301668556487, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.006114053091736382, + -0.9999753881186629, + -0.0034411497672792715 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004227780764950603, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037293976054181464, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3038366491541139, + -0.1124801467777867, + 0.7611122777826648 + ], + "target_position": [ + 0.31184059956646115, + -0.11830799231780942, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009900858843639596, + "xy_threshold": 0.08, + "gripper_dist": 0.2126287542022748, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611122777826648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569317005488428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08846625343325241, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18513419879582302, + "release_required_pad_clearance": 0.05423312671662621, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4840727351772642, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "216f26db815010547579aadc759b7e8facee84430318734eb291c3dba43d9709", + "visual_seed": 5273437865437386042, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..306f37aeedbf3a38e06525de25c970a4afd8386f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_24_success.json @@ -0,0 +1,684 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3375225654059256, + -0.10805875414321992, + 1.0528270359508345 + ], + "current_z": 1.0528270359508345, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1917205875407132, + "gripper_z": 1.0559014048766913, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3331557650837963, + -0.11238529872054674, + 1.0559014048766913 + ], + "object_minus_gripper": [ + 0.004366800322129327, + 0.004326544577326827, + -0.003074368925856774 + ], + "object_to_gripper_xy": 0.006147189035074891, + "object_to_gripper_z": -0.003074368925856774, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3375225654059256, + -0.13225284838258167, + 1.0528270359508345 + ], + "finger_b": [ + 0.3268388909009266, + -0.10805875414321992, + 1.0528270359508345 + ], + "finger_midpoint": [ + 0.33218072815342614, + -0.12015580126290079, + 1.0528270359508345 + ], + "object_minus_finger_midpoint": [ + 0.005341837252499482, + 0.012097047119680876, + 0.0 + ], + "finger_gap": 0.026447969619460082, + "fingertip_max_gap": 0.09383814982156471, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322398480973003, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528270359508345, + "object_top_z": 1.1029871783836862, + "finger_top_clearance": 0.05016014243285172, + "fingertip_min_top_clearance": 0.015048042729855514, + "object_projection_between_fingers": 0.8368238727910763, + "object_to_finger_line_xy": 0.009773220081379121, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04941907491078236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.9667890545117452, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.337738881134125, + -0.11170615991018035, + 1.2465593060442623 + ], + "held_position": [ + 0.34226893720962975, + -0.10755513929277559, + 1.2434257334084742 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006897221011182513, + "max_held_gripper_dist": 0.006907552996346827, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031335726357881732, + "max_held_gripper_z_dist": 0.0031585868873089673, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08666629106804853, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34226893720962975, + -0.132375877788179, + 1.2434257334084742 + ], + "held_grasp_finger_b": [ + 0.3332010235825467, + -0.10755513929277559, + 1.2434257334084742 + ], + "held_grasp_midpoint": [ + 0.33773498039608824, + -0.1199655085404773, + 1.2434257334084742 + ], + "held_grasp_object_position": [ + 0.34226893720962975, + -0.10755513929277559, + 1.2434257334084742 + ], + "held_grasp_finger_gap": 0.026425293129981337, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02478988392117514, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0029280185150663287, + -0.9998266145370355, + -0.018389333076150646 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004503392211387689, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03729875709051437, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3089856015338548, + -0.10407983578943096, + 0.7611064569387352 + ], + "target_position": [ + 0.3138183999266546, + -0.111523759721502, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00887513063632916, + "xy_threshold": 0.08, + "gripper_dist": 0.21231642676147294, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064569387352, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07616620950989186, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08920862295844627, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18456824410593123, + "release_required_pad_clearance": 0.054604311479223136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.246585938704594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af4e97a0a51f1c55d43b6eb0ac136a2bccd07080f22cf39379c73b87efcc5cd0", + "visual_seed": 1608820619114552173, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aed87731d37b3ab62d324c050ceb7002ffdadee0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_25_success.json @@ -0,0 +1,684 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3361511288795653, + -0.11292625965483176, + 1.0533033816881585 + ], + "current_z": 1.0533033816881585, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.1921969928826821, + "gripper_z": 1.055929185859722, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3313460109957581, + -0.11768872991562751, + 1.055929185859722 + ], + "object_minus_gripper": [ + 0.004805117883807164, + 0.004762470260795751, + -0.0026258041715634395 + ], + "object_to_gripper_xy": 0.006765373667599402, + "object_to_gripper_z": -0.0026258041715634395, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3361511288795653, + -0.13705268954898311, + 1.0533033816881585 + ], + "finger_b": [ + 0.3243428534224358, + -0.11292625965483176, + 1.0533033816881585 + ], + "finger_midpoint": [ + 0.33024699115100054, + -0.12498947460190743, + 1.0533033816881585 + ], + "object_minus_finger_midpoint": [ + 0.00590413772856474, + 0.01206321494707567, + 0.0 + ], + "finger_gap": 0.026861124114765683, + "fingertip_max_gap": 0.0988665814672213, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013430562057382836, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0533033816881585, + "object_top_z": 1.1069151622283908, + "finger_top_clearance": 0.0536117805402323, + "fingertip_min_top_clearance": 0.016083534162069674, + "object_projection_between_fingers": 0.8067477388658841, + "object_to_finger_line_xy": 0.010606091121505077, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05193329073361065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4624098968019763, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33670900958842526, + -0.11876819647966164, + 1.2488620865428093 + ], + "held_position": [ + 0.34194969643062095, + -0.11451185782579724, + 1.2461298530864469 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007283290257459837, + "max_held_gripper_dist": 0.007293988915321547, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027322334563624207, + "max_held_gripper_z_dist": 0.0027462100001716117, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08773186678579832, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34194969643062095, + -0.14005724065295633, + 1.2461298530864469 + ], + "held_grasp_finger_b": [ + 0.3331222804654242, + -0.11416783250764112, + 1.2461298530864469 + ], + "held_grasp_midpoint": [ + 0.3375359884480226, + -0.12711253658029872, + 1.2461298530864469 + ], + "held_grasp_object_position": [ + 0.34194969643062095, + -0.11451185782579724, + 1.2461298530864469 + ], + "held_grasp_finger_gap": 0.02735296559310021, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.025232172966819448, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06709058899161152, + -0.997489373192623, + 0.02266722825020673 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003570090313433771, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03685508864927628, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3117392692986334, + -0.11274498690031462, + 0.7611085266940303 + ], + "target_position": [ + 0.31178890595597114, + -0.11643285210190361, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0036881992276506293, + "xy_threshold": 0.08, + "gripper_dist": 0.2164712216180305, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085266940303, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534174817927705, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09150901917870234, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18841913922133435, + "release_required_pad_clearance": 0.05575450958935117, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.686557645619045, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f9babcbbe90a52a517eddd72e303dad05518149a2bae2942aa38d10c685b1a7f", + "visual_seed": 636701234167945501, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a3ba9c2751b43d012e3c3a86e7140949d5f8e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_26_success.json @@ -0,0 +1,684 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.340843206107203, + -0.11700230888146618, + 1.052945969729211 + ], + "current_z": 1.052945969729211, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.19183952131909, + "gripper_z": 1.055141224168213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33701194874853424, + -0.12120054687882219, + 1.055141224168213 + ], + "object_minus_gripper": [ + 0.003831257358668738, + 0.004198237997356011, + -0.0021952544390020368 + ], + "object_to_gripper_xy": 0.005683637499946418, + "object_to_gripper_z": -0.0021952544390020368, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.340843206107203, + -0.14050955818802335, + 1.052945969729211 + ], + "finger_b": [ + 0.32995502621513617, + -0.11700230888146618, + 1.052945969729211 + ], + "finger_midpoint": [ + 0.3353991161611696, + -0.12875593353474477, + 1.052945969729211 + ], + "object_minus_finger_midpoint": [ + 0.005444089946033404, + 0.011753624653278588, + 0.0 + ], + "finger_gap": 0.025906432238396716, + "fingertip_max_gap": 0.09301364448554142, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012953216119198358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052945969729211, + "object_top_z": 1.1029113123035053, + "finger_top_clearance": 0.0499653425742943, + "fingertip_min_top_clearance": 0.01498960277228829, + "object_projection_between_fingers": 0.8233574357468029, + "object_to_finger_line_xy": 0.009879830493915099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900682224277071, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4311655726392054, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34201765727739997, + -0.12172988277302715, + 1.2451084344277565 + ], + "held_position": [ + 0.3461686625181539, + -0.11785972965585151, + 1.2428230794147348 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006118151452415573, + "max_held_gripper_dist": 0.006126779803073359, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022853550130217393, + "max_held_gripper_z_dist": 0.0022953406815493516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08726355217814402, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3461686625181539, + -0.1426189253549963, + 1.2428230794147348 + ], + "held_grasp_finger_b": [ + 0.3380120509649318, + -0.11785972965585151, + 1.2428230794147348 + ], + "held_grasp_midpoint": [ + 0.34209035674154287, + -0.13023932750542389, + 1.2428230794147348 + ], + "held_grasp_object_position": [ + 0.3461686625181539, + -0.11785972965585151, + 1.2428230794147348 + ], + "held_grasp_finger_gap": 0.02606814308113844, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02426818517091504, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05470526255370363, + -0.9981905328344854, + -0.024959855939817643 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034092548213389483, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03713994790806995, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29710005782163174, + -0.11881277592820276, + 0.7611080293997173 + ], + "target_position": [ + 0.31755917450810145, + -0.1182927273643449, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020465725154495604, + "xy_threshold": 0.08, + "gripper_dist": 0.20272152083926823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080293997173, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546371862707696, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08883157750315383, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17568895172685836, + "release_required_pad_clearance": 0.05441578875157692, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.857890840259423, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "97df5969b2c64f705b58737bb88c57c73fcec2df312421ecd95ebeef30679458", + "visual_seed": 562565717019260417, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f398bdbaf7d7254b9331dc992120735b220e729 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_27_success.json @@ -0,0 +1,684 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33671140889579976, + -0.11080649020884736, + 1.0527331064363872 + ], + "current_z": 1.0527331064363872, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.19162659842162133, + "gripper_z": 1.0554219770976556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321939570907284, + -0.1152032477341619, + 1.0554219770976556 + ], + "object_minus_gripper": [ + 0.004517451805071349, + 0.004396757525314543, + -0.0026888706612684388 + ], + "object_to_gripper_xy": 0.00630387559740454, + "object_to_gripper_z": -0.0026888706612684388, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33671140889579976, + -0.13513644242990405, + 1.0527331064363872 + ], + "finger_b": [ + 0.32595911627833307, + -0.11080649020884736, + 1.0527331064363872 + ], + "finger_midpoint": [ + 0.3313352625870664, + -0.12297146631937571, + 1.0527331064363872 + ], + "object_minus_finger_midpoint": [ + 0.005376146308733343, + 0.012164976110528344, + 0.0 + ], + "finger_gap": 0.026599969391157764, + "fingertip_max_gap": 0.0966525960709341, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299984695578882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0527331064363872, + "object_top_z": 1.1050418756233156, + "finger_top_clearance": 0.052308769186928394, + "fingertip_min_top_clearance": 0.01569263075607855, + "object_projection_between_fingers": 0.8366045810913445, + "object_to_finger_line_xy": 0.009834701754835319, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05082629803546705, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5387022002942228, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33687308419866013, + -0.11520218433454922, + 1.2454497865402765 + ], + "held_position": [ + 0.3415766437871919, + -0.11101457616179317, + 1.2426850924349209 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006877722625083857, + "max_held_gripper_dist": 0.006886316745228753, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002764694105355625, + "max_held_gripper_z_dist": 0.0027807570335804943, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08697070932476719, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3415766437871919, + -0.1359777521651601, + 1.2426850924349209 + ], + "held_grasp_finger_b": [ + 0.33263944068886864, + -0.11101457616179317, + 1.2426850924349209 + ], + "held_grasp_midpoint": [ + 0.33710804223803026, + -0.12349616416347663, + 1.2426850924349209 + ], + "held_grasp_object_position": [ + 0.3415766437871919, + -0.11101457616179317, + 1.2426850924349209 + ], + "held_grasp_finger_gap": 0.02651478371391614, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024753384625940636, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.02275023619920218, + -0.9997409025206441, + -0.0007447013419286109 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004183496320202352, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03714023427567765, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3117293611281807, + -0.10843052487653812, + 0.761106960069264 + ], + "target_position": [ + 0.31279588702708894, + -0.11199740001859869, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0037229122702652517, + "xy_threshold": 0.08, + "gripper_dist": 0.21501657105158067, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106960069264, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573813603738905, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09261783079844187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18609293509906585, + "release_required_pad_clearance": 0.056308915399220935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.9284518926137375, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32afc717fb7f55a39d11715d20cf5043fe5743615b07737d485b86042437fc83", + "visual_seed": 1595914364213161080, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aad61ad01a19591285691d93db56206647693cad --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_28_success.json @@ -0,0 +1,684 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.336541428840243, + -0.1187632781636424, + 1.0522800707883264 + ], + "current_z": 1.0522800707883264, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.1911734435642709, + "gripper_z": 1.0552426838394504, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3325101920957684, + -0.12290152344466346, + 1.0552426838394504 + ], + "object_minus_gripper": [ + 0.004031236744474642, + 0.004138245281021052, + -0.0029626130511239968 + ], + "object_to_gripper_xy": 0.00577719167899902, + "object_to_gripper_z": -0.0029626130511239968, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.336541428840243, + -0.1427578790871053, + 1.0522800707883264 + ], + "finger_b": [ + 0.32618321624999297, + -0.1187632781636424, + 1.0522800707883264 + ], + "finger_midpoint": [ + 0.331362322545118, + -0.13076057862537385, + 1.0522800707883264 + ], + "object_minus_finger_midpoint": [ + 0.005179106295125024, + 0.011997300461731447, + 0.0 + ], + "finger_gap": 0.02613490848541584, + "fingertip_max_gap": 0.09672299031292639, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306745424270792, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522800707883264, + "object_top_z": 1.10405241437154, + "finger_top_clearance": 0.05177234358321359, + "fingertip_min_top_clearance": 0.015531703074964109, + "object_projection_between_fingers": 0.8429175476053691, + "object_to_finger_line_xy": 0.00950993103810306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050861495156463196, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.344372009206862, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33701300407449275, + -0.12246181008519998, + 1.2470046052391774 + ], + "held_position": [ + 0.3412141846328176, + -0.11849211112614608, + 1.2439958369968949 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006516219321426234, + "max_held_gripper_dist": 0.006527457237956354, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003008768242282578, + "max_held_gripper_z_dist": 0.003030646411899207, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08686789525119537, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3412141846328176, + -0.14315342203658693, + 1.2439958369968949 + ], + "held_grasp_finger_b": [ + 0.3325229792628957, + -0.11849211112614608, + 1.2439958369968949 + ], + "held_grasp_midpoint": [ + 0.3368685819478566, + -0.1308227665813665, + 1.2439958369968949 + ], + "held_grasp_object_position": [ + 0.3412141846328176, + -0.11849211112614608, + 1.2439958369968949 + ], + "held_grasp_finger_gap": 0.026147988576630296, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024644914655891356, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.001862936070302832, + -0.9999916835494996, + -0.0036279885660781552 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004322855554185796, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037381601582171346, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30378180408846567, + -0.11953266813434932, + 0.7611083340184335 + ], + "target_position": [ + 0.3131753580433458, + -0.11969725788549358, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009394995779106324, + "xy_threshold": 0.08, + "gripper_dist": 0.21162583470449747, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611083340184335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07519154886222397, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878623495336046, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1838889419914536, + "release_required_pad_clearance": 0.0539311747668023, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.865165813070543, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "930f32fcf4c0bffa8844831cbdde82289838f27a5a86c46500549f0ed12dbf2b", + "visual_seed": 8793931404851642237, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9aefd47c52297db2ef321734e9d08be85cfdb36c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_29_success.json @@ -0,0 +1,684 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34139717958894766, + -0.11049899477791203, + 1.051478058405201 + ], + "current_z": 1.051478058405201, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19037155039043496, + "gripper_z": 1.0539590919654709, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3370759497609487, + -0.11486712175584736, + 1.0539590919654709 + ], + "object_minus_gripper": [ + 0.004321229827998985, + 0.00436812697793533, + -0.002481033560269852 + ], + "object_to_gripper_xy": 0.006144392608041463, + "object_to_gripper_z": -0.002481033560269852, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34139717958894766, + -0.13456810753513088, + 1.051478058405201 + ], + "finger_b": [ + 0.3305323373157621, + -0.11049899477791203, + 1.051478058405201 + ], + "finger_midpoint": [ + 0.33596475845235485, + -0.12253355115652145, + 1.051478058405201 + ], + "object_minus_finger_midpoint": [ + 0.005432421136592813, + 0.012034556378609423, + 0.0 + ], + "finger_gap": 0.026407706953480742, + "fingertip_max_gap": 0.09512449457561298, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013203853476740383, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051478058405201, + "object_top_z": 1.1030399739383108, + "finger_top_clearance": 0.05156191553310974, + "fingertip_min_top_clearance": 0.015468574659932887, + "object_projection_between_fingers": 0.8307278665330476, + "object_to_finger_line_xy": 0.009902681600616301, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05006224728780649, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.104783334419109, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34172225728375416, + -0.11453109095653778, + 1.2434566746236102 + ], + "held_position": [ + 0.3462493667161201, + -0.11038020800733282, + 1.2408864179978434 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006658135489227855, + "max_held_gripper_dist": 0.006667976536501246, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025702566257668202, + "max_held_gripper_z_dist": 0.0025848341740737357, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08704620914509702, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3462493667161201, + -0.1351826432549135, + 1.2408864179978434 + ], + "held_grasp_finger_b": [ + 0.33728222567348376, + -0.11038020800733282, + 1.2408864179978434 + ], + "held_grasp_midpoint": [ + 0.34176579619480196, + -0.12278142563112315, + 1.2408864179978434 + ], + "held_grasp_object_position": [ + 0.3462493667161201, + -0.11038020800733282, + 1.2408864179978434 + ], + "held_grasp_finger_gap": 0.026373668927340495, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024516116869715495, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03058315383203873, + -0.9995131557121665, + -0.006174322634289854 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004102927313548754, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03718794818129678, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30974635438785686, + -0.11190778986681857, + 0.7611092179570431 + ], + "target_position": [ + 0.31772578847569444, + -0.11195173731831914, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007979555109192349, + "xy_threshold": 0.08, + "gripper_dist": 0.20999900026813687, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611092179570431, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565212228032164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09006496233647614, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1811528771543728, + "release_required_pad_clearance": 0.05503248116823807, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.13439194286685, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ac1be6a2ac822cfd01e58c6732bae597224ee8e7fefdec327b11a3592d42167a", + "visual_seed": 2929766376748743297, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b00e235accb003066cfa5381fff80494568837b7 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_2_success.json @@ -0,0 +1,684 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.337335559319046, + -0.11694971498015, + 1.049765676172592 + ], + "current_z": 1.049765676172592, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18865916815782613, + "gripper_z": 1.0520236205289928, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33330543278411673, + -0.12114309815533009, + 1.0520236205289928 + ], + "object_minus_gripper": [ + 0.00403012653492929, + 0.004193383175180088, + -0.0022579443564008095 + ], + "object_to_gripper_xy": 0.005816045249258692, + "object_to_gripper_z": -0.0022579443564008095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.337335559319046, + -0.1408290138690787, + 1.049765676172592 + ], + "finger_b": [ + 0.3267418996032756, + -0.11694971498015, + 1.049765676172592 + ], + "finger_midpoint": [ + 0.3320387294611608, + -0.12888936442461435, + 1.049765676172592 + ], + "object_minus_finger_midpoint": [ + 0.00529682985788521, + 0.01193964944446435, + 0.0 + ], + "finger_gap": 0.02612367779621255, + "fingertip_max_gap": 0.09425432151366461, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013061838898106274, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049765676172592, + "object_top_z": 1.1008285413415604, + "finger_top_clearance": 0.05106286516896841, + "fingertip_min_top_clearance": 0.015318859550690539, + "object_projection_between_fingers": 0.835553967479461, + "object_to_finger_line_xy": 0.009683520393026803, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04962716075683231, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.995146206529115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33817894264991827, + -0.12149301258670171, + 1.2432933697438446 + ], + "held_position": [ + 0.34246616987675255, + -0.11757780295835277, + 1.240960703040355 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006257037452180874, + "max_held_gripper_dist": 0.006267002887792183, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023326667034895276, + "max_held_gripper_z_dist": 0.0023452838493573935, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08745170529307095, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34246616987675255, + -0.14242710661615984, + 1.240960703040355 + ], + "held_grasp_finger_b": [ + 0.3341464319596116, + -0.11757780295835277, + 1.240960703040355 + ], + "held_grasp_midpoint": [ + 0.33830630091818203, + -0.1300024547872563, + 1.240960703040355 + ], + "held_grasp_object_position": [ + 0.34246616987675255, + -0.11757780295835277, + 1.240960703040355 + ], + "held_grasp_finger_gap": 0.02620507453314753, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02443215463808115, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.046683446589734036, + -0.9988428255605684, + -0.011561385759662368 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003578237633744997, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03711577871035905, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3163125736927245, + -0.12066927666521411, + 0.7611062581462018 + ], + "target_position": [ + 0.3138702244658525, + -0.11906646651155381, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002921313083987867, + "xy_threshold": 0.08, + "gripper_dist": 0.21627709738296505, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062581462018, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529027061074765, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08771968848011351, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18700726521130645, + "release_required_pad_clearance": 0.053859844240056756, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7291673126680904, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "781a8d5e382eeb588ba43a999f9b81e38f94563640f00b4e4f408f6c6f427d16", + "visual_seed": 7947452974826970517, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e8f5af9e8f27dcb2262d50c8bde15e8b3b47e76 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_30_success.json @@ -0,0 +1,684 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3381269531955796, + -0.11514726548891331, + 1.0498649414978516 + ], + "current_z": 1.0498649414978516, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1887584930877303, + "gripper_z": 1.0523344951733833, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3340507368922778, + -0.11949067545554827, + 1.0523344951733833 + ], + "object_minus_gripper": [ + 0.004076216303301794, + 0.004343409966634959, + -0.0024695536755316994 + ], + "object_to_gripper_xy": 0.005956571957893839, + "object_to_gripper_z": -0.0024695536755316994, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381269531955796, + -0.13878681847781513, + 1.0498649414978516 + ], + "finger_b": [ + 0.32697824367226735, + -0.11514726548891331, + 1.0498649414978516 + ], + "finger_midpoint": [ + 0.3325525984339235, + -0.12696704198336423, + 1.0498649414978516 + ], + "object_minus_finger_midpoint": [ + 0.005574354761656131, + 0.011819776494450915, + 0.0 + ], + "finger_gap": 0.026136606312799876, + "fingertip_max_gap": 0.09742098893487852, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068303156399943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498649414978516, + "object_top_z": 1.102250570159822, + "finger_top_clearance": 0.052385628661970385, + "fingertip_min_top_clearance": 0.01571568859859113, + "object_projection_between_fingers": 0.8180505245818205, + "object_to_finger_line_xy": 0.010083578042997345, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05121049446743926, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.2170820033317478, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33896108101120037, + -0.11961513099985398, + 1.2453875572791495 + ], + "held_position": [ + 0.3433816804183815, + -0.11563349343098571, + 1.2428425573632627 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006470870221265269, + "max_held_gripper_dist": 0.006479592718601735, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025449999158868586, + "max_held_gripper_z_dist": 0.002559261270377089, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873934224637685, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3433816804183815, + -0.14057873936253626, + 1.2428425573632627 + ], + "held_grasp_finger_b": [ + 0.3348497477895299, + -0.11563349343098571, + 1.2428425573632627 + ], + "held_grasp_midpoint": [ + 0.3391157141039557, + -0.12810611639676098, + 1.2428425573632627 + ], + "held_grasp_object_position": [ + 0.3433816804183815, + -0.11563349343098571, + 1.2428425573632627 + ], + "held_grasp_finger_gap": 0.02636397483250206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02452040120045295, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0465658065552394, + -0.9988956450124503, + 0.00625428133528938 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036813806984412178, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037062753145531147, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3090961714892877, + -0.11371506926607053, + 0.7611064720547646 + ], + "target_position": [ + 0.3146364206163001, + -0.11587861675263035, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005947713688129327, + "xy_threshold": 0.08, + "gripper_dist": 0.21175883084895597, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064720547646, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584812845938632, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08727035210744809, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18295733352081509, + "release_required_pad_clearance": 0.053635176053724046, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.280075757781007, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b46a06c8facecfc773e69d2d653a34e66e6725c9edf6a94f4ce3b68797463226", + "visual_seed": 5763462485022981833, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..949990bcd3e682e686ab0b9447bc64e7efea8ac8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_31_success.json @@ -0,0 +1,684 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3316384592137106, + -0.11418094627868526, + 1.0488448580411913 + ], + "current_z": 1.0488448580411913, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.18773817121249103, + "gripper_z": 1.0521132277690723, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32732525126181417, + -0.11844154332446621, + 1.0521132277690723 + ], + "object_minus_gripper": [ + 0.004313207951896436, + 0.004260597045780953, + -0.0032683697278810264 + ], + "object_to_gripper_xy": 0.006062709792066583, + "object_to_gripper_z": -0.0032683697278810264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3316384592137106, + -0.1384135259838383, + 1.0488448580411913 + ], + "finger_b": [ + 0.3211567480096752, + -0.11418094627868526, + 1.0488448580411913 + ], + "finger_midpoint": [ + 0.3263976036116929, + -0.1262972361312618, + 1.0488448580411913 + ], + "object_minus_finger_midpoint": [ + 0.005240855602017702, + 0.012116289852576526, + 0.0 + ], + "finger_gap": 0.02640235195832743, + "fingertip_max_gap": 0.0939631039073158, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320117597916372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0488448580411913, + "object_top_z": 1.0991483909834843, + "finger_top_clearance": 0.05030353294229295, + "fingertip_min_top_clearance": 0.01509105988268785, + "object_projection_between_fingers": 0.842391677347865, + "object_to_finger_line_xy": 0.009620313470522878, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0494815519536579, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.892384683343282, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3315892562049243, + -0.11786057900345596, + 1.242427673628667 + ], + "held_position": [ + 0.3360325505549183, + -0.11373132311380395, + 1.2391137903581502 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006911978097008562, + "max_held_gripper_dist": 0.006925773621178634, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0033138832705168486, + "max_held_gripper_z_dist": 0.0033328059089456907, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0864641869049599, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3360325505549183, + -0.13846902686124898, + 1.2391137903581502 + ], + "held_grasp_finger_b": [ + 0.32702849010430785, + -0.11373132311380395, + 1.2391137903581502 + ], + "held_grasp_midpoint": [ + 0.33153052032961305, + -0.12610017498752646, + 1.2391137903581502 + ], + "held_grasp_object_position": [ + 0.3360325505549183, + -0.11373132311380395, + 1.2391137903581502 + ], + "held_grasp_finger_gap": 0.026325407713739285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024746579926698677, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0015190418742632855, + -0.9998059090019731, + -0.01964272986431892 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004527334059736059, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0373606376516086, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3025372446431225, + -0.12576161106035055, + 0.761107063524423 + ], + "target_position": [ + 0.3080167720993135, + -0.11609858676568766, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.011108521938691778, + "xy_threshold": 0.08, + "gripper_dist": 0.2119774512435682, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761107063524423, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549370513580178, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08720325079631878, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18126362367611795, + "release_required_pad_clearance": 0.053601625398159394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2099957848513134, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f3959a0bc4854d6e3eba1b2f857f977c9f25f74c15dee477d6d9e1e80f9de2d0", + "visual_seed": 2135146082472410424, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cf80b4c057a186b0163e52881896feaace2f1b10 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_32_success.json @@ -0,0 +1,684 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33640250486692275, + -0.1176230838527355, + 1.05024774806652 + ], + "current_z": 1.05024774806652, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18914124005175414, + "gripper_z": 1.0527397141744714, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321017868421493, + -0.12193001239749163, + 1.0527397141744714 + ], + "object_minus_gripper": [ + 0.004300718024773442, + 0.004306928544756131, + -0.0024919661079514377 + ], + "object_to_gripper_xy": 0.00608652684363146, + "object_to_gripper_z": -0.0024919661079514377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33640250486692275, + -0.14175768637245761, + 1.05024774806652 + ], + "finger_b": [ + 0.3257380994858836, + -0.1176230838527355, + 1.05024774806652 + ], + "finger_midpoint": [ + 0.3310703021764032, + -0.12969038511259656, + 1.05024774806652 + ], + "object_minus_finger_midpoint": [ + 0.0053322026905195385, + 0.012067301259861066, + 0.0 + ], + "finger_gap": 0.026385764740028166, + "fingertip_max_gap": 0.09873548431814308, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013192882370014078, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.05024774806652, + "object_top_z": 1.1032900794763578, + "finger_top_clearance": 0.05304233140983783, + "fingertip_min_top_clearance": 0.015912699422951333, + "object_projection_between_fingers": 0.8366444406912018, + "object_to_finger_line_xy": 0.009754547102063287, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05186774215907154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.43945462066047, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3364754212219023, + -0.12161054185364138, + 1.2437941736713265 + ], + "held_position": [ + 0.340955810336507, + -0.11748935518915984, + 1.241249334705873 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006598050583457113, + "max_held_gripper_dist": 0.006608642529580085, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002544838965453433, + "max_held_gripper_z_dist": 0.0025674387321108494, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08707713085379686, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.340955810336507, + -0.14222205471888288, + 1.241249334705873 + ], + "held_grasp_finger_b": [ + 0.33195173535830935, + -0.11748935518915984, + 1.241249334705873 + ], + "held_grasp_midpoint": [ + 0.3364537728474082, + -0.12985570495402138, + 1.241249334705873 + ], + "held_grasp_object_position": [ + 0.340955810336507, + -0.11748935518915984, + 1.241249334705873 + ], + "held_grasp_finger_gap": 0.026320710329331302, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024689949851485253, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.004659186293145455, + -0.9999677343948664, + 0.006543863712205167 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004445109419593396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03733332348163156, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3183994487544796, + -0.12244163316045875, + 0.761106482258155 + ], + "target_position": [ + 0.31278584057703124, + -0.11974256439829829, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006228769457347553, + "xy_threshold": 0.08, + "gripper_dist": 0.22000529487956091, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106482258155, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530785926596424, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666418551041309, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19013568295449707, + "release_required_pad_clearance": 0.05333209275520655, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6813976901108363, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6b5733ff949d4938b30042a06eaeafd3e7603e2545d0f84f104831b61110a72b", + "visual_seed": 8992809520986609007, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d386052bda7e86fb0dfa951b5bc9cd28a9c9514 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_33_success.json @@ -0,0 +1,684 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.333974836776766, + -0.11846631536711781, + 1.0524370898049442 + ], + "current_z": 1.0524370898049442, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19133064139482314, + "gripper_z": 1.0548639074992336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32989853164598654, + -0.12266887073855143, + 1.0548639074992336 + ], + "object_minus_gripper": [ + 0.004076305130779445, + 0.004202555371433617, + -0.0024268176942894293 + ], + "object_to_gripper_xy": 0.005854719051259793, + "object_to_gripper_z": -0.0024268176942894293, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.333974836776766, + -0.14240642785191993, + 1.0524370898049442 + ], + "finger_b": [ + 0.3234147985413017, + -0.11846631536711781, + 1.0524370898049442 + ], + "finger_midpoint": [ + 0.32869481765903386, + -0.13043637160951888, + 1.0524370898049442 + ], + "object_minus_finger_midpoint": [ + 0.0052800191177321265, + 0.011970056242401064, + 0.0 + ], + "finger_gap": 0.026165691149278785, + "fingertip_max_gap": 0.09420219442868974, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013082845574639387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524370898049442, + "object_top_z": 1.1032960922747712, + "finger_top_clearance": 0.050859002469827, + "fingertip_min_top_clearance": 0.015257700740948066, + "object_projection_between_fingers": 0.8371204504087914, + "object_to_finger_line_xy": 0.00966183166187053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04960109721434487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1774441786848135, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3345868477071148, + -0.12283456138269616, + 1.2481514478558666 + ], + "held_position": [ + 0.3388977165112743, + -0.11888059472909368, + 1.2456685142540658 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006354714896470813, + "max_held_gripper_dist": 0.006364744982718798, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002482933601800852, + "max_held_gripper_z_dist": 0.0024962728524178246, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871963704588787, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3388977165112743, + -0.1437006001026624, + 1.2456685142540658 + ], + "held_grasp_finger_b": [ + 0.3303719661926283, + -0.11888059472909368, + 1.2456685142540658 + ], + "held_grasp_midpoint": [ + 0.3346348413519513, + -0.13129059741587804, + 1.2456685142540658 + ], + "held_grasp_object_position": [ + 0.3388977165112743, + -0.11888059472909368, + 1.2456685142540658 + ], + "held_grasp_finger_gap": 0.02624349605597303, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02450182432780195, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.035256154621397744, + -0.999291060819516, + -0.013205276502917137 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0038262495931982933, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03716875273469647, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3101626735670546, + -0.12251528931782843, + 0.7611065271697992 + ], + "target_position": [ + 0.3105151674296714, + -0.1197585777232252, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0027791564797618592, + "xy_threshold": 0.08, + "gripper_dist": 0.21430430931390007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065271697992, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527214171826176, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08893649337219232, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1850273914851615, + "release_required_pad_clearance": 0.054468246686096164, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9655581127652173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13294d41d1838c2979c23ca2ad26ad395a344c3d60f67222424e09e9f530e59e", + "visual_seed": 6309603587278293698, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4fab7b4ada8e4541f1205773a90fce7c6c582279 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_35_success.json @@ -0,0 +1,684 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3381889877748369, + -0.11850979531075251, + 1.0529479532435158 + ], + "current_z": 1.0529479532435158, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19184150483339468, + "gripper_z": 1.0552734174539904, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3340762138210706, + -0.12281739458502568, + 1.0552734174539904 + ], + "object_minus_gripper": [ + 0.004112773953766302, + 0.004307599274273169, + -0.002325464210474637 + ], + "object_to_gripper_xy": 0.005955696525386198, + "object_to_gripper_z": -0.002325464210474637, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3381889877748369, + -0.14230357590429696, + 1.0529479532435158 + ], + "finger_b": [ + 0.32725053044680275, + -0.11850979531075251, + 1.0529479532435158 + ], + "finger_midpoint": [ + 0.33271975911081986, + -0.13040668560752472, + 1.0529479532435158 + ], + "object_minus_finger_midpoint": [ + 0.005469228664017056, + 0.011896890296772211, + 0.0 + ], + "finger_gap": 0.026187665868705384, + "fingertip_max_gap": 0.0923994086687013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013093832934352668, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0529479532435158, + "object_top_z": 1.1030711615662359, + "finger_top_clearance": 0.0501232083227201, + "fingertip_min_top_clearance": 0.01503696249681603, + "object_projection_between_fingers": 0.8255308795421009, + "object_to_finger_line_xy": 0.009938543396726196, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048699704334350655, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.566212493663317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3390555333740327, + -0.12337781435163987, + 1.2448734227630207 + ], + "held_position": [ + 0.34346735579737553, + -0.11939123601354776, + 1.2424589395459824 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006417687523260647, + "max_held_gripper_dist": 0.006426086105137147, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002414483217038299, + "max_held_gripper_z_dist": 0.002424779780114905, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729919143966121, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34346735579737553, + -0.14429022815559334, + 1.2424589395459824 + ], + "held_grasp_finger_b": [ + 0.3350862563605798, + -0.11939123601354776, + 1.2424589395459824 + ], + "held_grasp_midpoint": [ + 0.3392768060789777, + -0.13184073208457053, + 1.2424589395459824 + ], + "held_grasp_object_position": [ + 0.34346735579737553, + -0.11939123601354776, + 1.2424589395459824 + ], + "held_grasp_finger_gap": 0.02627170792809453, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02431552018268975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06295797622790203, + -0.9977583470073028, + -0.02268422814515869 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034104033608704587, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03703483291964472, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30054560143692644, + -0.12144716672100965, + 0.7611065284794528 + ], + "target_position": [ + 0.3146224060397756, + -0.1191804353472452, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014258137990200658, + "xy_threshold": 0.08, + "gripper_dist": 0.2057165756444713, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065284794528, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530154296211489, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655640591367157, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1777070753246861, + "release_required_pad_clearance": 0.05327820295683579, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5756606536824314, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "400a81bd9c51ff120078db41c2ae9068483ae8a4b746d263462ad02ebdbe8fcb", + "visual_seed": 3580072777568333353, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..854540f9c9ac760f7b61d2f2e4618d6616418a7b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_36_success.json @@ -0,0 +1,684 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33787856189557847, + -0.1142955508270619, + 1.0520325854959784 + ], + "current_z": 1.0520325854959784, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.19092613708585704, + "gripper_z": 1.054678042861978, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337248655674913, + -0.1185096512551214, + 1.054678042861978 + ], + "object_minus_gripper": [ + 0.004153696328087153, + 0.004214100428059503, + -0.002645457365999526 + ], + "object_to_gripper_xy": 0.005917079989634751, + "object_to_gripper_z": -0.002645457365999526, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33787856189557847, + -0.13835916567463521, + 1.0520325854959784 + ], + "finger_b": [ + 0.3273824994907433, + -0.1142955508270619, + 1.0520325854959784 + ], + "finger_midpoint": [ + 0.33263053069316084, + -0.12632735825084856, + 1.0520325854959784 + ], + "object_minus_finger_midpoint": [ + 0.0052480312024176246, + 0.012031807423786664, + 0.0 + ], + "finger_gap": 0.026253092875669824, + "fingertip_max_gap": 0.09491938981415463, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013126546437834929, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520325854959784, + "object_top_z": 1.1033078529306253, + "finger_top_clearance": 0.05127526743464683, + "fingertip_min_top_clearance": 0.01538258023039405, + "object_projection_between_fingers": 0.8401576490957486, + "object_to_finger_line_xy": 0.009620702761468604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049959694907077315, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.289272936849037, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33834181287806364, + -0.11810578879651994, + 1.2470233317685702 + ], + "held_position": [ + 0.34267544378286247, + -0.11408531287432017, + 1.2443221211434228 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006499317064232573, + "max_held_gripper_dist": 0.006510071395974522, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027012106251473877, + "max_held_gripper_z_dist": 0.0027165139247369297, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08691119557070064, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34267544378286247, + -0.13883615606274063, + 1.2443221211434228 + ], + "held_grasp_finger_b": [ + 0.33388649844186324, + -0.11408531287432017, + 1.2443221211434228 + ], + "held_grasp_midpoint": [ + 0.3382809711123629, + -0.1264607344685304, + 1.2443221211434228 + ], + "held_grasp_object_position": [ + 0.34267544378286247, + -0.11408531287432017, + 1.2443221211434228 + ], + "held_grasp_finger_gap": 0.02626499188548993, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02456135788923416, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.020869030413808453, + -0.9997548151586798, + -0.0074022386223109304 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004136274623648839, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037256154357851366, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3112824411005987, + -0.11564360215820184, + 0.7611063497062297 + ], + "target_position": [ + 0.31437298096053873, + -0.11882142027770878, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004432828061919916, + "xy_threshold": 0.08, + "gripper_dist": 0.21262730862217855, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063497062297, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589119837783537, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09068042129476654, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18387137522223596, + "release_required_pad_clearance": 0.05534021064738327, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.7985659382099275, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b19a56da089269ad3cafd831de6818ffb7ec41cd587fc39e2de21e66920d9f0", + "visual_seed": 873695027618239834, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8039d43c7876830f1f0133b803d6c09ba7643844 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_37_success.json @@ -0,0 +1,684 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33997614876685683, + -0.11742317735922432, + 1.0505305350398668 + ], + "current_z": 1.0505305350398668, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.18942408662974553, + "gripper_z": 1.0528735570031305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3357524608567718, + -0.12170864733624802, + 1.0528735570031305 + ], + "object_minus_gripper": [ + 0.004223687910085039, + 0.004285469977023698, + -0.002343021963263636 + ], + "object_to_gripper_xy": 0.006017041838459329, + "object_to_gripper_z": -0.002343021963263636, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33997614876685683, + -0.14144985836790125, + 1.0505305350398668 + ], + "finger_b": [ + 0.32925905926321763, + -0.11742317735922432, + 1.0505305350398668 + ], + "finger_midpoint": [ + 0.33461760401503726, + -0.12943651786356278, + 1.0505305350398668 + ], + "object_minus_finger_midpoint": [ + 0.005358544751819572, + 0.012013340504338457, + 0.0 + ], + "finger_gap": 0.02630850447520212, + "fingertip_max_gap": 0.09455159403294625, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013154252237601043, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0505305350398668, + "object_top_z": 1.1016883014939158, + "finger_top_clearance": 0.051157766454049014, + "fingertip_min_top_clearance": 0.01534732993621472, + "object_projection_between_fingers": 0.8340560614877346, + "object_to_finger_line_xy": 0.009787560942055414, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049775797016473125, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1820366880065447, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3405764244490097, + -0.12212274550475079, + 1.244193536294589 + ], + "held_position": [ + 0.34504888200273126, + -0.11811339254355697, + 1.241774863577379 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006475165283624074, + "max_held_gripper_dist": 0.00648453826742441, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024186727172099687, + "max_held_gripper_z_dist": 0.0024318963777567593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08750903869714868, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34504888200273126, + -0.1430485211528307, + 1.241774863577379 + ], + "held_grasp_finger_b": [ + 0.3365040727554628, + -0.11811339254355697, + 1.241774863577379 + ], + "held_grasp_midpoint": [ + 0.340776477379097, + -0.13058095684819385, + 1.241774863577379 + ], + "held_grasp_object_position": [ + 0.34504888200273126, + -0.11811339254355697, + 1.241774863577379 + ], + "held_grasp_finger_gap": 0.026358573630476022, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457303372529799, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.039915396773072265, + -0.999156794703157, + -0.009615648650085795 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037732830318121633, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03709266375599113, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.32027744550153964, + -0.11868155360691787, + 0.7611063928577506 + ], + "target_position": [ + 0.31632311999167706, + -0.12103839851406953, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004603412663917567, + "xy_threshold": 0.08, + "gripper_dist": 0.21905060719821254, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063928577506, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754094440181269, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09106459860746989, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19042631574593652, + "release_required_pad_clearance": 0.05553229930373495, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.212919988331981, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "07e0d257ff7c7bb842bfe596dbb91a115ad5a4fac23ff58d76d59ddc40588faf", + "visual_seed": 3503396783036901522, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..19998fa4164aa8890646d21c77bc471b296e21bc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_38_success.json @@ -0,0 +1,684 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3324772363196081, + -0.11159485311204481, + 1.0520102930283153 + ], + "current_z": 1.0520102930283153, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.19090390422283898, + "gripper_z": 1.0547498584734432, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3282238305663955, + -0.11588690526263233, + 1.0547498584734432 + ], + "object_minus_gripper": [ + 0.004253405753212647, + 0.004292052150587519, + -0.0027395654451278784 + ], + "object_to_gripper_xy": 0.0060426130245801275, + "object_to_gripper_z": -0.0027395654451278784, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3324772363196081, + -0.13565648437445857, + 1.0520102930283153 + ], + "finger_b": [ + 0.32178171921998533, + -0.11159485311204481, + 1.0520102930283153 + ], + "finger_midpoint": [ + 0.32712947776979673, + -0.12362566874325169, + 1.0520102930283153 + ], + "object_minus_finger_midpoint": [ + 0.005347758549811399, + 0.012030815631206879, + 0.0 + ], + "finger_gap": 0.02633165746846732, + "fingertip_max_gap": 0.09687499391676344, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01316582873423366, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0520102930283153, + "object_top_z": 1.1040893747971932, + "finger_top_clearance": 0.05207908176887788, + "fingertip_min_top_clearance": 0.01562372453066338, + "object_projection_between_fingers": 0.8350139675724243, + "object_to_finger_line_xy": 0.00977346712489136, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05093749695838172, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.046992392565692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3326346993805833, + -0.11516841471229658, + 1.2439267669563734 + ], + "held_position": [ + 0.3370582271844416, + -0.11105190062650525, + 1.2411252508138828 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006660463883744221, + "max_held_gripper_dist": 0.0066697215042197805, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002801516142490579, + "max_held_gripper_z_dist": 0.0028137644531767148, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08640277713321597, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3370582271844416, + -0.13571857775514046, + 1.2411252508138828 + ], + "held_grasp_finger_b": [ + 0.32809043953546146, + -0.11105190062650525, + 1.2411252508138828 + ], + "held_grasp_midpoint": [ + 0.33257433335995157, + -0.12338523919082285, + 1.2411252508138828 + ], + "held_grasp_object_position": [ + 0.3370582271844416, + -0.11105190062650525, + 1.2411252508138828 + ], + "held_grasp_finger_gap": 0.026246260226659653, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024588176711496292, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.008624178555546409, + -0.99995294805215, + -0.00444130904762141 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004377705941554034, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037348821912413885, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3125066286508649, + -0.12129145997190974, + 0.7611183267293058 + ], + "target_position": [ + 0.3089069536341064, + -0.11413430536295398, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008011399523352461, + "xy_threshold": 0.08, + "gripper_dist": 0.21870770551627003, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611183267293058, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520842936460338, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08892418605252848, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1884290490354965, + "release_required_pad_clearance": 0.054462093026264244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8983177533105278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6089b7df5ded63db0f10d7f7a1e8e9effc5cfd4d513b981abf176eb9cc8667cd", + "visual_seed": 2634943380255687891, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29e557f782891568b2e41fe8d5d5f46ae7b063fc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_39_success.json @@ -0,0 +1,684 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33358716773045255, + -0.10830961987233716, + 1.0528607604232372 + ], + "current_z": 1.0528607604232372, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.19175419280382644, + "gripper_z": 1.0551049394940073, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3297288605646345, + -0.11248352834612824, + 1.0551049394940073 + ], + "object_minus_gripper": [ + 0.0038583071658180312, + 0.00417390847379108, + -0.002244179070770125 + ], + "object_to_gripper_xy": 0.005684016725290993, + "object_to_gripper_z": -0.002244179070770125, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33358716773045255, + -0.1319347949206215, + 1.0528607604232372 + ], + "finger_b": [ + 0.32285395922802107, + -0.10830961987233716, + 1.0528607604232372 + ], + "finger_midpoint": [ + 0.3282205634792368, + -0.12012220739647933, + 1.0528607604232372 + ], + "object_minus_finger_midpoint": [ + 0.0053666042512157675, + 0.011812587524142174, + 0.0 + ], + "finger_gap": 0.02594900115262135, + "fingertip_max_gap": 0.09220475598421193, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012974500576310692, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0528607604232372, + "object_top_z": 1.1027645038268443, + "finger_top_clearance": 0.04990374340360715, + "fingertip_min_top_clearance": 0.014971123021082111, + "object_projection_between_fingers": 0.8289126729056882, + "object_to_finger_line_xy": 0.009772011192579628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04860237799210597, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8474937574633428, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3346823679849281, + -0.11260486963110111, + 1.2470206348060855 + ], + "held_position": [ + 0.33883821678488435, + -0.10874326622637463, + 1.2446940267359805 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006131571186520663, + "max_held_gripper_dist": 0.006140737343306088, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002326608070104985, + "max_held_gripper_z_dist": 0.0023362225374037315, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08716857085889364, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33883821678488435, + -0.13355949988637064, + 1.2446940267359805 + ], + "held_grasp_finger_b": [ + 0.33062248841196046, + -0.10874326622637463, + 1.2446940267359805 + ], + "held_grasp_midpoint": [ + 0.33473035259842243, + -0.12115138305637263, + 1.2446940267359805 + ], + "held_grasp_object_position": [ + 0.33883821678488435, + -0.10874326622637463, + 1.2446940267359805 + ], + "held_grasp_finger_gap": 0.02614084248384481, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0242911220165786, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05813950070845872, + -0.9980878122559029, + -0.02098850836997701 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033897263290638175, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03709703071624765, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.296806185474643, + -0.10965079000078463, + 0.7611064525944442 + ], + "target_position": [ + 0.3102810274469015, + -0.11180467574505676, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01364590011603186, + "xy_threshold": 0.08, + "gripper_dist": 0.20750432753342246, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064525944442, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535923760600384, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08593482772781606, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1804630265792231, + "release_required_pad_clearance": 0.05296741386390803, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9699429819070428, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62cfc372a9924bff80240009337f65957db53824081887b6e7b75b3b83fd41f6", + "visual_seed": 4065668949988878514, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e3db3842f6d1af5ecfd52275a533b1627670318d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_3_success.json @@ -0,0 +1,684 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3352537669218596, + -0.11031295190051367, + 1.0524800192770272 + ], + "current_z": 1.0524800192770272, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.1913735112622611, + "gripper_z": 1.0551790190982777, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33095151762685987, + -0.11462480728134397, + 1.0551790190982777 + ], + "object_minus_gripper": [ + 0.004302249294999727, + 0.004311855380830301, + -0.0026989998212505473 + ], + "object_to_gripper_xy": 0.006091095617499439, + "object_to_gripper_z": -0.0026989998212505473, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3352537669218596, + -0.13447343281140156, + 1.0524800192770272 + ], + "finger_b": [ + 0.3246215534198244, + -0.11031295190051367, + 1.0524800192770272 + ], + "finger_midpoint": [ + 0.32993766017084203, + -0.12239319235595761, + 1.0524800192770272 + ], + "object_minus_finger_midpoint": [ + 0.005316106751017569, + 0.012080240455443939, + 0.0 + ], + "finger_gap": 0.026396454341411794, + "fingertip_max_gap": 0.09415809224385999, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319822717070588, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524800192770272, + "object_top_z": 1.1032879295993738, + "finger_top_clearance": 0.05080791032234666, + "fingertip_min_top_clearance": 0.015242373096703964, + "object_projection_between_fingers": 0.8377606536002632, + "object_to_finger_line_xy": 0.009731586978839189, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049579046121929995, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.259446575668163, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33520311191244306, + -0.11377056780840754, + 1.2460833652677485 + ], + "held_position": [ + 0.3396440897542041, + -0.10961087514376551, + 1.2433339851898275 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006677156435800982, + "max_held_gripper_dist": 0.006690785367495706, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027493800779210265, + "max_held_gripper_z_dist": 0.002758890039533668, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08681578340436451, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3396440897542041, + -0.1342710863715678, + 1.2433339851898275 + ], + "held_grasp_finger_b": [ + 0.33042500041444867, + -0.10961087514376551, + 1.2433339851898275 + ], + "held_grasp_midpoint": [ + 0.3350345450843264, + -0.12194098075766666, + 1.2433339851898275 + ], + "held_grasp_object_position": [ + 0.3396440897542041, + -0.10961087514376551, + 1.2433339851898275 + ], + "held_grasp_finger_gap": 0.026327127189540035, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457832331608938, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00861263614679339, + -0.9998991391597652, + -0.011293095508475126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004505338238861328, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037351687749962274, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3132465470264112, + -0.10861146289977297, + 0.7611063455622705 + ], + "target_position": [ + 0.31168301399803533, + -0.11254477629242797, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0042326811568627965, + "xy_threshold": 0.08, + "gripper_dist": 0.21416295489314455, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063455622705, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075190930953749, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08855893745368008, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18646564737455099, + "release_required_pad_clearance": 0.054279468726840044, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5782891013674996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eba97c4aca803a07c0663ddf3207dac44aecbb4fd1af89ba155c4f37246ed670", + "visual_seed": 8029508855182090835, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..50fb6a6a02f60b317f2272100c69c097919aeb96 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_40_success.json @@ -0,0 +1,684 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3392278589085682, + -0.11096111620622652, + 1.0512207582456323 + ], + "current_z": 1.0512207582456323, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.19011430983551103, + "gripper_z": 1.0533788533655144, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33517769285457355, + -0.11517313225029534, + 1.0533788533655144 + ], + "object_minus_gripper": [ + 0.004050166053994664, + 0.004212016044068817, + -0.0021580951198820753 + ], + "object_to_gripper_xy": 0.00584336582976146, + "object_to_gripper_z": -0.0021580951198820753, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3392278589085682, + -0.13486393392554538, + 1.0512207582456323 + ], + "finger_b": [ + 0.3286153952935729, + -0.11096111620622652, + 1.0512207582456323 + ], + "finger_midpoint": [ + 0.33392162710107054, + -0.12291252506588596, + 1.0512207582456323 + ], + "object_minus_finger_midpoint": [ + 0.005306231807497674, + 0.011951408859659438, + 0.0 + ], + "finger_gap": 0.026152802505708308, + "fingertip_max_gap": 0.09259464980564572, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013076401252854171, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0512207582456323, + "object_top_z": 1.1013965146883082, + "finger_top_clearance": 0.05017575644267591, + "fingertip_min_top_clearance": 0.015052726932802773, + "object_projection_between_fingers": 0.8353370240650309, + "object_to_finger_line_xy": 0.009699449352962016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04879732490282286, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6282258868595556, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3400320386000887, + -0.11535173961187604, + 1.2437749050180502 + ], + "held_position": [ + 0.3443261587888989, + -0.11140545925103408, + 1.241535567597675 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0062471776799293485, + "max_held_gripper_dist": 0.006256082605488772, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002239337420375298, + "max_held_gripper_z_dist": 0.0022517191264921355, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700140822947755, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3443261587888989, + -0.13622870085585614, + 1.241535567597675 + ], + "held_grasp_finger_b": [ + 0.33590740150259624, + -0.11140545925103408, + 1.241535567597675 + ], + "held_grasp_midpoint": [ + 0.34011678014574753, + -0.1238170800534451, + 1.241535567597675 + ], + "held_grasp_object_position": [ + 0.3443261587888989, + -0.11140545925103408, + 1.241535567597675 + ], + "held_grasp_finger_gap": 0.026211997215340975, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024390269220237647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04747985670175392, + -0.99866048940935, + -0.020564291873499396 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00362447263082543, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03712539407041574, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3016449895923594, + -0.10979452335938668, + 0.7611070539333076 + ], + "target_position": [ + 0.31574797825168033, + -0.11315566466328769, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014497984687180618, + "xy_threshold": 0.08, + "gripper_dist": 0.20614486852577912, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611070539333076, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759087066813832, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08863007927459625, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17852265537503245, + "release_required_pad_clearance": 0.054315039637298126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.651269383487459, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "87a16324a0c371a4cbadc1328f9567cfe73c2572400903dfb8e13fc268c76e83", + "visual_seed": 6329909553246086693, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8bdb3b00788c9bdd8524bca776a77918092c34df --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_42_success.json @@ -0,0 +1,684 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3342215065709468, + -0.11105416595813253, + 1.0493645579467417 + ], + "current_z": 1.0493645579467417, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18825810953662048, + "gripper_z": 1.0519821092138009, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3301590922071984, + -0.11539998748763919, + 1.0519821092138009 + ], + "object_minus_gripper": [ + 0.004062414363748379, + 0.0043458215295066605, + -0.002617551267059204 + ], + "object_to_gripper_xy": 0.005948896975836172, + "object_to_gripper_z": -0.002617551267059204, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3342215065709468, + -0.13469468474425175, + 1.0493645579467417 + ], + "finger_b": [ + 0.32308997683125096, + -0.11105416595813253, + 1.0493645579467417 + ], + "finger_midpoint": [ + 0.3286557417010989, + -0.12287442535119214, + 1.0493645579467417 + ], + "object_minus_finger_midpoint": [ + 0.005565764869847889, + 0.011820259393059612, + 0.0 + ], + "finger_gap": 0.02613015657860834, + "fingertip_max_gap": 0.09586243121645263, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01306507828930416, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0493645579467417, + "object_top_z": 1.1010850587576533, + "finger_top_clearance": 0.05172050081091162, + "fingertip_min_top_clearance": 0.015516150243273501, + "object_projection_between_fingers": 0.8185212924783111, + "object_to_finger_line_xy": 0.010070936128448567, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05043121560822632, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.595729088494671, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3349590538915317, + -0.11547765980554109, + 1.2438641177552607 + ], + "held_position": [ + 0.3393546911023114, + -0.11148103111767291, + 1.2411700063750395 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0065232586554972655, + "max_held_gripper_dist": 0.006532438436822679, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026941113802212424, + "max_held_gripper_z_dist": 0.0027077773146229056, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08679411953707977, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3393546911023114, + -0.13639408513451465, + 1.2411700063750395 + ], + "held_grasp_finger_b": [ + 0.33079232702074807, + -0.11148103111767291, + 1.2411700063750395 + ], + "held_grasp_midpoint": [ + 0.3350735090615298, + -0.12393755812609378, + 1.2411700063750395 + ], + "held_grasp_object_position": [ + 0.3393546911023114, + -0.11148103111767291, + 1.2411700063750395 + ], + "held_grasp_finger_gap": 0.026343392703129957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024423546841059407, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.053068540078049765, + -0.9985904974021532, + -0.0008651890571969021 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003614115967747671, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03705408448814006, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3002206739354174, + -0.11558228678286148, + 0.7611064486119982 + ], + "target_position": [ + 0.3107770003127055, + -0.11384097701870208, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010698980618665744, + "xy_threshold": 0.08, + "gripper_dist": 0.20990520580066666, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064486119982, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578607049590554, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778416853117442, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18081905484859462, + "release_required_pad_clearance": 0.05389208426558721, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.792954493449676, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe7122744c9d70043ca9e62964f101ef75d878ed5fc6321169777e6505225abe", + "visual_seed": 5592244534810512133, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a780657cf7dd32e252b0352026d9590258dc2b49 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_43_success.json @@ -0,0 +1,684 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.338486107393826, + -0.10994216261205465, + 1.050626852871836 + ], + "current_z": 1.050626852871836, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18952040446171492, + "gripper_z": 1.0527515490883548, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33463935085625907, + -0.11407435047153645, + 1.0527515490883548 + ], + "object_minus_gripper": [ + 0.003846756537566942, + 0.004132187859481801, + -0.0021246962165186734 + ], + "object_to_gripper_xy": 0.0056455745823930795, + "object_to_gripper_z": -0.0021246962165186734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.338486107393826, + -0.13363062910394308, + 1.050626852871836 + ], + "finger_b": [ + 0.3279005639160891, + -0.10994216261205465, + 1.050626852871836 + ], + "finger_midpoint": [ + 0.33319333565495757, + -0.12178639585799886, + 1.050626852871836 + ], + "object_minus_finger_midpoint": [ + 0.00529277173886844, + 0.011844233245944205, + 0.0 + ], + "finger_gap": 0.025946043541480047, + "fingertip_max_gap": 0.09298534275082668, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012973021770740016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050626852871836, + "object_top_z": 1.1006813061354106, + "finger_top_clearance": 0.050054453263574494, + "fingertip_min_top_clearance": 0.015016335979072315, + "object_projection_between_fingers": 0.8335499095891282, + "object_to_finger_line_xy": 0.009664490525112783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899267137541334, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.227035022844655, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33955122616992084, + -0.11436587521593626, + 1.2446354844638423 + ], + "held_position": [ + 0.3436760279063278, + -0.11052867717028977, + 1.2424340154692146 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006048515846096963, + "max_held_gripper_dist": 0.006057634323758166, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022014689946276977, + "max_held_gripper_z_dist": 0.0022137156239439015, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08713805088770465, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3436760279063278, + -0.13532979238174844, + 1.2424340154692146 + ], + "held_grasp_finger_b": [ + 0.3354757991424618, + -0.11052867717028977, + 1.2424340154692146 + ], + "held_grasp_midpoint": [ + 0.33957591352439476, + -0.12292923477601911, + 1.2424340154692146 + ], + "held_grasp_object_position": [ + 0.3436760279063278, + -0.11052867717028977, + 1.2424340154692146 + ], + "held_grasp_finger_gap": 0.026121620690756957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024392757036197935, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0460377427634079, + -0.9987565820098878, + -0.01912632042962903 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003532965096116817, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03714635152956414, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31604792045372593, + -0.11623642913125866, + 0.761106595975624 + ], + "target_position": [ + 0.31519458622704066, + -0.11408091355466712, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0023182809802440424, + "xy_threshold": 0.08, + "gripper_dist": 0.21702176604524495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106595975624, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562186478322026, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08567721138684635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1871858885158213, + "release_required_pad_clearance": 0.05283860569342318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7209039606984593, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "75b518e6da0eeac41507fc0371b29124c4336ad88b42a3a49ee29c3c7bac0ead", + "visual_seed": 4388666012357961521, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b683e2156142e86e9714d648812d61cd6610db1c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_44_success.json @@ -0,0 +1,684 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34100262781714047, + -0.11490091994174496, + 1.052410814316373 + ], + "current_z": 1.052410814316373, + "required_z": 0.8611064484101215, + "initial_z": 0.7611064484101215, + "lift_margin": 0.19130436590625155, + "gripper_z": 1.0548640384174235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33687503933704244, + -0.11910694669505782, + 1.0548640384174235 + ], + "object_minus_gripper": [ + 0.004127588480098032, + 0.004206026753312858, + -0.002453224101050422 + ], + "object_to_gripper_xy": 0.005893016859862314, + "object_to_gripper_z": -0.002453224101050422, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34100262781714047, + -0.13892418539886006, + 1.052410814316373 + ], + "finger_b": [ + 0.33048977453865497, + -0.11490091994174496, + 1.052410814316373 + ], + "finger_midpoint": [ + 0.3357462011778977, + -0.12691255267030252, + 1.052410814316373 + ], + "object_minus_finger_midpoint": [ + 0.0052564266392427506, + 0.012011632728557556, + 0.0 + ], + "finger_gap": 0.026222840564629583, + "fingertip_max_gap": 0.0978798475346491, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013111420282314799, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.052410814316373, + "object_top_z": 1.1047864180928642, + "finger_top_clearance": 0.052375603776491086, + "fingertip_min_top_clearance": 0.015712681132947326, + "object_projection_between_fingers": 0.8392756279484086, + "object_to_finger_line_xy": 0.00963103384617356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05143992376732455, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.5849539993514377, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3414684562669862, + -0.11847580962346424, + 1.2440885342582158 + ], + "held_position": [ + 0.345763707359527, + -0.11444299555002745, + 1.241571138971092 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0064070313196141005, + "max_held_gripper_dist": 0.0064181987690487855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025173952871238026, + "max_held_gripper_z_dist": 0.0025412397863240344, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695645429002637, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.345763707359527, + -0.13906328314710237, + 1.241571138971092 + ], + "held_grasp_finger_b": [ + 0.336965427825385, + -0.11444299555002745, + 1.241571138971092 + ], + "held_grasp_midpoint": [ + 0.34136456759245604, + -0.1267531393485649, + 1.241571138971092 + ], + "held_grasp_object_position": [ + 0.345763707359527, + -0.11444299555002745, + 1.241571138971092 + ], + "held_grasp_finger_gap": 0.026145138823949334, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024633207076781214, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0014726216432307748, + -0.9999984948527212, + -0.0009174299908543128 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004417277611012225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03741660306856963, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.312362181747372, + -0.11832045803821868, + 0.7611124484777484 + ], + "target_position": [ + 0.3175322533388491, + -0.1194809605174802, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0052987174170142865, + "xy_threshold": 0.08, + "gripper_dist": 0.21173909392942508, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611124484777484, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570412506597703, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08781432104522278, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18312772563904722, + "release_required_pad_clearance": 0.053907160522611394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.813609611314938, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "bd8c01aff30155c3103e72eff341ec9666c903c8d5124c40afa7177ea8abe223", + "visual_seed": 6554761073546431786, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e401a12ad06fc8f29f4878213ed4136320f404b6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_45_success.json @@ -0,0 +1,684 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3414383000780342, + -0.11001598043930809, + 1.0500314088188536 + ], + "current_z": 1.0500314088188536, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.18892472199015353, + "gripper_z": 1.052659604066793, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33700385581722947, + -0.11445758827896203, + 1.052659604066793 + ], + "object_minus_gripper": [ + 0.0044344442608047485, + 0.004441607839653944, + -0.0026281952479394466 + ], + "object_to_gripper_xy": 0.0062763186744667085, + "object_to_gripper_z": -0.0026281952479394466, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3414383000780342, + -0.13411287402619407, + 1.0500314088188536 + ], + "finger_b": [ + 0.33039054658889033, + -0.11001598043930809, + 1.0500314088188536 + ], + "finger_midpoint": [ + 0.3359144233334623, + -0.12206442723275107, + 1.0500314088188536 + ], + "object_minus_finger_midpoint": [ + 0.005523876744571943, + 0.012048446793442982, + 0.0 + ], + "finger_gap": 0.026508737006779436, + "fingertip_max_gap": 0.09994197529773288, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013254368503389711, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0500314088188536, + "object_top_z": 1.1037891624004192, + "finger_top_clearance": 0.05375775358156565, + "fingertip_min_top_clearance": 0.01612732607446966, + "object_projection_between_fingers": 0.8263119748161936, + "object_to_finger_line_xy": 0.010042596149864311, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05247098764886644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7738711519542165, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34186298192200193, + -0.1144848488992443, + 1.2425150619373482 + ], + "held_position": [ + 0.34655530502146326, + -0.11033187822799098, + 1.2397987293287667 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00682960645326448, + "max_held_gripper_dist": 0.00683807590095413, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027163326085815065, + "max_held_gripper_z_dist": 0.00273864507172239, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08700385446520541, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34655530502146326, + -0.1353413006719034, + 1.2397987293287667 + ], + "held_grasp_finger_b": [ + 0.3377165802416738, + -0.11033187822799098, + 1.2397987293287667 + ], + "held_grasp_midpoint": [ + 0.34213594263156855, + -0.12283658944994719, + 1.2397987293287667 + ], + "held_grasp_object_position": [ + 0.34655530502146326, + -0.11033187822799098, + 1.2397987293287667 + ], + "held_grasp_finger_gap": 0.026525351396558997, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02479217842742062, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.023399663371907898, + -0.9995833237640276, + 0.016900728000312722 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004131000576273661, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03711733767190074, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3107026381153174, + -0.11317289020582895, + 0.7611066854193745 + ], + "target_position": [ + 0.3175833981985218, + -0.11397603176184343, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006927473975527933, + "xy_threshold": 0.08, + "gripper_dist": 0.21055944394949433, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066854193745, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537842061519451, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08608696304376272, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1822846987340897, + "release_required_pad_clearance": 0.05304348152188136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.116962298883782, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "62d06308358b5ebf4b4a0b6db01b70afba75522ae6169a3f405fa62a3de73d61", + "visual_seed": 1734762733831546099, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a949c57232c21e33176598ecbeeb6e82ac8c597e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_46_success.json @@ -0,0 +1,684 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33807261690639145, + -0.11065250238597066, + 1.049914359872067 + ], + "current_z": 1.049914359872067, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.1888077922526561, + "gripper_z": 1.053371203794863, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33364111445970934, + -0.11514039608562851, + 1.053371203794863 + ], + "object_minus_gripper": [ + 0.004431502446682112, + 0.004487893699657852, + -0.0034568439227959935 + ], + "object_to_gripper_xy": 0.006307091547962356, + "object_to_gripper_z": -0.0034568439227959935, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33807261690639145, + -0.13481678338051714, + 1.049914359872067 + ], + "finger_b": [ + 0.32706473832680844, + -0.11065250238597066, + 1.049914359872067 + ], + "finger_midpoint": [ + 0.3325686776165999, + -0.1227346428832439, + 1.049914359872067 + ], + "object_minus_finger_midpoint": [ + 0.005503939289791537, + 0.012082140497273242, + 0.0 + ], + "finger_gap": 0.026553453010978497, + "fingertip_max_gap": 0.09842487710030381, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01327672650548926, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049914359872067, + "object_top_z": 1.1021397130583959, + "finger_top_clearance": 0.052225353186328816, + "fingertip_min_top_clearance": 0.015667605955898643, + "object_projection_between_fingers": 0.8281437814493295, + "object_to_finger_line_xy": 0.010017434306601009, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05171243855015191, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7730751130316276, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338220794292477, + -0.11483742016330832, + 1.2428355916556082 + ], + "held_position": [ + 0.34285482331746986, + -0.11057425551607161, + 1.2393086487098186 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0072172102890784825, + "max_held_gripper_dist": 0.007228807872295185, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0035269429457895907, + "max_held_gripper_z_dist": 0.0035427797459059995, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0871239040077609, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34285482331746986, + -0.13553557699519125, + 1.2393086487098186 + ], + "held_grasp_finger_b": [ + 0.3338241601126309, + -0.11057425551607161, + 1.2393086487098186 + ], + "held_grasp_midpoint": [ + 0.3383394917150504, + -0.12305491625563143, + 1.2393086487098186 + ], + "held_grasp_object_position": [ + 0.34285482331746986, + -0.11057425551607161, + 1.2393086487098186 + ], + "held_grasp_finger_gap": 0.02654468775297973, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024926584883033683, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003780887383786853, + -0.9999762562447645, + -0.005761235743859672 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004468690675262454, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03722281370799982, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3031374646029906, + -0.12289943945411394, + 0.7611110708788194 + ], + "target_position": [ + 0.3143082504472878, + -0.11460532848024552, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013913257462794044, + "xy_threshold": 0.08, + "gripper_dist": 0.20951303075954908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611110708788194, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554421820126811, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09499831581918187, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17973147353619578, + "release_required_pad_clearance": 0.05749915790959094, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.690800700416014, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 401, + "max_placed_release_frames": 401 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d45ebe0a6e7c1729b61e66fc97e27607b177921df4d55eddd96d91bd0b0e0d87", + "visual_seed": 4401040550606679244, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cb43268b57a32ef22a7c7e7984b0cb9ba2f328ea --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_47_success.json @@ -0,0 +1,684 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33342426010669207, + -0.11261878058309382, + 1.0522631352526597 + ], + "current_z": 1.0522631352526597, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.19115656763324895, + "gripper_z": 1.054881738476255, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32904182548999655, + -0.11706662271068534, + 1.054881738476255 + ], + "object_minus_gripper": [ + 0.004382434616695519, + 0.004447842127591514, + -0.002618603223595306 + ], + "object_to_gripper_xy": 0.006244119854838551, + "object_to_gripper_z": -0.002618603223595306, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33342426010669207, + -0.13659934003336519, + 1.0522631352526597 + ], + "finger_b": [ + 0.32227201157603363, + -0.11261878058309382, + 1.0522631352526597 + ], + "finger_midpoint": [ + 0.32784813584136285, + -0.1246090603082295, + 1.0522631352526597 + ], + "object_minus_finger_midpoint": [ + 0.005576124265329219, + 0.01199027972513568, + 0.0 + ], + "finger_gap": 0.02644692569728233, + "fingertip_max_gap": 0.09435666606777401, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223462848641164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522631352526597, + "object_top_z": 1.1032152362498886, + "finger_top_clearance": 0.05095210099722891, + "fingertip_min_top_clearance": 0.015285630299168705, + "object_projection_between_fingers": 0.8221825048118886, + "object_to_finger_line_xy": 0.010112221055664599, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04967833303388701, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3834285886418867, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3339670873282571, + -0.11731387220349318, + 1.2467622611072515 + ], + "held_position": [ + 0.33865470060204556, + -0.11319909914079394, + 1.2440632995990881 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006796283453819506, + "max_held_gripper_dist": 0.0068054530432277585, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026989615081634, + "max_held_gripper_z_dist": 0.002712347954974881, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0872264866737302, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33865470060204556, + -0.13826470786098236, + 1.2440632995990881 + ], + "held_grasp_finger_b": [ + 0.3299352683605514, + -0.11319909914079394, + 1.2440632995990881 + ], + "held_grasp_midpoint": [ + 0.33429498448129846, + -0.12573190350088814, + 1.2440632995990881 + ], + "held_grasp_object_position": [ + 0.33865470060204556, + -0.11319909914079394, + 1.2440632995990881 + ], + "held_grasp_finger_gap": 0.0265389004882944, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02462075402451188, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04759412859864579, + -0.9988086897628928, + -0.010770337834487442 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003760750988372249, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03699487927843027, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.29688517045702406, + -0.11568905172453833, + 0.7611064808091622 + ], + "target_position": [ + 0.3095960090085247, + -0.11496063900338419, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.012731692808682343, + "xy_threshold": 0.08, + "gripper_dist": 0.20720314317663374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064808091622, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578496666638672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09150732613147826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17856067687004418, + "release_required_pad_clearance": 0.05575366306573913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.6952216129228965, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5185378622b26e1dac7f48c00268438b7415be94a8d6c179168fdfa10e3af9e6", + "visual_seed": 1039060103342620933, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9e4690bd094353e3c376e8b28644ea1c82a18930 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_48_success.json @@ -0,0 +1,684 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33514123969612, + -0.11460303430903035, + 1.0509496207423108 + ], + "current_z": 1.0509496207423108, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18984311272754484, + "gripper_z": 1.0533186524126419, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33087489218906124, + -0.1188827112507455, + 1.0533186524126419 + ], + "object_minus_gripper": [ + 0.004266347507058732, + 0.0042796769417151465, + -0.00236903167033109 + ], + "object_to_gripper_xy": 0.006042959190366469, + "object_to_gripper_z": -0.00236903167033109, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33514123969612, + -0.13879165419471734, + 1.0509496207423108 + ], + "finger_b": [ + 0.32462129779878957, + -0.11460303430903035, + 1.0509496207423108 + ], + "finger_midpoint": [ + 0.32988126874745477, + -0.12669734425187384, + 1.0509496207423108 + ], + "object_minus_finger_midpoint": [ + 0.005259970948665205, + 0.012094309942843495, + 0.0 + ], + "finger_gap": 0.02637723468253372, + "fingertip_max_gap": 0.09458398510305885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318861734126686, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509496207423108, + "object_top_z": 1.102252089148721, + "finger_top_clearance": 0.051302468406410284, + "fingertip_min_top_clearance": 0.015390740521923102, + "object_projection_between_fingers": 0.8409373712106761, + "object_to_finger_line_xy": 0.009647064176235879, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049791992551529426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9425406003382613, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3353310764373323, + -0.11832069315024535, + 1.2437831668380859 + ], + "held_position": [ + 0.33978313710581537, + -0.11423363335700537, + 1.241341841778596 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006518049554542083, + "max_held_gripper_dist": 0.006526830504267661, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002441325059489907, + "max_held_gripper_z_dist": 0.002451523936787048, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0870241027286778, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33978313710581537, + -0.13897619222428925, + 1.241341841778596 + ], + "held_grasp_finger_b": [ + 0.33092762994464886, + -0.11423363335700537, + 1.241341841778596 + ], + "held_grasp_midpoint": [ + 0.3353553835252321, + -0.1266049127906473, + 1.241341841778596 + ], + "held_grasp_object_position": [ + 0.33978313710581537, + -0.11423363335700537, + 1.241341841778596 + ], + "held_grasp_finger_gap": 0.02627954007174554, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02451882141108304, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.024263349410435574, + -0.9996413793823654, + -0.011331482776275603 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004128682667445328, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037245975100095544, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31057830487152877, + -0.1163847660431386, + 0.7611075765116069 + ], + "target_position": [ + 0.31159511724799765, + -0.11608530651473596, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.001059992178316163, + "xy_threshold": 0.08, + "gripper_dist": 0.21383245254860644, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611075765116069, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531017057277763, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08947198429756713, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18515340315694556, + "release_required_pad_clearance": 0.054735992148783566, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.52020080668565, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d24f401b4d09a8465f731484da5282752150318ecfc0292553f0ec587a323575", + "visual_seed": 7853626709375426227, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..daeb9defe443e1c4a0f5364bbf6a8aabdf350591 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_49_success.json @@ -0,0 +1,684 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33967701270156975, + -0.10700645539584144, + 1.0522084076930902 + ], + "current_z": 1.0522084076930902, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19110195928296914, + "gripper_z": 1.0547545547388681, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3355171589887873, + -0.11127894848477075, + 1.0547545547388681 + ], + "object_minus_gripper": [ + 0.004159853712782435, + 0.004272493088929311, + -0.0025461470457779356 + ], + "object_to_gripper_xy": 0.005963101550929561, + "object_to_gripper_z": -0.0025461470457779356, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33967701270156975, + -0.13104419617523433, + 1.0522084076930902 + ], + "finger_b": [ + 0.32907023559892323, + -0.10700645539584144, + 1.0522084076930902 + ], + "finger_midpoint": [ + 0.3343736241502465, + -0.11902532578553789, + 1.0522084076930902 + ], + "object_minus_finger_midpoint": [ + 0.005303388551323229, + 0.012018870389696443, + 0.0 + ], + "finger_gap": 0.02627387870647412, + "fingertip_max_gap": 0.09655955086634413, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013136939353237048, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0522084076930902, + "object_top_z": 1.1039175469079399, + "finger_top_clearance": 0.05170913921484965, + "fingertip_min_top_clearance": 0.015512741764454895, + "object_projection_between_fingers": 0.837025932976508, + "object_to_finger_line_xy": 0.00970404717729747, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05077977543317207, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0360323729065963, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3398774197529463, + -0.10998233927004934, + 1.2462403925990315 + ], + "held_position": [ + 0.3441905898734, + -0.10586660616969049, + 1.2435948785154252 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006522379949675119, + "max_held_gripper_dist": 0.006534648198385987, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026455140836063595, + "max_held_gripper_z_dist": 0.0026571697880444223, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08721996340352588, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3441905898734, + -0.13045103990769885, + 1.2435948785154252 + ], + "held_grasp_finger_b": [ + 0.335047306747177, + -0.10586660616969049, + 1.2435948785154252 + ], + "held_grasp_midpoint": [ + 0.3396189483102885, + -0.11815882303869467, + 1.2435948785154252 + ], + "held_grasp_object_position": [ + 0.3441905898734, + -0.10586660616969049, + 1.2435948785154252 + ], + "held_grasp_finger_gap": 0.026229639885915302, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024611538443473142, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0029912455622087973, + -0.9999900302926166, + -0.0033153831390024817 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004608570143195828, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03744183065343382, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30769746849380847, + -0.11639482356972898, + 0.7611065055604164 + ], + "target_position": [ + 0.31624276057662465, + -0.11134460621251284, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009926062267373104, + "xy_threshold": 0.08, + "gripper_dist": 0.21021340706374914, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065055604164, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544514153379692, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08545303640442857, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18103019030990883, + "release_required_pad_clearance": 0.05272651820221429, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.505128335841466, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "93c50875e1f03f40e15bc9c0b00cd70a6645cf60fe8795d6d3da1ae38aec0439", + "visual_seed": 6509198960445478421, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..603920494e345a361bc60dd6dbcf6204e2239920 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_50_success.json @@ -0,0 +1,684 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3317034918450021, + -0.11616637984760553, + 1.0517692466886275 + ], + "current_z": 1.0517692466886275, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.19066267906921663, + "gripper_z": 1.0555508656973493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.327540340954389, + -0.1202975913936189, + 1.0555508656973493 + ], + "object_minus_gripper": [ + 0.004163150890613088, + 0.004131211546013369, + -0.0037816190087218704 + ], + "object_to_gripper_xy": 0.0058650434078467584, + "object_to_gripper_z": -0.0037816190087218704, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3317034918450021, + -0.1402641491672285, + 1.0517692466886275 + ], + "finger_b": [ + 0.3213433425027038, + -0.11616637984760553, + 1.0517692466886275 + ], + "finger_midpoint": [ + 0.3265234171738529, + -0.12821526450741702, + 1.0517692466886275 + ], + "object_minus_finger_midpoint": [ + 0.005180074671149171, + 0.012048884659811493, + 0.0 + ], + "finger_gap": 0.02623042471208742, + "fingertip_max_gap": 0.09824681587507303, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115212356043722, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517692466886275, + "object_top_z": 1.104246700280989, + "finger_top_clearance": 0.052477453592361556, + "fingertip_min_top_clearance": 0.015743236077708434, + "object_projection_between_fingers": 0.8440011536840422, + "object_to_finger_line_xy": 0.009517821068772194, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05162340793753652, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.161536154198392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33243081655065604, + -0.12071404204881482, + 1.2459563472048458 + ], + "held_position": [ + 0.33678818401741606, + -0.11678757534790069, + 1.2421122921489034 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007012884660885472, + "max_held_gripper_dist": 0.007025933551416282, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0038440550559424302, + "max_held_gripper_z_dist": 0.0038581983294756483, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873990137390132, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33678818401741606, + -0.14172033064487677, + 1.2421122921489034 + ], + "held_grasp_finger_b": [ + 0.3284818478409375, + -0.11678757534790069, + 1.2421122921489034 + ], + "held_grasp_midpoint": [ + 0.33263501592917677, + -0.12925395299638873, + 1.2421122921489034 + ], + "held_grasp_object_position": [ + 0.33678818401741606, + -0.11678757534790069, + 1.2421122921489034 + ], + "held_grasp_finger_gap": 0.026279983017033434, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024907366153056255, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.003012432134136156, + -0.999985285625255, + 0.004511516997022902 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0041159797883637255, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037241544719551975, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30479809736957136, + -0.11254914204260916, + 0.7611085331825365 + ], + "target_position": [ + 0.30807106199595397, + -0.118010229470767, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006366771029614264, + "xy_threshold": 0.08, + "gripper_dist": 0.21408639737248733, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085331825365, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578069919075524, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09157400052474811, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.185806749424629, + "release_required_pad_clearance": 0.055787000262374056, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.749152188900242, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 237, + "max_placed_release_frames": 237 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f357da6de197e7e3e3ee0a40525c525e113cd3444b9102ef0a67ca377902cb20", + "visual_seed": 8024255250365393404, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23a47096b96aade97d356f7e23c3777793b2a3dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_51_success.json @@ -0,0 +1,684 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.336732662804597, + -0.1097742308015727, + 1.051321063120129 + ], + "current_z": 1.051321063120129, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1902146147100079, + "gripper_z": 1.0538404143457856, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3321501856684578, + -0.11428827972558846, + 1.0538404143457856 + ], + "object_minus_gripper": [ + 0.00458247713613924, + 0.004514048924015759, + -0.0025193512256564965 + ], + "object_to_gripper_xy": 0.006432397250764813, + "object_to_gripper_z": -0.0025193512256564965, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.336732662804597, + -0.13397557997569404, + 1.051321063120129 + ], + "finger_b": [ + 0.3255743912965751, + -0.1097742308015727, + 1.051321063120129 + ], + "finger_midpoint": [ + 0.3311535270505861, + -0.12187490538863337, + 1.051321063120129 + ], + "object_minus_finger_midpoint": [ + 0.005579135754010922, + 0.01210067458706067, + 0.0 + ], + "finger_gap": 0.0266498090967736, + "fingertip_max_gap": 0.09898061991046306, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324904548386788, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051321063120129, + "object_top_z": 1.1051340107002248, + "finger_top_clearance": 0.053812947580095694, + "fingertip_min_top_clearance": 0.016143884274028707, + "object_projection_between_fingers": 0.8246904218886477, + "object_to_finger_line_xy": 0.010133101665556818, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05199030995523153, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.1658645003562746, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33721279859264736, + -0.11471681407626592, + 1.2453115616587083 + ], + "held_position": [ + 0.3420945343389183, + -0.11054806938826973, + 1.2426984568129504 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006930951818115526, + "max_held_gripper_dist": 0.006939332585700993, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.00261310484575783, + "max_held_gripper_z_dist": 0.002626473263539042, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08743876183137476, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3420945343389183, + -0.13576816553961893, + 1.2426984568129504 + ], + "held_grasp_finger_b": [ + 0.33331760660489684, + -0.11054806938826973, + 1.2426984568129504 + ], + "held_grasp_midpoint": [ + 0.3377060704719076, + -0.12315811746394434, + 1.2426984568129504 + ], + "held_grasp_object_position": [ + 0.3420945343389183, + -0.11054806938826973, + 1.2426984568129504 + ], + "held_grasp_finger_gap": 0.026703702183995634, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024762942122850524, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04812977281263041, + -0.9986232213208479, + 0.020861131507603378 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003785763570487953, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03691634747083847, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30463493065652614, + -0.1117059453699709, + 0.7611066558574346 + ], + "target_position": [ + 0.3126566991201685, + -0.11145075929589397, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008025826388397045, + "xy_threshold": 0.08, + "gripper_dist": 0.20948695918092336, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066558574346, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586814592078377, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09062902199564797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18031357203563797, + "release_required_pad_clearance": 0.05531451099782399, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.742389025115897, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b954fc01f79a7c43d7c9424d3db41f553664399a3a5f14855091c62a92cef862", + "visual_seed": 5725212543168675041, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..24e9bf76de8a4bdd20d2c73c5e872b995871c2ca --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_53_success.json @@ -0,0 +1,684 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33773815007500596, + -0.11300161344908673, + 1.0504222869204196 + ], + "current_z": 1.0504222869204196, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.18931577890565376, + "gripper_z": 1.053032272415947, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33324380060447306, + -0.1174723740625441, + 1.053032272415947 + ], + "object_minus_gripper": [ + 0.004494349470532899, + 0.004470760613457372, + -0.0026099854955274893 + ], + "object_to_gripper_xy": 0.00633931207830322, + "object_to_gripper_z": -0.0026099854955274893, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33773815007500596, + -0.1371448269292372, + 1.0504222869204196 + ], + "finger_b": [ + 0.32665866081358275, + -0.11300161344908673, + 1.0504222869204196 + ], + "finger_midpoint": [ + 0.33219840544429435, + -0.12507322018916198, + 1.0504222869204196 + ], + "object_minus_finger_midpoint": [ + 0.005539744630711607, + 0.01207160674007525, + 0.0 + ], + "finger_gap": 0.026564070460720294, + "fingertip_max_gap": 0.09745111924643293, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013282035230360152, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0504222869204196, + "object_top_z": 1.1028538098876806, + "finger_top_clearance": 0.052431522967260946, + "fingertip_min_top_clearance": 0.015729456890178316, + "object_projection_between_fingers": 0.8260396652381548, + "object_to_finger_line_xy": 0.010069784857900973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05122555962321647, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.16865048421333, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33805643007727026, + -0.11759892446554031, + 1.2463014884348824 + ], + "held_position": [ + 0.34282784535550215, + -0.11343693213795676, + 1.2436194712037625 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006876176286297, + "max_held_gripper_dist": 0.006884043520258045, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026820172311199375, + "max_held_gripper_z_dist": 0.0026996011803654962, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08696507884452097, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34282784535550215, + -0.138546820219317, + 1.2436194712037625 + ], + "held_grasp_finger_b": [ + 0.33390224682006425, + -0.11343693213795676, + 1.2436194712037625 + ], + "held_grasp_midpoint": [ + 0.3383650460877832, + -0.12599187617863689, + 1.2436194712037625 + ], + "held_grasp_object_position": [ + 0.34282784535550215, + -0.11343693213795676, + 1.2436194712037625 + ], + "held_grasp_finger_gap": 0.02664906731340232, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024842780433866157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0287066240469273, + -0.9995665513956815, + 0.0065298596288785316 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004101377813236377, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037042636051611365, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30415799085752254, + -0.10525008762223205, + 0.7611063321333903 + ], + "target_position": [ + 0.31382605536828195, + -0.11613405092347824, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014557888876038294, + "xy_threshold": 0.08, + "gripper_dist": 0.2082351932876007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063321333903, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0770066628351374, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09497658440036814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182430197004806, + "release_required_pad_clearance": 0.057488292200184074, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.690369351213306, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f62a93e5768ac6d93d1bff1dc7b96a62101b60eb1a94b8aee97e5a8857aa6b6b", + "visual_seed": 5983456566061997040, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..08e624331981d9e446cfa15a11fb91120aab19f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_54_success.json @@ -0,0 +1,684 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.335668398778253, + -0.11051923409932954, + 1.051736611680338 + ], + "current_z": 1.051736611680338, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19063010366557198, + "gripper_z": 1.0541916121153778, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3315432448951967, + -0.11473297741962309, + 1.0541916121153778 + ], + "object_minus_gripper": [ + 0.004125153883056287, + 0.004213743320293548, + -0.002455000435039878 + ], + "object_to_gripper_xy": 0.005896823494748071, + "object_to_gripper_z": -0.002455000435039878, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.335668398778253, + -0.1345352688784487, + 1.051736611680338 + ], + "finger_b": [ + 0.3251347401413441, + -0.11051923409932954, + 1.051736611680338 + ], + "finger_midpoint": [ + 0.33040156945979854, + -0.12252725148888911, + 1.051736611680338 + ], + "object_minus_finger_midpoint": [ + 0.005266829318454458, + 0.012008017389559575, + 0.0 + ], + "finger_gap": 0.026224566551056403, + "fingertip_max_gap": 0.09401388238889316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112283275528202, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051736611680338, + "object_top_z": 1.1025687864984415, + "finger_top_clearance": 0.05083217481810354, + "fingertip_min_top_clearance": 0.01524965244543106, + "object_projection_between_fingers": 0.8386600779687147, + "object_to_finger_line_xy": 0.009646554564890712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04950694119444658, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0823760039355563, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3361531123466035, + -0.11455722633135647, + 1.2454376662644737 + ], + "held_position": [ + 0.34048121381640784, + -0.11055490688149319, + 1.2429151215536152 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0064120398571715686, + "max_held_gripper_dist": 0.0064201542462924855, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002522544710858554, + "max_held_gripper_z_dist": 0.002536448640955369, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722960825592452, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34048121381640784, + -0.1353167363780871, + 1.2429151215536152 + ], + "held_grasp_finger_b": [ + 0.33182915008965685, + -0.11055490688149319, + 1.2429151215536152 + ], + "held_grasp_midpoint": [ + 0.33615518195303234, + -0.12293582162979015, + 1.2429151215536152 + ], + "held_grasp_object_position": [ + 0.34048121381640784, + -0.11055490688149319, + 1.2429151215536152 + ], + "held_grasp_finger_gap": 0.026229876224453455, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024496548694425344, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.029172866384512032, + -0.9994800342551605, + -0.01373335327640879 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003966686913377423, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0372195702238316, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3098007943342931, + -0.11439126203935138, + 0.7611067561170446 + ], + "target_position": [ + 0.31216719648945634, + -0.11256749520490662, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0029876386371818736, + "xy_threshold": 0.08, + "gripper_dist": 0.21351744303118975, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611067561170446, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523410146150512, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0857599791981775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1846368631745917, + "release_required_pad_clearance": 0.05287998959908875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8001475515031526, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dfc765d9871f616bc077d27ce0e82f1bc2ad14ebc54d8f1702fb5a5937fce40b", + "visual_seed": 8842193341311667709, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a4fefddb85ad550e77a68cb6e50fe4318e56f0b8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_55_success.json @@ -0,0 +1,684 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3346595280668008, + -0.11676919442076564, + 1.0524696378590996 + ], + "current_z": 1.0524696378590996, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.19136318944897834, + "gripper_z": 1.0553659969087301, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33022695993549855, + -0.12112473130835909, + 1.0553659969087301 + ], + "object_minus_gripper": [ + 0.0044325681313022725, + 0.00435553688759345, + -0.0028963590496304814 + ], + "object_to_gripper_xy": 0.006214367370684144, + "object_to_gripper_z": -0.0028963590496304814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3346595280668008, + -0.1410252512841416, + 1.0524696378590996 + ], + "finger_b": [ + 0.32395706712840855, + -0.11676919442076564, + 1.0524696378590996 + ], + "finger_midpoint": [ + 0.3293082975976047, + -0.1288972228524536, + 1.0524696378590996 + ], + "object_minus_finger_midpoint": [ + 0.005351230469196111, + 0.012128028431687976, + 0.0 + ], + "finger_gap": 0.026512241789353463, + "fingertip_max_gap": 0.09712660216582877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013256120894676721, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0524696378590996, + "object_top_z": 1.104887309976207, + "finger_top_clearance": 0.05241767211710746, + "fingertip_min_top_clearance": 0.015725301635132204, + "object_projection_between_fingers": 0.8370424827881687, + "object_to_finger_line_xy": 0.00979168427786254, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05106330108291439, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.828518100130529, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3347415981935109, + -0.12094703362138128, + 1.2447575807230136 + ], + "held_position": [ + 0.33934689402601165, + -0.11677411423302306, + 1.2418000596325913 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006882509493409873, + "max_held_gripper_dist": 0.006891470820748061, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029575210904222438, + "max_held_gripper_z_dist": 0.002980324616981056, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08720483687988886, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33934689402601165, + -0.14162415906992074, + 1.2418000596325913 + ], + "held_grasp_finger_b": [ + 0.3303864972843735, + -0.11677411423302306, + 1.2418000596325913 + ], + "held_grasp_midpoint": [ + 0.33486669565519256, + -0.1291991366514719, + 1.2418000596325913 + ], + "held_grasp_object_position": [ + 0.33934689402601165, + -0.11677411423302306, + 1.2418000596325913 + ], + "held_grasp_finger_gap": 0.026416158656462223, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024711292565686382, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.015163347391949529, + -0.9998839976882511, + -0.0014366846671003408 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004291315681185529, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037228734178688716, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30246506947489155, + -0.122327472231652, + 0.7611100864525214 + ], + "target_position": [ + 0.310867915168284, + -0.11984450200918058, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008762017853933176, + "xy_threshold": 0.08, + "gripper_dist": 0.21028586337668975, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611100864525214, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557739834614587, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09381584424327259, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1814177211019444, + "release_required_pad_clearance": 0.0569079221216363, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.295868668046126, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4231234b680904bbb466f9eb8d877cff4dd4bf87268daf8ce237a1ba61953b2c", + "visual_seed": 6728475425676995441, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b626c5dac391f03d44529686acf1fe9d44cbf3e5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_56_success.json @@ -0,0 +1,684 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33155603476374534, + -0.11615604063462347, + 1.0519533974405468 + ], + "current_z": 1.0519533974405468, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.1908468894257811, + "gripper_z": 1.054838835306768, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32735189507589035, + -0.12041949059868794, + 1.054838835306768 + ], + "object_minus_gripper": [ + 0.004204139687854991, + 0.00426344996406447, + -0.0028854378662210856 + ], + "object_to_gripper_xy": 0.005987636938816413, + "object_to_gripper_z": -0.0028854378662210856, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33155603476374534, + -0.1401993556713444, + 1.0519533974405468 + ], + "finger_b": [ + 0.3209238931540125, + -0.11615604063462347, + 1.0519533974405468 + ], + "finger_midpoint": [ + 0.3262399639588789, + -0.12817769815298394, + 1.0519533974405468 + ], + "object_minus_finger_midpoint": [ + 0.005316070804866457, + 0.01202165751836047, + 0.0 + ], + "finger_gap": 0.02628922656078766, + "fingertip_max_gap": 0.09999795667851422, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013144613280393848, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0519533974405468, + "object_top_z": 1.1056218242046234, + "finger_top_clearance": 0.05366842676407657, + "fingertip_min_top_clearance": 0.016100528029223005, + "object_projection_between_fingers": 0.8364366916459057, + "object_to_finger_line_xy": 0.009723828490988417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05249897833925711, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.905369141008009, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33182786294239075, + -0.12012202719364401, + 1.2455133420606006 + ], + "held_position": [ + 0.33622624987598687, + -0.11605612072764915, + 1.2425752674427168 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006671557949092603, + "max_held_gripper_dist": 0.0066809187212424565, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002938074617883757, + "max_held_gripper_z_dist": 0.002959870241491025, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08695425547990535, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33622624987598687, + -0.14080379238767943, + 1.2425752674427168 + ], + "held_grasp_finger_b": [ + 0.3274298146011909, + -0.11605612072764915, + 1.2425752674427168 + ], + "held_grasp_midpoint": [ + 0.3318280322385889, + -0.1284299565576643, + 1.2425752674427168 + ], + "held_grasp_object_position": [ + 0.33622624987598687, + -0.11605612072764915, + 1.2425752674427168 + ], + "held_grasp_finger_gap": 0.026264510772834516, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024689198091565005, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.006352403425030226, + -0.9998951391091149, + 0.013013752598300954 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004322532594734892, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03731977251874489, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2968653751271234, + -0.11232058852731061, + 0.7611065090659791 + ], + "target_position": [ + 0.30800679725778146, + -0.11917820151535759, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.013082742181490376, + "xy_threshold": 0.08, + "gripper_dist": 0.2094320492847454, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065090659791, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518842447904059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09567488469462924, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18331982178305262, + "release_required_pad_clearance": 0.057837442347314624, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 11.548963707204638, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 199, + "max_placed_release_frames": 199 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "220eb593128bf82618b20d56f5070953f97e8d3c465de1c3692b362365e03a2e", + "visual_seed": 4855809120417968846, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8789a2df777faf6aa44a6d07f17dfe0b1ab502 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_57_success.json @@ -0,0 +1,684 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33536743397107127, + -0.1120132940381235, + 1.0513922992981821 + ], + "current_z": 1.0513922992981821, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.19028585088806083, + "gripper_z": 1.0543697205084865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3312356418245481, + -0.11616184899871264, + 1.0543697205084865 + ], + "object_minus_gripper": [ + 0.00413179214652315, + 0.004148554960589135, + -0.0029774212103044206 + ], + "object_to_gripper_xy": 0.005855101587769344, + "object_to_gripper_z": -0.0029774212103044206, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33536743397107127, + -0.13616323419349857, + 1.0513922992981821 + ], + "finger_b": [ + 0.3250997323404651, + -0.1120132940381235, + 1.0513922992981821 + ], + "finger_midpoint": [ + 0.3302335831557682, + -0.12408826411581103, + 1.0513922992981821 + ], + "object_minus_finger_midpoint": [ + 0.005133850815303098, + 0.012074970077687527, + 0.0 + ], + "finger_gap": 0.026242052249840338, + "fingertip_max_gap": 0.09646025249511861, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013121026124920162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0513922992981821, + "object_top_z": 1.1031669851260824, + "finger_top_clearance": 0.051774685827900235, + "fingertip_min_top_clearance": 0.015532405748370087, + "object_projection_between_fingers": 0.8469085669890929, + "object_to_finger_line_xy": 0.009449123016432366, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05073012624755931, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.0896555454598236, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3357213944315941, + -0.1155330760570463, + 1.2469985586075503 + ], + "held_position": [ + 0.3399960858935751, + -0.11153225031921185, + 1.2439741758213816 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006589877458414933, + "max_held_gripper_dist": 0.006602467679596504, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.003024382786168678, + "max_held_gripper_z_dist": 0.003046809906843695, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676030412749818, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3399960858935751, + -0.136246590111695, + 1.2439741758213816 + ], + "held_grasp_finger_b": [ + 0.3311887700823247, + -0.11153225031921185, + 1.2439741758213816 + ], + "held_grasp_midpoint": [ + 0.3355924279879499, + -0.12388942021545342, + 1.2439741758213816 + ], + "held_grasp_object_position": [ + 0.3399960858935751, + -0.11153225031921185, + 1.2439741758213816 + ], + "held_grasp_finger_gap": 0.02623675671986567, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024725376151247293, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.001256282960776185, + -0.9999988621172999, + -0.0008351749684243346 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004419190578120716, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03736862647525526, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30972703022793446, + -0.12976704578602954, + 0.7611065240582979 + ], + "target_position": [ + 0.3119007168742281, + -0.11579892059835639, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.014136245431329509, + "xy_threshold": 0.08, + "gripper_dist": 0.21479425443970665, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065240582979, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562645405483528, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09452057640862575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18266536301411976, + "release_required_pad_clearance": 0.05726028820431288, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 10.140672628071329, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 220, + "max_placed_release_frames": 220 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "50a32582c295c48bfbf9d433e2ed7b4d16d503baa6c3887acfc9954443b20987", + "visual_seed": 2781342691971924095, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7d2eedcfc185aaa99e142921330b08223fac1556 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_58_success.json @@ -0,0 +1,684 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3318873592464253, + -0.11173508753590365, + 1.0519326597891498 + ], + "current_z": 1.0519326597891498, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.190826151774384, + "gripper_z": 1.0547804203236621, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277287067963668, + -0.1161155299135764, + 1.0547804203236621 + ], + "object_minus_gripper": [ + 0.004158652450058531, + 0.0043804423776727525, + -0.0028477605345123003 + ], + "object_to_gripper_xy": 0.0060400882133036056, + "object_to_gripper_z": -0.0028477605345123003, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3318873592464253, + -0.1354515896244195, + 1.0519326597891498 + ], + "finger_b": [ + 0.32070860538783025, + -0.11173508753590365, + 1.0519326597891498 + ], + "finger_midpoint": [ + 0.3262979823171278, + -0.12359333858016158, + 1.0519326597891498 + ], + "object_minus_finger_midpoint": [ + 0.005589376929297507, + 0.01185825104425793, + 0.0 + ], + "finger_gap": 0.026219019988276273, + "fingertip_max_gap": 0.0972079858060391, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013109509994138131, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0519326597891498, + "object_top_z": 1.1044057940225755, + "finger_top_clearance": 0.0524731342334257, + "fingertip_min_top_clearance": 0.015741940270027743, + "object_projection_between_fingers": 0.8182167439801298, + "object_to_finger_line_xy": 0.01011177913411417, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05110399290301955, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.974203642394777, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33276002852202236, + -0.1164583762730824, + 1.2441920156738433 + ], + "held_position": [ + 0.33725048674386127, + -0.11243269789118937, + 1.2412552987951666 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006707801987389474, + "max_held_gripper_dist": 0.006717229429308094, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002936716878676693, + "max_held_gripper_z_dist": 0.002948265527334293, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08711144520089437, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33725048674386127, + -0.13741368175197324, + 1.2412552987951666 + ], + "held_grasp_finger_b": [ + 0.3288288052301664, + -0.11243269789118937, + 1.2412552987951666 + ], + "held_grasp_midpoint": [ + 0.33303964598701385, + -0.1249231898215813, + 1.2412552987951666 + ], + "held_grasp_object_position": [ + 0.33725048674386127, + -0.11243269789118937, + 1.2412552987951666 + ], + "held_grasp_finger_gap": 0.026362364730252375, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024487133270605508, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.054261595135140596, + -0.9985238084404255, + 0.0024255455094769336 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0035270156433567577, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0370197095621391, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3127050856139991, + -0.11419717875128217, + 0.7611063240408537 + ], + "target_position": [ + 0.3082738477441788, + -0.11353327248086835, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004480696440825284, + "xy_threshold": 0.08, + "gripper_dist": 0.2183245081856281, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063240408537, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589996274396271, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08604504471102208, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18799782731637293, + "release_required_pad_clearance": 0.05302252235551104, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0770066388147328, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7878dd5c75d74ab805a445b8d0f3f2b434786e32455dc0a3e8c3026a3cabc149", + "visual_seed": 6497390405847560805, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1616522c27624dea052b6e65c86337e3ae6065b9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_60_success.json @@ -0,0 +1,684 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33963725472912926, + -0.10804638910461667, + 1.0514695424289635 + ], + "current_z": 1.0514695424289635, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19036309401884233, + "gripper_z": 1.0537670624775108, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3351955536830393, + -0.11248181954222924, + 1.0537670624775108 + ], + "object_minus_gripper": [ + 0.00444170104608993, + 0.004435430437612575, + -0.00229752004854733 + ], + "object_to_gripper_xy": 0.006277081435646383, + "object_to_gripper_z": -0.00229752004854733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33963725472912926, + -0.13215710167744932, + 1.0514695424289635 + ], + "finger_b": [ + 0.3285950251623148, + -0.10804638910461667, + 1.0514695424289635 + ], + "finger_midpoint": [ + 0.33411613994572203, + -0.120101745391033, + 1.0514695424289635 + ], + "object_minus_finger_midpoint": [ + 0.005521114783407222, + 0.012055356286416324, + 0.0 + ], + "finger_gap": 0.026518998747614538, + "fingertip_max_gap": 0.09747633073314907, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013259499373807269, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0514695424289635, + "object_top_z": 1.104329717084286, + "finger_top_clearance": 0.052860174655322556, + "fingertip_min_top_clearance": 0.015858052396596732, + "object_projection_between_fingers": 0.8266198804525057, + "object_to_finger_line_xy": 0.01003944476873003, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05123816536657454, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.928158962987039, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34039146585621183, + -0.1131161552227179, + 1.2428059390130448 + ], + "held_position": [ + 0.34514016976523887, + -0.10902613026547919, + 1.2403986583495499 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006713679554408356, + "max_held_gripper_dist": 0.006723934611397318, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024072806634949373, + "max_held_gripper_z_dist": 0.0024195813491032503, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08732920265700633, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34514016976523887, + -0.13418750933976598, + 1.2403986583495499 + ], + "held_grasp_finger_b": [ + 0.33662894615434336, + -0.10902613026547919, + 1.2403986583495499 + ], + "held_grasp_midpoint": [ + 0.3408845579597911, + -0.12160681980262258, + 1.2403986583495499 + ], + "held_grasp_object_position": [ + 0.34514016976523887, + -0.10902613026547919, + 1.2403986583495499 + ], + "held_grasp_finger_gap": 0.026561926215442698, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024723736833787358, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04790562879646908, + -0.9988114037190162, + 0.008990580096051803 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036498214191151316, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03695064613429408, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31613656330733464, + -0.1109754842024775, + 0.7611206623408162 + ], + "target_position": [ + 0.3156655800541218, + -0.11170888650935816, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0008716101012177384, + "xy_threshold": 0.08, + "gripper_dist": 0.2162310974833949, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611206623408162, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543230214778572, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08954715952171703, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18721763159192, + "release_required_pad_clearance": 0.05477357976085852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 4.583655746728493, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a16e51f86d823d18af86ee4d08b1f900a901efa3898d7beae8621368ffdc0c80", + "visual_seed": 2771733840695060432, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f12f4ac368193e2f4b57ba7f67d218a4d7e64e9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_61_success.json @@ -0,0 +1,684 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3367776760078294, + -0.11170794683985291, + 1.050150957668479 + ], + "current_z": 1.050150957668479, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.18904444965371292, + "gripper_z": 1.0523615047522128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3328522183479058, + -0.11591152924907112, + 1.0523615047522128 + ], + "object_minus_gripper": [ + 0.003925457659923581, + 0.004203582409218212, + -0.002210547083733694 + ], + "object_to_gripper_xy": 0.00575146267578444, + "object_to_gripper_z": -0.002210547083733694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3367776760078294, + -0.13538324500015095, + 1.050150957668479 + ], + "finger_b": [ + 0.32600306448707456, + -0.11170794683985291, + 1.050150957668479 + ], + "finger_midpoint": [ + 0.331390370247452, + -0.12354559592000193, + 1.050150957668479 + ], + "object_minus_finger_midpoint": [ + 0.005387305760377381, + 0.011837649080149018, + 0.0 + ], + "finger_gap": 0.026011766499071033, + "fingertip_max_gap": 0.09173673207333152, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013005883249535504, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050150957668479, + "object_top_z": 1.100133498935986, + "finger_top_clearance": 0.04998254126750701, + "fingertip_min_top_clearance": 0.014994762380252102, + "object_projection_between_fingers": 0.828421231014984, + "object_to_finger_line_xy": 0.00980679802443878, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048368366036665764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.537311714901479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33779661702155295, + -0.11608045684505305, + 1.244915769416921 + ], + "held_position": [ + 0.34202953278602166, + -0.11219779099025971, + 1.2426273036616013 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006183020744129595, + "max_held_gripper_dist": 0.00619144314788319, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002288465755319713, + "max_held_gripper_z_dist": 0.002299496669769807, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08733715818894347, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34202953278602166, + -0.13706769129879828, + 1.2426273036616013 + ], + "held_grasp_finger_b": [ + 0.3337437530246146, + -0.11219779099025971, + 1.2426273036616013 + ], + "held_grasp_midpoint": [ + 0.3378866429053181, + -0.12463274114452899, + 1.2426273036616013 + ], + "held_grasp_object_position": [ + 0.34202953278602166, + -0.11219779099025971, + 1.2426273036616013 + ], + "held_grasp_finger_gap": 0.026213852971495612, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024281567104810536, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06397381148141246, + -0.9976573974735526, + -0.024229500837585682 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033527478805108184, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03704939360525704, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31348423328596675, + -0.11888283738973804, + 0.7611065476113003 + ], + "target_position": [ + 0.31341041461218117, + -0.11245815820823951, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006425103250670766, + "xy_threshold": 0.08, + "gripper_dist": 0.21639309998292836, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065476113003, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548616529509967, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653187418591506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1858085252226313, + "release_required_pad_clearance": 0.05326593709295753, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5516335558437504, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "09279c2394925103f754f68a391a533fc8f1a415e782182ecdc061f4592ccecd", + "visual_seed": 4715814629833374396, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64eef935b0721b563670aa0abe05fe7b44021cb5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_62_success.json @@ -0,0 +1,684 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3347341568651209, + -0.11905896713251123, + 1.0526488954889368 + ], + "current_z": 1.0526488954889368, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.19154238747417107, + "gripper_z": 1.0550994657532353, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3307330682104158, + -0.12334310921242286, + 1.0550994657532353 + ], + "object_minus_gripper": [ + 0.0040010886547051094, + 0.0042841420799116375, + -0.0024505702642985128 + ], + "object_to_gripper_xy": 0.005861960745661775, + "object_to_gripper_z": -0.0024505702642985128, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3347341568651209, + -0.1426879026787528, + 1.0526488954889368 + ], + "finger_b": [ + 0.32373124536538644, + -0.11905896713251123, + 1.0526488954889368 + ], + "finger_midpoint": [ + 0.3292327011152537, + -0.13087343490563202, + 1.0526488954889368 + ], + "object_minus_finger_midpoint": [ + 0.005501455749867212, + 0.011814467773120799, + 0.0 + ], + "finger_gap": 0.02606512337433737, + "fingertip_max_gap": 0.09257774523382714, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01303256168716868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0526488954889368, + "object_top_z": 1.1027950568932563, + "finger_top_clearance": 0.05014616140431949, + "fingertip_min_top_clearance": 0.015043848421295846, + "object_projection_between_fingers": 0.8218049360713762, + "object_to_finger_line_xy": 0.009974519702607612, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04878887261691357, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.719628557600708, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33570588185428274, + -0.12390355211165952, + 1.2453077345111059 + ], + "held_position": [ + 0.34003371386110265, + -0.11996009300774471, + 1.242773675898627 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006379847383361291, + "max_held_gripper_dist": 0.006389207769302163, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025340586124789066, + "max_held_gripper_z_dist": 0.002545623991318635, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729397812480229, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34003371386110265, + -0.14483244663227504, + 1.242773675898627 + ], + "held_grasp_finger_b": [ + 0.33176268742622084, + -0.11996009300774471, + 1.242773675898627 + ], + "held_grasp_midpoint": [ + 0.3358982006436617, + -0.13239626982000988, + 1.242773675898627 + ], + "held_grasp_object_position": [ + 0.34003371386110265, + -0.11996009300774471, + 1.242773675898627 + ], + "held_grasp_finger_gap": 0.026211521381068303, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024243748754609426, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06820910576207065, + -0.9974089483433684, + -0.022867174196100848 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003290214641649579, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03703421637593261, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31050798743240854, + -0.11971065615244413, + 0.7611088032927366 + ], + "target_position": [ + 0.3113000371242717, + -0.11973439266801197, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0007924052855400426, + "xy_threshold": 0.08, + "gripper_dist": 0.2175613760904514, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611088032927366, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754600032561957, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605672438479343, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18850950563193922, + "release_required_pad_clearance": 0.05302836219239672, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0864122652261057, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6d15e5b2e522e687fec1cfc038147a8b9b704a812d469a6759be6511be461cb0", + "visual_seed": 8931294397251015383, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf6b876a9a544834312eed3dd35dc0021963880 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_64_success.json @@ -0,0 +1,684 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33750620287616295, + -0.10727401922574066, + 1.0498600963241569 + ], + "current_z": 1.0498600963241569, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1887536479140357, + "gripper_z": 1.0526449192537977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3330524658980152, + -0.1116627898169067, + 1.0526449192537977 + ], + "object_minus_gripper": [ + 0.004453736978147771, + 0.004388770591166033, + -0.0027848229296407734 + ], + "object_to_gripper_xy": 0.006252765817812521, + "object_to_gripper_z": -0.0027848229296407734, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33750620287616295, + -0.13148795025391768, + 1.0498600963241569 + ], + "finger_b": [ + 0.32667524446074775, + -0.10727401922574066, + 1.0498600963241569 + ], + "finger_midpoint": [ + 0.3320907236684554, + -0.11938098473982917, + 1.0498600963241569 + ], + "object_minus_finger_midpoint": [ + 0.005415479207707574, + 0.012106965514088505, + 0.0 + ], + "finger_gap": 0.026525914047093032, + "fingertip_max_gap": 0.09724640261375836, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013262957023546499, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498600963241569, + "object_top_z": 1.1019399060482231, + "finger_top_clearance": 0.05207980972406623, + "fingertip_min_top_clearance": 0.015623942917219868, + "object_projection_between_fingers": 0.8332779426923116, + "object_to_finger_line_xy": 0.009886938469841665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05112320130687918, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.4077294662399917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3375556365291611, + -0.11113312760889976, + 1.2431957971459695 + ], + "held_position": [ + 0.34219277153511923, + -0.10694602072077168, + 1.2403454465137878 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006867269026510532, + "max_held_gripper_dist": 0.006878750621797371, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002850350632181753, + "max_held_gripper_z_dist": 0.0028753759661328537, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08655108112859956, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34219277153511923, + -0.13181574852233982, + 1.2403454465137878 + ], + "held_grasp_finger_b": [ + 0.33306118490915654, + -0.10694602072077168, + 1.2403454465137878 + ], + "held_grasp_midpoint": [ + 0.3376269782221379, + -0.11938088462155574, + 1.2403454465137878 + ], + "held_grasp_object_position": [ + 0.34219277153511923, + -0.10694602072077168, + 1.2403454465137878 + ], + "held_grasp_finger_gap": 0.026493192243132048, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024849559785520132, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.002201785326963662, + -0.9999974980585408, + 0.0003949911807040739 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004538406004885166, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03727536438389005, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31137295908449536, + -0.10890767559481394, + 0.7611064159781125 + ], + "target_position": [ + 0.31371051633727565, + -0.11197075734355923, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003853134270891969, + "xy_threshold": 0.08, + "gripper_dist": 0.21382822085038106, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064159781125, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588348893749752, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08505530595131693, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18476509849619138, + "release_required_pad_clearance": 0.052527652975658465, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1251144796078012, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "32b2cf6dea9504ea34a3039c600c576ce9c7e16500823e3427772e4ec2684c4f", + "visual_seed": 6366787264490884312, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..da8df83a99bd5c5661e135e220dd6c71267f80a6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_65_success.json @@ -0,0 +1,684 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33414245160767153, + -0.11751047600334309, + 1.0506566619259785 + ], + "current_z": 1.0506566619259785, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.1895502135158572, + "gripper_z": 1.0530208256290416, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3300880218222113, + -0.12180808279702268, + 1.0530208256290416 + ], + "object_minus_gripper": [ + 0.004054429785460223, + 0.00429760679367959, + -0.002364163703063138 + ], + "object_to_gripper_xy": 0.005908284441215402, + "object_to_gripper_z": -0.002364163703063138, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33414245160767153, + -0.1412184830392629, + 1.0506566619259785 + ], + "finger_b": [ + 0.3231710968634657, + -0.11751047600334309, + 1.0506566619259785 + ], + "finger_midpoint": [ + 0.3286567742355686, + -0.129364479521303, + 1.0506566619259785 + ], + "object_minus_finger_midpoint": [ + 0.005485677372102926, + 0.011854003517959913, + 0.0 + ], + "finger_gap": 0.02612355685082779, + "fingertip_max_gap": 0.09252755211047528, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013061778425413902, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506566619259785, + "object_top_z": 1.1007733159860407, + "finger_top_clearance": 0.05011665406006216, + "fingertip_min_top_clearance": 0.015034996218018681, + "object_projection_between_fingers": 0.8236173353389503, + "object_to_finger_line_xy": 0.009956873673615491, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04876377605523764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6807865003510025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3349985520577191, + -0.1222140574035259, + 1.2462847089524254 + ], + "held_position": [ + 0.33938378237674033, + -0.1182672565519561, + 1.243846544576066 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0063837392991069756, + "max_held_gripper_dist": 0.0063929836536704395, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002438164376359353, + "max_held_gripper_z_dist": 0.0024509056815187336, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08736809904302816, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33938378237674033, + -0.1432326113461932, + 1.243846544576066 + ], + "held_grasp_finger_b": [ + 0.33101873743278026, + -0.1182672565519561, + 1.243846544576066 + ], + "held_grasp_midpoint": [ + 0.3352012599047603, + -0.13074993394907464, + 1.243846544576066 + ], + "held_grasp_object_position": [ + 0.33938378237674033, + -0.1182672565519561, + 1.243846544576066 + ], + "held_grasp_finger_gap": 0.026329506583234887, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024349032205587942, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06653057798524538, + -0.9976050284825616, + -0.01891796340140228 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0033512925705859865, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03698920269230687, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31576014212185843, + -0.122755432276152, + 0.761106650331984 + ], + "target_position": [ + 0.31066223239559154, + -0.11961721373531031, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0059864095405551, + "xy_threshold": 0.08, + "gripper_dist": 0.2180731858912034, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106650331984, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518226399922952, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08771845121397386, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18870181368168265, + "release_required_pad_clearance": 0.05385922560698693, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.727158840189051, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5fe59a2fe6ae594050eef6cb3d45352ddd11ea5cb3ab3be7204bf2b072212eac", + "visual_seed": 8996348370853849376, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e9472286c0d86dd16cb998d3d5f69a04a3ac1d12 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_66_success.json @@ -0,0 +1,684 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3407065781449621, + -0.10717267411877504, + 1.0532782050867633 + ], + "current_z": 1.0532782050867633, + "required_z": 0.8611068656426347, + "initial_z": 0.7611068656426347, + "lift_margin": 0.19217133944412856, + "gripper_z": 1.0557958435239696, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33634452343348775, + -0.11152266799363791, + 1.0557958435239696 + ], + "object_minus_gripper": [ + 0.004362054711474328, + 0.004349993874862873, + -0.0025176384372063154 + ], + "object_to_gripper_xy": 0.006160354536651271, + "object_to_gripper_z": -0.0025176384372063154, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3407065781449621, + -0.1313905730288219, + 1.0532782050867633 + ], + "finger_b": [ + 0.3300234681965266, + -0.10717267411877504, + 1.0532782050867633 + ], + "finger_midpoint": [ + 0.33536502317074435, + -0.11928162357379847, + 1.0532782050867633 + ], + "object_minus_finger_midpoint": [ + 0.005341554974217733, + 0.01210894945502343, + 0.0 + ], + "finger_gap": 0.026469519560951796, + "fingertip_max_gap": 0.09654559143753697, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013234759780475898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0532782050867633, + "object_top_z": 1.1052079858478712, + "finger_top_clearance": 0.05192978076110788, + "fingertip_min_top_clearance": 0.015578934228332363, + "object_projection_between_fingers": 0.8371066785178161, + "object_to_finger_line_xy": 0.009774354845404783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.050772795718768485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.775387526352222, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3408717515488654, + -0.1106470349999633, + 1.2455148379986105 + ], + "held_position": [ + 0.34538737375449746, + -0.10645948608463703, + 1.2429296581632612 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006679039197620003, + "max_held_gripper_dist": 0.006687584753730629, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025851798353493383, + "max_held_gripper_z_dist": 0.002610294666982149, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08643351297098213, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34538737375449746, + -0.13120692607055726, + 1.2429296581632612 + ], + "held_grasp_finger_b": [ + 0.3362621800406093, + -0.10645948608463703, + 1.2429296581632612 + ], + "held_grasp_midpoint": [ + 0.3408247768975534, + -0.11883320607759715, + 1.2429296581632612 + ], + "held_grasp_object_position": [ + 0.34538737375449746, + -0.10645948608463703, + 1.2429296581632612 + ], + "held_grasp_finger_gap": 0.02637621933053915, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02469356197552438, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.00583209529134239, + -0.9999733705342908, + -0.004386899452094806 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004490683340455986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03732025008304152, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3142078707070778, + -0.11033165512035595, + 0.761106668067765 + ], + "target_position": [ + 0.31702368319787566, + -0.11131863119996757, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0029837764267885195, + "xy_threshold": 0.08, + "gripper_dist": 0.21208909932276715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761106668067765, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523090434488497, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09028394914248404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18402962749562612, + "release_required_pad_clearance": 0.05514197457124202, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.373865576917863, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c8a912fe919587a2f6cc9517f0c3ae47f12c56239105a0ce89cee6949c83ed4", + "visual_seed": 615379920747689342, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca17a1205ca6b6fd65078ca1d2a9fc624655229 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_67_success.json @@ -0,0 +1,684 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34167663674899745, + -0.117240893508379, + 1.0515893103806584 + ], + "current_z": 1.0515893103806584, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.19048280236589243, + "gripper_z": 1.053993816993472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33711407015084405, + -0.12185035475632221, + 1.053993816993472 + ], + "object_minus_gripper": [ + 0.004562566598153406, + 0.004609461247943203, + -0.0024045066128135506 + ], + "object_to_gripper_xy": 0.0064856878554919095, + "object_to_gripper_z": -0.0024045066128135506, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34167663674899745, + -0.14123720054120245, + 1.0515893103806584 + ], + "finger_b": [ + 0.33014288284481996, + -0.117240893508379, + 1.0515893103806584 + ], + "finger_midpoint": [ + 0.33590975979690874, + -0.12923904702479072, + 1.0515893103806584 + ], + "object_minus_finger_midpoint": [ + 0.0057668769520887175, + 0.011998153516411716, + 0.0 + ], + "finger_gap": 0.026624241403947296, + "fingertip_max_gap": 0.10146839017668094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331212070197363, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0515893103806584, + "object_top_z": 1.106324228095819, + "finger_top_clearance": 0.05473491771516059, + "fingertip_min_top_clearance": 0.016420475314548145, + "object_projection_between_fingers": 0.8123334472796362, + "object_to_finger_line_xy": 0.01039531965348827, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05323419508834047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.333599492770585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34233520683570273, + -0.12248584248796472, + 1.243929172960305 + ], + "held_position": [ + 0.34726501353701256, + -0.11829347566042447, + 1.241415647987985 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006942387306641399, + "max_held_gripper_dist": 0.006950516066918063, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002513524972320047, + "max_held_gripper_z_dist": 0.0025251261283090187, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08772764975450992, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34726501353701256, + -0.14350775409056707, + 1.241415647987985 + ], + "held_grasp_finger_b": [ + 0.3385400673467432, + -0.11829347566042447, + 1.241415647987985 + ], + "held_grasp_midpoint": [ + 0.34290254044187785, + -0.13090061487549576, + 1.241415647987985 + ], + "held_grasp_object_position": [ + 0.34726501353701256, + -0.11829347566042447, + 1.241415647987985 + ], + "held_grasp_finger_gap": 0.026681164194537126, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024780597200267453, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045574860992969396, + -0.998570531368473, + 0.027925363524169515 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003799974057713046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03693231326016867, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3137701600568147, + -0.11744124727152465, + 0.7611066179158097 + ], + "target_position": [ + 0.31760736995545275, + -0.11907192050383732, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004169325484630213, + "xy_threshold": 0.08, + "gripper_dist": 0.21189434401994295, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066179158097, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575988774953389, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09039996781385266, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18295243339406492, + "release_required_pad_clearance": 0.055199983906926334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.498452506228247, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0a665f9ac722ef76558f7ccfa80f35c87716ddf731cd48603523a2d466fb7cb1", + "visual_seed": 3925514320871702693, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee00c34ecf3b03acb678b45eb1e6536554c3b29 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_68_success.json @@ -0,0 +1,684 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3394233052822816, + -0.11048258908736032, + 1.0502653941263085 + ], + "current_z": 1.0502653941263085, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1891589457161873, + "gripper_z": 1.0533605037237368, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3352856504725888, + -0.1146523647718051, + 1.0533605037237368 + ], + "object_minus_gripper": [ + 0.004137654809692803, + 0.004169775684444779, + -0.003095109597428314 + ], + "object_to_gripper_xy": 0.005874284346434118, + "object_to_gripper_z": -0.003095109597428314, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3394233052822816, + -0.13462230776841624, + 1.0502653941263085 + ], + "finger_b": [ + 0.32910420171359966, + -0.11048258908736032, + 1.0502653941263085 + ], + "finger_midpoint": [ + 0.33426375349794063, + -0.12255244842788829, + 1.0502653941263085 + ], + "object_minus_finger_midpoint": [ + 0.0051595517843409655, + 0.01206985934052797, + 0.0 + ], + "finger_gap": 0.026252807782439283, + "fingertip_max_gap": 0.09456697562693858, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013126403891219648, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0502653941263085, + "object_top_z": 1.1010202050845874, + "finger_top_clearance": 0.05075481095827894, + "fingertip_min_top_clearance": 0.015226443287483682, + "object_projection_between_fingers": 0.8454985978613659, + "object_to_finger_line_xy": 0.009488518685429444, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04978348781346929, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7158664405894437, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33982900088763923, + -0.11390812917980556, + 1.2439878459018168 + ], + "held_position": [ + 0.34410062611479203, + -0.1098786897154653, + 1.2408357475470941 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006664749696415913, + "max_held_gripper_dist": 0.006676962621307563, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0031520983547226322, + "max_held_gripper_z_dist": 0.0031721257856482943, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0866308786241993, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34410062611479203, + -0.13457326560601549, + 1.2408357475470941 + ], + "held_grasp_finger_b": [ + 0.3352959183416724, + -0.1098786897154653, + 1.2408357475470941 + ], + "held_grasp_midpoint": [ + 0.33969827222823223, + -0.12222597766074039, + 1.2408357475470941 + ], + "held_grasp_object_position": [ + 0.34410062611479203, + -0.1098786897154653, + 1.2408357475470941 + ], + "held_grasp_finger_gap": 0.026217264490868915, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024666538361507857, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0029344486645505275, + -0.9999108886872367, + -0.013023198368136587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004369065652321306, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037361143926374546, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31165746944635736, + -0.12595769096272152, + 0.7611066121764782 + ], + "target_position": [ + 0.3159501405934439, + -0.11210219348196866, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.01450523477976755, + "xy_threshold": 0.08, + "gripper_dist": 0.21450728371076153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611066121764782, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577341472100615, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09400468591269039, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1824499814003623, + "release_required_pad_clearance": 0.057002342956345195, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.525921135977969, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 217, + "max_placed_release_frames": 217 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8f978ad44ebb187f12f59c4992b1ed8c3e19b81f86b6c5fbeb6964da1492130", + "visual_seed": 7030818271245385100, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8b34707181e900cc263c9229757004afc8bc1687 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_69_success.json @@ -0,0 +1,684 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3329012067076523, + -0.12029329477968229, + 1.0498369115022914 + ], + "current_z": 1.0498369115022914, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.18873046309217, + "gripper_z": 1.0521138850436682, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32881012976901614, + -0.12459358761652327, + 1.0521138850436682 + ], + "object_minus_gripper": [ + 0.00409107693863614, + 0.004300292836840983, + -0.002276973541376792 + ], + "object_to_gripper_xy": 0.005935438400019523, + "object_to_gripper_z": -0.002276973541376792, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3329012067076523, + -0.1440628519507285, + 1.0498369115022914 + ], + "finger_b": [ + 0.3219724185776536, + -0.12029329477968229, + 1.0498369115022914 + ], + "finger_midpoint": [ + 0.3274368126426529, + -0.13217807336520537, + 1.0498369115022914 + ], + "object_minus_finger_midpoint": [ + 0.005464394064999378, + 0.011884778585523087, + 0.0 + ], + "finger_gap": 0.026161618032874697, + "fingertip_max_gap": 0.0910894864685787, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013080809016437347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0498369115022914, + "object_top_z": 1.0996523634011075, + "finger_top_clearance": 0.04981545189881609, + "fingertip_min_top_clearance": 0.014944635569644826, + "object_projection_between_fingers": 0.8254922125706301, + "object_to_finger_line_xy": 0.009929525533926257, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804474323428935, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.130648373821392, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3336874753068701, + -0.125066551884073, + 1.2449523980630222 + ], + "held_position": [ + 0.33811289361838714, + -0.12110544629960446, + 1.2426019761752731 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006387422620558942, + "max_held_gripper_dist": 0.006396172945982692, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0023504218877490324, + "max_held_gripper_z_dist": 0.002360463157609516, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08730282306272708, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33811289361838714, + -0.14607448004992082, + 1.2426019761752731 + ], + "held_grasp_finger_b": [ + 0.3297462799344387, + -0.12110544629960446, + 1.2426019761752731 + ], + "held_grasp_midpoint": [ + 0.33392958677641293, + -0.13358996317476263, + 1.2426019761752731 + ], + "held_grasp_object_position": [ + 0.33811289361838714, + -0.12110544629960446, + 1.2426019761752731 + ], + "held_grasp_finger_gap": 0.02633349332999461, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024264555881957785, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0748737715963279, + -0.9968746108827328, + -0.02519778768743896 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0032524354310194954, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0369615322071095, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3072845610441971, + -0.1244968032675984, + 0.7611085265754867 + ], + "target_position": [ + 0.3093917800817258, + -0.12109180205006645, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004004298360951324, + "xy_threshold": 0.08, + "gripper_dist": 0.21361593750827867, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611085265754867, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533067777265204, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08709919096536149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.184181453254745, + "release_required_pad_clearance": 0.05354959548268075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.105150410864207, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2dfe5fead90798126f8713459f29a196c0561cc945104a90f0eb06b39b881677", + "visual_seed": 4042870631395659654, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8cdce72a0decb11172e4b98cf8f5cfac53b065 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_70_success.json @@ -0,0 +1,684 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3316935229535793, + -0.11115332190457515, + 1.0515915944425238 + ], + "current_z": 1.0515915944425238, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.1904850268231132, + "gripper_z": 1.0543617690519942, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3276501435498403, + -0.11547997659369413, + 1.0543617690519942 + ], + "object_minus_gripper": [ + 0.004043379403739, + 0.004326654689118983, + -0.002770174609470377 + ], + "object_to_gripper_xy": 0.005921896470004862, + "object_to_gripper_z": -0.002770174609470377, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3316935229535793, + -0.13476875460579119, + 1.0515915944425238 + ], + "finger_b": [ + 0.32057193870153067, + -0.11115332190457515, + 1.0515915944425238 + ], + "finger_midpoint": [ + 0.326132730827555, + -0.12296103825518317, + 1.0515915944425238 + ], + "object_minus_finger_midpoint": [ + 0.005560792126024283, + 0.011807716350608025, + 0.0 + ], + "finger_gap": 0.0261032238993784, + "fingertip_max_gap": 0.09387172775019284, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013051611949689193, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0515915944425238, + "object_top_z": 1.10227138539546, + "finger_top_clearance": 0.05067979095293618, + "fingertip_min_top_clearance": 0.015203937285880886, + "object_projection_between_fingers": 0.8184714179345469, + "object_to_finger_line_xy": 0.010061631676132237, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943586387509642, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1702239166535744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33263243215636795, + -0.11579672049561487, + 1.2454438420851865 + ], + "held_position": [ + 0.33702041848653486, + -0.11183721149513261, + 1.2425879961081194 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00656414440756464, + "max_held_gripper_dist": 0.006573703652213912, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0028558459770671174, + "max_held_gripper_z_dist": 0.0028678186241890558, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08748009820397325, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33702041848653486, + -0.13681221024229165, + 1.2425879961081194 + ], + "held_grasp_finger_b": [ + 0.3286954208760539, + -0.11183721149513261, + 1.2425879961081194 + ], + "held_grasp_midpoint": [ + 0.3328579196812944, + -0.12432471086871213, + 1.2425879961081194 + ], + "held_grasp_object_position": [ + 0.33702041848653486, + -0.11183721149513261, + 1.2425879961081194 + ], + "held_grasp_finger_gap": 0.02632595957672026, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024379716859677943, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06490693807870954, + -0.9978005290959842, + -0.013460814426362377 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003347510654701524, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0369900415358472, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.311333140203963, + -0.11588427992293589, + 0.7611065834699035 + ], + "target_position": [ + 0.3082050071625381, + -0.11249837254249927, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004609727227694644, + "xy_threshold": 0.08, + "gripper_dist": 0.21756389419896152, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611065834699035, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522709083053841, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08673752867655764, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18804641619351287, + "release_required_pad_clearance": 0.05336876433827882, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7534066743729326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 189, + "max_placed_release_frames": 189 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eae41230a235c8e1017d5285f99c737bc4dafcfd9f7266b00d5613e276153ac7", + "visual_seed": 7549234216555936695, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..54d2a3f53e208e958fb75626d02cad614496c693 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_72_success.json @@ -0,0 +1,684 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33192106180900743, + -0.11355356395561593, + 1.0510758451930662 + ], + "current_z": 1.0510758451930662, + "required_z": 0.8611064484101215, + "initial_z": 0.7611064484101215, + "lift_margin": 0.18996939678294467, + "gripper_z": 1.0535315100997311, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3277589148571649, + -0.11782611980788658, + 1.0535315100997311 + ], + "object_minus_gripper": [ + 0.004162146951842527, + 0.004272555852270654, + -0.002455664906664934 + ], + "object_to_gripper_xy": 0.005964746495828993, + "object_to_gripper_z": -0.002455664906664934, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33192106180900743, + -0.13749719536336566, + 1.0510758451930662 + ], + "finger_b": [ + 0.32117547037319744, + -0.11355356395561593, + 1.0510758451930662 + ], + "finger_midpoint": [ + 0.32654826609110243, + -0.1255253796594908, + 1.0510758451930662 + ], + "object_minus_finger_midpoint": [ + 0.005372795717904999, + 0.011971815703874858, + 0.0 + ], + "finger_gap": 0.026244336918572215, + "fingertip_max_gap": 0.09502169072891023, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131221684592861, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0510758451930662, + "object_top_z": 1.102471244581242, + "finger_top_clearance": 0.05139539938817572, + "fingertip_min_top_clearance": 0.015418619816452699, + "object_projection_between_fingers": 0.8323554501549761, + "object_to_finger_line_xy": 0.009803580917117095, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05001084536445512, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3379994910292985, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3326347513891402, + -0.11810210088468391, + 1.2457551917977814 + ], + "held_position": [ + 0.3370740977038454, + -0.1141327255927729, + 1.243229582997385 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006468572927822625, + "max_held_gripper_dist": 0.006478310568808707, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025256088003964283, + "max_held_gripper_z_dist": 0.0025385801554862475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08753276496266947, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3370740977038454, + -0.139113514732689, + 1.243229582997385 + ], + "held_grasp_finger_b": [ + 0.32863944756648245, + -0.1141327255927729, + 1.243229582997385 + ], + "held_grasp_midpoint": [ + 0.3328567726351639, + -0.12662312016273095, + 1.243229582997385 + ], + "held_grasp_object_position": [ + 0.3370740977038454, + -0.1141327255927729, + 1.243229582997385 + ], + "held_grasp_finger_gap": 0.026366326042751312, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024574691246671394, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.045088724505373996, + -0.9989675955888557, + -0.005545257965053229 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0036505271739065387, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03705259683041659, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31259744474261275, + -0.12120519845951717, + 0.7611063622304053 + ], + "target_position": [ + 0.3083126703824162, + -0.11520261491301925, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.007374978003389919, + "xy_threshold": 0.08, + "gripper_dist": 0.21698950154773539, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063622304053, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759186545777592, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08620939577945506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18555159394638124, + "release_required_pad_clearance": 0.053104697889727534, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2366792291900617, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 191, + "max_placed_release_frames": 191 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f107c2b488d6b5de0218434d0d33572c1aebfff9373fd2201c4fc754cea5136e", + "visual_seed": 7033469659822717056, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b91e8dd10ad4f6c5b1dded9fe00fd3fd2ab62385 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_74_success.json @@ -0,0 +1,684 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3407096879990459, + -0.11908834127551877, + 1.0507161809896894 + ], + "current_z": 1.0507161809896894, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18960967297492348, + "gripper_z": 1.0528616236755617, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33673962936274404, + -0.12332559031086918, + 1.0528616236755617 + ], + "object_minus_gripper": [ + 0.003970058636301843, + 0.004237249035350402, + -0.0021454426858722453 + ], + "object_to_gripper_xy": 0.00580651745569173, + "object_to_gripper_z": -0.0021454426858722453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3407096879990459, + -0.14277112746504006, + 1.0507161809896894 + ], + "finger_b": [ + 0.32985803879188635, + -0.11908834127551877, + 1.0507161809896894 + ], + "finger_midpoint": [ + 0.3352838633954661, + -0.1309297343702794, + 1.0507161809896894 + ], + "object_minus_finger_midpoint": [ + 0.005425824603579765, + 0.011841393094760636, + 0.0 + ], + "finger_gap": 0.026050578730880937, + "fingertip_max_gap": 0.09255524856856359, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013025289365440462, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0507161809896894, + "object_top_z": 1.1009803159774139, + "finger_top_clearance": 0.05026413498772442, + "fingertip_min_top_clearance": 0.015079240496317292, + "object_projection_between_fingers": 0.8264771225918814, + "object_to_finger_line_xy": 0.009865319716379144, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487776242842818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5176071949920622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3417665791676162, + -0.12394352008040276, + 1.2463086333614528 + ], + "held_position": [ + 0.3460656797196975, + -0.12005776646055319, + 1.2440785988742253 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006209218998014435, + "max_held_gripper_dist": 0.006217891840571226, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0022300344872274724, + "max_held_gripper_z_dist": 0.0022424881809754993, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08722342549025391, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3460656797196975, + -0.14500219715172658, + 1.2440785988742253 + ], + "held_grasp_finger_b": [ + 0.3378392187680389, + -0.12002003363694375, + 1.2440785988742253 + ], + "held_grasp_midpoint": [ + 0.3419524492438682, + -0.13251111539433516, + 1.2440785988742253 + ], + "held_grasp_object_position": [ + 0.3460656797196975, + -0.12005776646055319, + 1.2440785988742253 + ], + "held_grasp_finger_gap": 0.02630177092266811, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02434945020041094, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06925996367228354, + -0.9974802451488516, + -0.015369384174428458 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003246611072035144, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03701339832937037, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31784053315902233, + -0.12406141234436366, + 0.7611068010433245 + ], + "target_position": [ + 0.31727783751558936, + -0.12050764747316689, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003598037124167931, + "xy_threshold": 0.08, + "gripper_dist": 0.2157806182379321, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611068010433245, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560683094480133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618156419122135, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18571077125674737, + "release_required_pad_clearance": 0.053090782095610675, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2091581626684689, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4179e72d4a22799e07744bae73cea9d447521fca3270d2e4780dc1b69f99d699", + "visual_seed": 3795035566082971652, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fbd8b44826aadc59cf7c05bb5fe8f6e5d19afb39 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_75_success.json @@ -0,0 +1,684 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3376730836805027, + -0.11380561341462148, + 1.0521969074756825 + ], + "current_z": 1.0521969074756825, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.19109039946091666, + "gripper_z": 1.054467124070564, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33367296784871525, + -0.11801410491902224, + 1.054467124070564 + ], + "object_minus_gripper": [ + 0.004000115831787443, + 0.004208491504400766, + -0.00227021659488158 + ], + "object_to_gripper_xy": 0.005806231773735007, + "object_to_gripper_z": -0.00227021659488158, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3376730836805027, + -0.13760445337218022, + 1.0521969074756825 + ], + "finger_b": [ + 0.3269785569034639, + -0.11380561341462148, + 1.0521969074756825 + ], + "finger_midpoint": [ + 0.3323258202919833, + -0.12570503339340083, + 1.0521969074756825 + ], + "object_minus_finger_midpoint": [ + 0.005347263388519374, + 0.011899419978779358, + 0.0 + ], + "finger_gap": 0.026091333547948344, + "fingertip_max_gap": 0.0930228117200064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013045666773974146, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0521969074756825, + "object_top_z": 1.1028119401297032, + "finger_top_clearance": 0.050615032654020675, + "fingertip_min_top_clearance": 0.015184509796206202, + "object_projection_between_fingers": 0.8319917567075872, + "object_to_finger_line_xy": 0.009754860966414142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490114058600032, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.441220709678509, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33872182990622757, + -0.11845201091437323, + 1.247426833980019 + ], + "held_position": [ + 0.34302216654009826, + -0.11456272140261797, + 1.2450792394474042 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0062554510756957105, + "max_held_gripper_dist": 0.006264144789756207, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002347594532614794, + "max_held_gripper_z_dist": 0.002360786086968547, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08729542039438246, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34302216654009826, + -0.13951664221980511, + 1.2450792394474042 + ], + "held_grasp_finger_b": [ + 0.3347672065773899, + -0.1145448060651904, + 1.2450792394474042 + ], + "held_grasp_midpoint": [ + 0.3388946865587441, + -0.12703072414249775, + 1.2450792394474042 + ], + "held_grasp_object_position": [ + 0.34302216654009826, + -0.11456272140261797, + 1.2450792394474042 + ], + "held_grasp_finger_gap": 0.026300892854023816, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02439047992662307, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06400397825360962, + -0.9978773707417485, + -0.012010151091745636 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003324461192726329, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0370145371386541, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3170529129656466, + -0.11498301879210734, + 0.7611063984051049 + ], + "target_position": [ + 0.31419755622010814, + -0.11568792731131441, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0029410811217548175, + "xy_threshold": 0.08, + "gripper_dist": 0.21875435571416008, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063984051049, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590149294731656, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854046115467155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18888205886868842, + "release_required_pad_clearance": 0.05427023057733578, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.559865324712663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 192, + "max_placed_release_frames": 192 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "302bd703d7a144f78c4ea5d1e7d47a8a8eccc9aed31b782f3bcd1b94f65d3109", + "visual_seed": 8243735949222654414, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf5dafd24b592f815614f28e645fe72e7f6b690 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_76_success.json @@ -0,0 +1,684 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3376849961017709, + -0.11851140012496414, + 1.0533491447673788 + ], + "current_z": 1.0533491447673788, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.19224257714796822, + "gripper_z": 1.055759577106057, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3337224475914227, + -0.12273613231228063, + 1.055759577106057 + ], + "object_minus_gripper": [ + 0.003962548510348163, + 0.004224732187316491, + -0.0024104323386782145 + ], + "object_to_gripper_xy": 0.005792249368890329, + "object_to_gripper_z": -0.0024104323386782145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3376849961017709, + -0.14221191102744596, + 1.0533491447673788 + ], + "finger_b": [ + 0.32688812620857455, + -0.11851140012496414, + 1.0533491447673788 + ], + "finger_midpoint": [ + 0.33228656115517274, + -0.13036165557620505, + 1.0533491447673788 + ], + "object_minus_finger_midpoint": [ + 0.005398434946598141, + 0.01185025545124091, + 0.0 + ], + "finger_gap": 0.02604393627179404, + "fingertip_max_gap": 0.09310006355997538, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013021968135897007, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0533491447673788, + "object_top_z": 1.1034546551482871, + "finger_top_clearance": 0.05010551038090827, + "fingertip_min_top_clearance": 0.01503165311427248, + "object_projection_between_fingers": 0.8281369606154108, + "object_to_finger_line_xy": 0.009825370863524608, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905003177998769, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.248275784928705, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33865395189570857, + -0.12298297187818391, + 1.2477436968565858 + ], + "held_position": [ + 0.34290898859092644, + -0.11906655325048705, + 1.2452610983589438 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006293406664559014, + "max_held_gripper_dist": 0.006302757908380387, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024825984976419857, + "max_held_gripper_z_dist": 0.0024932956834604614, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.087366719434488, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34290898859092644, + -0.14390938411693183, + 1.2452610983589438 + ], + "held_grasp_finger_b": [ + 0.33456834081300435, + -0.11906655325048705, + 1.2452610983589438 + ], + "held_grasp_midpoint": [ + 0.3387386647019654, + -0.13148796868370943, + 1.2452610983589438 + ], + "held_grasp_object_position": [ + 0.34290898859092644, + -0.11906655325048705, + 1.2452610983589438 + ], + "held_grasp_finger_gap": 0.02620558434406945, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0243970414044671, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.049199351016901184, + -0.9985736325930871, + -0.020739434644227565 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003563625948928923, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037111374910127184, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3172902284683829, + -0.11794598068558565, + 0.7611106823097596 + ], + "target_position": [ + 0.3142973887749197, + -0.11910554217186058, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.003209621826823375, + "xy_threshold": 0.08, + "gripper_dist": 0.21727627830838356, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611106823097596, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562554542181335, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08590827129658606, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18781305641601648, + "release_required_pad_clearance": 0.05295413564829303, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9412738892640187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 188, + "max_placed_release_frames": 188 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b550f81a612f215f7c2e2497cb9afb286816e24c109ff12522ff3d7c7c803671", + "visual_seed": 5477918005601947560, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8720b355044634f3a52c9bde7b04894dd1dfe8c3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_77_success.json @@ -0,0 +1,684 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3356042417593732, + -0.11014899185747024, + 1.053423241990395 + ], + "current_z": 1.053423241990395, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.19231679358027398, + "gripper_z": 1.0559061848193378, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.331517806935887, + -0.11448677271001753, + 1.0559061848193378 + ], + "object_minus_gripper": [ + 0.004086434823486196, + 0.004337780852547296, + -0.0024829428289427913 + ], + "object_to_gripper_xy": 0.005959470806315491, + "object_to_gripper_z": -0.0024829428289427913, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3356042417593732, + -0.13382835177805144, + 1.053423241990395 + ], + "finger_b": [ + 0.32449955546481324, + -0.11014899185747024, + 1.053423241990395 + ], + "finger_midpoint": [ + 0.3300518986120932, + -0.12198867181776084, + 1.053423241990395 + ], + "object_minus_finger_midpoint": [ + 0.005552343147279981, + 0.011839679960290603, + 0.0 + ], + "finger_gap": 0.02615389347590556, + "fingertip_max_gap": 0.09243366132841127, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01307694673795278, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.053423241990395, + "object_top_z": 1.1035224066595906, + "finger_top_clearance": 0.050099164669195506, + "fingertip_min_top_clearance": 0.01502974940075865, + "object_projection_between_fingers": 0.8197231804786409, + "object_to_finger_line_xy": 0.010054023651058923, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871683066420564, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6530744723373703, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3366137764188818, + -0.1148590067482536, + 1.2489260959025525 + ], + "held_position": [ + 0.34105118838961634, + -0.1108977922143133, + 1.2463592144296702 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006478481772587201, + "max_held_gripper_dist": 0.006487531618117913, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025668814728823097, + "max_held_gripper_z_dist": 0.0025802247346844442, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0873693390384568, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34105118838961634, + -0.1359290812530698, + 1.2463592144296702 + ], + "held_grasp_finger_b": [ + 0.3326619960691035, + -0.1108977922143133, + 1.2463592144296702 + ], + "held_grasp_midpoint": [ + 0.33685659222935993, + -0.12341343673369154, + 1.2463592144296702 + ], + "held_grasp_object_position": [ + 0.34105118838961634, + -0.1108977922143133, + 1.2463592144296702 + ], + "held_grasp_finger_gap": 0.026399696565156245, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02436645239287543, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.07125574282101586, + -0.9973210123014147, + -0.016535342061985144 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003298775997053497, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03693924574319084, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.31655920989424874, + -0.11589657359095895, + 0.761115568437959 + ], + "target_position": [ + 0.31204383158745314, + -0.11246247511588853, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005672889351112124, + "xy_threshold": 0.08, + "gripper_dist": 0.21913907730670282, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761115568437959, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756921581888132, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569687454291307, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18841525941842507, + "release_required_pad_clearance": 0.052848437271456536, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.733804526268459, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0297b243cbd8974eca7e0839dc55d656d30db17c2dc8b4b589e5e87e1a4b742c", + "visual_seed": 9135058562279386028, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4056fcada52513c9092dc7744adfb02b7ba9f782 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_78_success.json @@ -0,0 +1,684 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33774210229979834, + -0.10931654782407343, + 1.0506889364106933 + ], + "current_z": 1.0506889364106933, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.1895824880005721, + "gripper_z": 1.053139332755794, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33368910714653455, + -0.11352124934519116, + 1.053139332755794 + ], + "object_minus_gripper": [ + 0.004052995153263794, + 0.0042047015211177236, + -0.0024503963451008026 + ], + "object_to_gripper_xy": 0.005840058612211825, + "object_to_gripper_z": -0.0024503963451008026, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33774210229979834, + -0.13320832725646764, + 1.0506889364106933 + ], + "finger_b": [ + 0.3271364388492092, + -0.10931654782407343, + 1.0506889364106933 + ], + "finger_midpoint": [ + 0.33243927057450373, + -0.12126243754027054, + 1.0506889364106933 + ], + "object_minus_finger_midpoint": [ + 0.00530283172529461, + 0.011945889716197103, + 0.0 + ], + "finger_gap": 0.026139954507866645, + "fingertip_max_gap": 0.10057895056813373, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013069977253933333, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0506889364106933, + "object_top_z": 1.1045616000557483, + "finger_top_clearance": 0.05387266364505505, + "fingertip_min_top_clearance": 0.016161799093516498, + "object_projection_between_fingers": 0.8353862804363399, + "object_to_finger_line_xy": 0.009693520002853315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05278947528406687, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 4.002254840916643, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33810294957657694, + -0.11287173040269187, + 1.245221435490656 + ], + "held_position": [ + 0.34235170507850493, + -0.1088707027150897, + 1.2427113390361564 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006353009529586242, + "max_held_gripper_dist": 0.006361347751530131, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002510096454499511, + "max_held_gripper_z_dist": 0.0025226068364576637, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0863987173302841, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34235170507850493, + -0.1334944690541565, + 1.2427113390361564 + ], + "held_grasp_finger_b": [ + 0.33349574309628427, + -0.1088707027150897, + 1.2427113390361564 + ], + "held_grasp_midpoint": [ + 0.3379237240873946, + -0.12118258588462309, + 1.2427113390361564 + ], + "held_grasp_object_position": [ + 0.34235170507850493, + -0.1088707027150897, + 1.2427113390361564 + ], + "held_grasp_finger_gap": 0.02616787976415928, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02459808423764298, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0023982594058463563, + -0.999819556145841, + 0.01884419009021443 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004404561113208242, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03739996905715189, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3125880587312872, + -0.11722575897756894, + 0.7611064008257648 + ], + "target_position": [ + 0.31438346243811505, + -0.11287215014520507, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.004709287030509804, + "xy_threshold": 0.08, + "gripper_dist": 0.21187432342822243, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064008257648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580481458178907, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581203944714831, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18154662465081167, + "release_required_pad_clearance": 0.05290601972357416, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8513324190959403, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42971b15bb46ea772c86faea7c45422c7264f748584fa0e623f32efedfb462dd", + "visual_seed": 3348411578693536651, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..94cf899685149b1f73fcadd9d430a9e650615312 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_79_success.json @@ -0,0 +1,684 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33510368928903034, + -0.1176555082922608, + 1.0521032262542585 + ], + "current_z": 1.0521032262542585, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1909967182394925, + "gripper_z": 1.0547491437226826, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33030033780426815, + -0.12241581421086264, + 1.0547491437226826 + ], + "object_minus_gripper": [ + 0.004803351484762186, + 0.00476030591860184, + -0.0026459174684241304 + ], + "object_to_gripper_xy": 0.006762595502086666, + "object_to_gripper_z": -0.0026459174684241304, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33510368928903034, + -0.1417742785206352, + 1.0521032262542585 + ], + "finger_b": [ + 0.32329999865041126, + -0.1176555082922608, + 1.0521032262542585 + ], + "finger_midpoint": [ + 0.3292018439697208, + -0.129714893406448, + 1.0521032262542585 + ], + "object_minus_finger_midpoint": [ + 0.00590184531930954, + 0.012059385114187207, + 0.0 + ], + "finger_gap": 0.02685222877195379, + "fingertip_max_gap": 0.09821863832884895, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013426114385976903, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0521032262542585, + "object_top_z": 1.105246174541345, + "finger_top_clearance": 0.053142948287086655, + "fingertip_min_top_clearance": 0.015942884486125995, + "object_projection_between_fingers": 0.8067698192693834, + "object_to_finger_line_xy": 0.010602118162236756, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051609319164424475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.3519464916513533, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33542564736193786, + -0.12321525303034021, + 1.2447798363593598 + ], + "held_position": [ + 0.3406171352841038, + -0.1189049326490554, + 1.2420279223568569 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.007287210667497276, + "max_held_gripper_dist": 0.007295285798746614, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027519140025029643, + "max_held_gripper_z_dist": 0.002762477171714295, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0875582765049508, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3406171352841038, + -0.14426561013109004, + 1.2420279223568569 + ], + "held_grasp_finger_b": [ + 0.3316785138007351, + -0.1189049326490554, + 1.2420279223568569 + ], + "held_grasp_midpoint": [ + 0.3361478245424194, + -0.13158527139007273, + 1.2420279223568569 + ], + "held_grasp_object_position": [ + 0.3406171352841038, + -0.1189049326490554, + 1.2420279223568569 + ], + "held_grasp_finger_gap": 0.026889829236548153, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024802087144532182, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05761041090100082, + -0.9982795143785891, + 0.010911082799900274 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003733984647801921, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03680424884128359, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30836731206915, + -0.11795748570615033, + 0.761110902730191 + ], + "target_position": [ + 0.3108128739164374, + -0.12092600218082161, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0038461490882833074, + "xy_threshold": 0.08, + "gripper_dist": 0.21416961585003413, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.761110902730191, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548844503118372, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09094352316881936, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18604741293362545, + "release_required_pad_clearance": 0.05547176158440968, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 6.079913222724986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "832f247f7e8c6576618cbdf7cc46e9cc8e92d6d54ba32d3f3aa9c8676991ddd9", + "visual_seed": 7508941179546363876, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6ab018c80cd2aa7368d0f912c5b81e5a4e6d54 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_7_success.json @@ -0,0 +1,684 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3384458149573266, + -0.11127860279800848, + 1.0525713450851173 + ], + "current_z": 1.0525713450851173, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.19146477746570634, + "gripper_z": 1.0550977126990935, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3344347237788847, + -0.1155033718376436, + 1.0550977126990935 + ], + "object_minus_gripper": [ + 0.0040110911784418946, + 0.004224769039635118, + -0.002526367613976177 + ], + "object_to_gripper_xy": 0.005825592320102208, + "object_to_gripper_z": -0.002526367613976177, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3384458149573266, + -0.13518308699743353, + 1.0525713450851173 + ], + "finger_b": [ + 0.327865623292696, + -0.11127860279800848, + 1.0525713450851173 + ], + "finger_midpoint": [ + 0.3331557191250113, + -0.12323084489772101, + 1.0525713450851173 + ], + "object_minus_finger_midpoint": [ + 0.005290095832315322, + 0.011952242099712532, + 0.0 + ], + "finger_gap": 0.0261412474932028, + "fingertip_max_gap": 0.10064883246465359, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013070623746601406, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0525713450851173, + "object_top_z": 1.106508548712522, + "finger_top_clearance": 0.05393720362740462, + "fingertip_min_top_clearance": 0.016181161088221367, + "object_projection_between_fingers": 0.8361922470953781, + "object_to_finger_line_xy": 0.009674902643411101, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.052824416232326796, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.8678731384457743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33898142909059703, + -0.11510249136252683, + 1.247446640691014 + ], + "held_position": [ + 0.3432066307723056, + -0.11109852730309841, + 1.244862837677922 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006368680825003795, + "max_held_gripper_dist": 0.00637776319737112, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002583803013092023, + "max_held_gripper_z_dist": 0.0025983486332430417, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08702552206358662, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3432066307723056, + -0.1358121538407363, + 1.244862837677922 + ], + "held_grasp_finger_b": [ + 0.3344860914008996, + -0.11109852730309841, + 1.244862837677922 + ], + "held_grasp_midpoint": [ + 0.3388463610866026, + -0.12345534057191736, + 1.244862837677922 + ], + "held_grasp_object_position": [ + 0.3432066307723056, + -0.11109852730309841, + 1.244862837677922 + ], + "held_grasp_finger_gap": 0.026207081935425067, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02462405952211836, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.009622070669253956, + -0.9997710829932127, + 0.01911013779684734 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004247760834418298, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.0373243106629302, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.310444206403821, + -0.12069061371343565, + 0.7611118015168686 + ], + "target_position": [ + 0.3150904264111239, + -0.11559277312190488, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006897487879867612, + "xy_threshold": 0.08, + "gripper_dist": 0.21141669013122724, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611118015168686, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559188559782737, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879692739856605, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18157443045734384, + "release_required_pad_clearance": 0.05398463699283025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9647788292729285, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "64b885d3c87b727c0e807cfb2f3fe4ce44a6503c2c2cc45b87d3140f9981b284", + "visual_seed": 5324662358711371063, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..295b7b2023e1f2be815c0a826f2e520e6dae2494 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_80_success.json @@ -0,0 +1,684 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34009284081266095, + -0.11446890740247183, + 1.0529785722057623 + ], + "current_z": 1.0529785722057623, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.19187206419099612, + "gripper_z": 1.055569470453576, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33590749417623106, + -0.11870094902937431, + 1.055569470453576 + ], + "object_minus_gripper": [ + 0.0041853466364298875, + 0.00423204162690248, + -0.0025908982478137776 + ], + "object_to_gripper_xy": 0.005952083903886971, + "object_to_gripper_z": -0.0025908982478137776, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34009284081266095, + -0.13855726031358281, + 1.0529785722057623 + ], + "finger_b": [ + 0.32957224581905303, + -0.11446890740247183, + 1.0529785722057623 + ], + "finger_midpoint": [ + 0.334832543315857, + -0.12651308385802731, + 1.0529785722057623 + ], + "object_minus_finger_midpoint": [ + 0.005260297496803956, + 0.012044176455555486, + 0.0 + ], + "finger_gap": 0.026285579030901278, + "fingertip_max_gap": 0.09489283845231203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013142789515450632, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0529785722057623, + "object_top_z": 1.1042392037448105, + "finger_top_clearance": 0.05126063153904825, + "fingertip_min_top_clearance": 0.015378189461714441, + "object_projection_between_fingers": 0.8398062722727163, + "object_to_finger_line_xy": 0.00964117262712648, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049946419226156016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2731357163862116, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 214, + "max_stable_success_frames": 214, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34056106434067746, + -0.1183059931802806, + 1.2474949966718827 + ], + "held_position": [ + 0.3449243142252562, + -0.11426777305003202, + 1.2448459409874553 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006508660952516924, + "max_held_gripper_dist": 0.006519484815200557, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002649055684427415, + "max_held_gripper_z_dist": 0.0026647462334887795, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08689549850110007, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3449243142252562, + -0.13902572195129018, + 1.2448459409874553 + ], + "held_grasp_finger_b": [ + 0.3360903948879088, + -0.11426777305003202, + 1.2448459409874553 + ], + "held_grasp_midpoint": [ + 0.34050735455658254, + -0.1266467475006611, + 1.2448459409874553 + ], + "held_grasp_object_position": [ + 0.3449243142252562, + -0.11426777305003202, + 1.2448459409874553 + ], + "held_grasp_finger_gap": 0.026286767862483018, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457485065962508, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.020082732904648938, + -0.9997702152507624, + -0.007496701709751363 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004168505757171786, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03725541549772936, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30698620983453867, + -0.11835126948718368, + 0.7611069038716898 + ], + "target_position": [ + 0.316554182051033, + -0.1171426640961582, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009644004320137085, + "xy_threshold": 0.08, + "gripper_dist": 0.2083071385477276, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611069038716898, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756256340039923, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09009917352138362, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17961283342114764, + "release_required_pad_clearance": 0.05504958676069181, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.178125755338582, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 218, + "max_placed_release_frames": 218 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01edea93856ac3d50baf6febbd6700b5c9685ec5911d5da7fc642d8476c6a0e9", + "visual_seed": 1713703366313122128, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..40001e3460b329504bbbdac6fe589db91236ec78 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_81_success.json @@ -0,0 +1,684 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3404184455293836, + -0.10902788262048155, + 1.0518827925298169 + ], + "current_z": 1.0518827925298169, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.1907762845150509, + "gripper_z": 1.0543437921974854, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3363707713809211, + -0.11330499591539746, + 1.0543437921974854 + ], + "object_minus_gripper": [ + 0.004047674148462521, + 0.00427711329491591, + -0.002460999667668551 + ], + "object_to_gripper_xy": 0.0058887489460562195, + "object_to_gripper_z": -0.002460999667668551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3404184455293836, + -0.13281144681412613, + 1.0518827925298169 + ], + "finger_b": [ + 0.329578006422353, + -0.10902788262048155, + 1.0518827925298169 + ], + "finger_midpoint": [ + 0.3349982259758683, + -0.12091966471730384, + 1.0518827925298169 + ], + "object_minus_finger_midpoint": [ + 0.005420219553515293, + 0.01189178209682229, + 0.0 + ], + "finger_gap": 0.0261375791875692, + "fingertip_max_gap": 0.09706156709681571, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0130687895937846, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0518827925298169, + "object_top_z": 1.1039953538171794, + "finger_top_clearance": 0.052112561287362524, + "fingertip_min_top_clearance": 0.01563376838620879, + "object_projection_between_fingers": 0.8279863048490771, + "object_to_finger_line_xy": 0.009864122363404466, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05103078354840786, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.170877889166527, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3408293878791354, + -0.11258768343043588, + 1.2443812069881317 + ], + "held_position": [ + 0.3450953944915651, + -0.10852798944918554, + 1.2418382887630894 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006414542909510099, + "max_held_gripper_dist": 0.006423721905478681, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025429182250422677, + "max_held_gripper_z_dist": 0.002554652810501379, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08638385691865746, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3450953944915651, + -0.13312838138471117, + 1.2418382887630894 + ], + "held_grasp_finger_b": [ + 0.3361866039480119, + -0.10852798944918554, + 1.2418382887630894 + ], + "held_grasp_midpoint": [ + 0.3406409992197885, + -0.12082818541694836, + 1.2418382887630894 + ], + "held_grasp_object_position": [ + 0.3450953944915651, + -0.10852798944918554, + 1.2418382887630894 + ], + "held_grasp_finger_gap": 0.026163826790635527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024459898576873904, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.01544098455938252, + -0.9998807798902702, + -4.4742172504497184e-05 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004263937122441066, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03735274028443233, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30781663474321785, + -0.11155334489712729, + 0.7611080358237267 + ], + "target_position": [ + 0.3170698760308984, + -0.11363426668152535, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.009484340240671397, + "xy_threshold": 0.08, + "gripper_dist": 0.21070209119174713, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611080358237267, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756300863746179, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0899698435577833, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1824764220308407, + "release_required_pad_clearance": 0.05498492177889165, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.036010005116688, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a618eb8b875f552e0484f5faf314ee66170f1478b8dee94c1018709dca860f6c", + "visual_seed": 8943178890868150502, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a5517c16d6a00de8a53955b48c644b0d7c22a3e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_84_success.json @@ -0,0 +1,684 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33299598625341426, + -0.11376967661983188, + 1.0521791251341717 + ], + "current_z": 1.0521791251341717, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.1910726767240506, + "gripper_z": 1.054855786064249, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32878965085067635, + -0.1181288329932833, + 1.054855786064249 + ], + "object_minus_gripper": [ + 0.004206335402737904, + 0.0043591563734514255, + -0.002676660930077235 + ], + "object_to_gripper_xy": 0.006057681223746296, + "object_to_gripper_z": -0.002676660930077235, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33299598625341426, + -0.137607855421182, + 1.0521791251341717 + ], + "finger_b": [ + 0.3219589457702489, + -0.11376967661983188, + 1.0521791251341717 + ], + "finger_midpoint": [ + 0.3274774660118316, + -0.12568876602050694, + 1.0521791251341717 + ], + "object_minus_finger_midpoint": [ + 0.0055185202415826695, + 0.011919089400675056, + 0.0 + ], + "finger_gap": 0.02626927922863833, + "fingertip_max_gap": 0.09693241296967883, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013134639614319158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0521791251341717, + "object_top_z": 1.104405624552752, + "finger_top_clearance": 0.052226499418580374, + "fingertip_min_top_clearance": 0.015667949825574127, + "object_projection_between_fingers": 0.8234738874458599, + "object_to_finger_line_xy": 0.010015613378101546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05096620648483942, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.956809665121701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3335703797834446, + -0.11831183315842342, + 1.244067266181704 + ], + "held_position": [ + 0.33805508218422625, + -0.11425375250144892, + 1.2413131923715217 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006645712662613345, + "max_held_gripper_dist": 0.006655989518840269, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027540738101823337, + "max_held_gripper_z_dist": 0.002766839176214342, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08706066862136758, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33805508218422625, + -0.13912677537373297, + 1.2413131923715217 + ], + "held_grasp_finger_b": [ + 0.3294337092926288, + -0.11425375250144892, + 1.2413131923715217 + ], + "held_grasp_midpoint": [ + 0.3337443957384275, + -0.12669026393759095, + 1.2413131923715217 + ], + "held_grasp_object_position": [ + 0.33805508218422625, + -0.11425375250144892, + 1.2413131923715217 + ], + "held_grasp_finger_gap": 0.026324804602145428, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024518091093222536, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03897110214590797, + -0.9992382359167846, + -0.0020496534939842266 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00382283335873484, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037125220119887385, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2889567754472155, + -0.11758062942333676, + 0.7611071137415798 + ], + "target_position": [ + 0.30938729012679694, + -0.11739873103288836, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.020431324408785673, + "xy_threshold": 0.08, + "gripper_dist": 0.20329551580713326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611071137415798, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535187928998666, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08858686055578323, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17655114053831353, + "release_required_pad_clearance": 0.054293430277891616, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.605531058996497, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2ea60131051596cd9e4ab0b603393d3315ea50adb9f917f357d09c6c06e8a52f", + "visual_seed": 8620647704495138478, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f0336ce92a1c47a2627cc948e1eaef03f70a68e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_85_success.json @@ -0,0 +1,684 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3354805090253521, + -0.11605578303335569, + 1.051808052836049 + ], + "current_z": 1.051808052836049, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19070154482128288, + "gripper_z": 1.0546732586058993, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33124887539322506, + -0.12030665056163496, + 1.0546732586058993 + ], + "object_minus_gripper": [ + 0.00423163363212703, + 0.004250867528279273, + -0.0028652057698503874 + ], + "object_to_gripper_xy": 0.005998049511260118, + "object_to_gripper_z": -0.0028652057698503874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3354805090253521, + -0.140177007788179, + 1.051808052836049 + ], + "finger_b": [ + 0.3249434915941151, + -0.11605578303335569, + 1.051808052836049 + ], + "finger_midpoint": [ + 0.33021200030973363, + -0.12811639541076733, + 1.051808052836049 + ], + "object_minus_finger_midpoint": [ + 0.0052685087156184585, + 0.012060612377411642, + 0.0 + ], + "finger_gap": 0.026322276117746582, + "fingertip_max_gap": 0.09948306745095906, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013161138058873274, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.051808052836049, + "object_top_z": 1.1051460736076848, + "finger_top_clearance": 0.05333802077163585, + "fingertip_min_top_clearance": 0.016001406231490756, + "object_projection_between_fingers": 0.8397535135583458, + "object_to_finger_line_xy": 0.009655918985402582, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05224153372547953, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.7641114801822915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33564896005295297, + -0.11956952157229621, + 1.2467195465173089 + ], + "held_position": [ + 0.3400421057929668, + -0.11548462560488615, + 1.2438092622917898 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.00666752269069028, + "max_held_gripper_dist": 0.006682408915146778, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0029102842255190886, + "max_held_gripper_z_dist": 0.0029322207417188384, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08675547304700408, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3400421057929668, + -0.1401968025493782, + 1.2438092622917898 + ], + "held_grasp_finger_b": [ + 0.3310415284430881, + -0.11548462560488615, + 1.2438092622917898 + ], + "held_grasp_midpoint": [ + 0.33554181711802744, + -0.12784071407713216, + 1.2438092622917898 + ], + "held_grasp_object_position": [ + 0.3400421057929668, + -0.11548462560488615, + 1.2438092622917898 + ], + "held_grasp_finger_gap": 0.02630022969418772, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024743058820518117, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.003683230979439067, + -0.9999081695915769, + 0.01304170976424035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004548619984548986, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03738187186516391, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30699635834899464, + -0.11407980287183671, + 0.7611063815509214 + ], + "target_position": [ + 0.3119391084849939, + -0.11889953041433968, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006903662252086384, + "xy_threshold": 0.08, + "gripper_dist": 0.21187116687376814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063815509214, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582857871913054, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08589204270157162, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18356176986690612, + "release_required_pad_clearance": 0.05294602135078581, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9287197170223473, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e3df419544bea07e30bf4637ad366937969940e9f00d20c69546ee59f64a96df", + "visual_seed": 7893059228093122198, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0946390885d84f3f269f20bdac9f1306fdef51 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_86_success.json @@ -0,0 +1,684 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33168554244290127, + -0.11348610410431748, + 1.0512594729076485 + ], + "current_z": 1.0512594729076485, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.19015302449752736, + "gripper_z": 1.0539804637138774, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.32765780419136037, + -0.11770155919779884, + 1.0539804637138774 + ], + "object_minus_gripper": [ + 0.004027738251540902, + 0.004215455093481368, + -0.0027209908062288957 + ], + "object_to_gripper_xy": 0.005830329070308449, + "object_to_gripper_z": -0.0027209908062288957, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33168554244290127, + -0.13736280302804574, + 1.0512594729076485 + ], + "finger_b": [ + 0.32108443510309304, + -0.11348610410431748, + 1.0512594729076485 + ], + "finger_midpoint": [ + 0.32638498877299715, + -0.1254244535661816, + 1.0512594729076485 + ], + "object_minus_finger_midpoint": [ + 0.005300553669904118, + 0.011938349461864117, + 0.0 + ], + "finger_gap": 0.026124322542881422, + "fingertip_max_gap": 0.09316407616701508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013062161271440697, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0512594729076485, + "object_top_z": 1.101221898744535, + "finger_top_clearance": 0.04996242583688648, + "fingertip_min_top_clearance": 0.014988727751065911, + "object_projection_between_fingers": 0.835330794701498, + "object_to_finger_line_xy": 0.009689033956583857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04908203808350754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5665262064228935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33190258010901297, + -0.1167574626791686, + 1.2465508483359022 + ], + "held_position": [ + 0.3361173218279271, + -0.11272336989026782, + 1.243770065634689 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006463025979986687, + "max_held_gripper_dist": 0.006472859152278182, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027807827012131803, + "max_held_gripper_z_dist": 0.002790408030424407, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.086544808721472, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3361173218279271, + -0.13731556674830303, + 1.243770065634689 + ], + "held_grasp_finger_b": [ + 0.3271869989972845, + -0.11272336989026782, + 1.243770065634689 + ], + "held_grasp_midpoint": [ + 0.3316521604126058, + -0.12501946831928543, + 1.243770065634689 + ], + "held_grasp_object_position": [ + 0.3361173218279271, + -0.11272336989026782, + 1.243770065634689 + ], + "held_grasp_finger_gap": 0.02616346330598939, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024456204402629824, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.014348644373391194, + -0.9996806129597018, + -0.020803568856357035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004295931851771154, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.037364009842343684, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30718952783480824, + -0.1159611582304394, + 0.7611078519963006 + ], + "target_position": [ + 0.308397920485164, + -0.11781272628972615, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.002210999112529167, + "xy_threshold": 0.08, + "gripper_dist": 0.21579768802963065, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611078519963006, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585012770501952, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0879836651538393, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18657257840950692, + "release_required_pad_clearance": 0.053991832576919654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9939578754712866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9d4100c3fe57358c90c8939595a43bde3559cc61c5093b4cca70f6a0eb39a4ab", + "visual_seed": 3950125427724964669, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..110114572674e6c189d98ab7e4509bf782182602 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_87_success.json @@ -0,0 +1,684 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3375378029054181, + -0.11252659199278853, + 1.0517134802510162 + ], + "current_z": 1.0517134802510162, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.19060709144553967, + "gripper_z": 1.0540188993948694, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33343585863557335, + -0.11678681418425876, + 1.0540188993948694 + ], + "object_minus_gripper": [ + 0.004101944269844782, + 0.0042602221914702365, + -0.0023054191438531824 + ], + "object_to_gripper_xy": 0.005914003712681275, + "object_to_gripper_z": -0.0023054191438531824, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3375378029054181, + -0.13640407322754444, + 1.0517134802510162 + ], + "finger_b": [ + 0.32677312059219626, + -0.11252659199278853, + 1.0517134802510162 + ], + "finger_midpoint": [ + 0.33215546174880717, + -0.12446533261016648, + 1.0517134802510162 + ], + "object_minus_finger_midpoint": [ + 0.005382341156610959, + 0.011938740617377958, + 0.0 + ], + "finger_gap": 0.026191840245021206, + "fingertip_max_gap": 0.09448571731636188, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095920122510613, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0517134802510162, + "object_top_z": 1.1031949003768777, + "finger_top_clearance": 0.05148142012586154, + "fingertip_min_top_clearance": 0.015444426037758495, + "object_projection_between_fingers": 0.8310841477697479, + "object_to_finger_line_xy": 0.009813495253771768, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04974285865818094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7220012391979809, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3384775671735458, + -0.11720331420444569, + 1.2441722402184305 + ], + "held_position": [ + 0.34286102178621863, + -0.11324638830912863, + 1.2417778514811242 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0063722079617455, + "max_held_gripper_dist": 0.006381236602501012, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002394388737306352, + "max_held_gripper_z_dist": 0.002406782000790475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08709560012779734, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34286102178621863, + -0.1381700705420509, + 1.2417778514811242 + ], + "held_grasp_finger_b": [ + 0.3345301231922587, + -0.11324638830912863, + 1.2417778514811242 + ], + "held_grasp_midpoint": [ + 0.33869557248923865, + -0.12570822942558976, + 1.2417778514811242 + ], + "held_grasp_object_position": [ + 0.34286102178621863, + -0.11324638830912863, + 1.2417778514811242 + ], + "held_grasp_finger_gap": 0.026279151573643487, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02438039292347, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05979449531128457, + -0.998188572935771, + -0.006647645516865586 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034138720042744207, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03703191173144474, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3143689525338238, + -0.11759217129176713, + 0.7611064180475934 + ], + "target_position": [ + 0.3139545245489975, + -0.11468814827129453, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00293344511761205, + "xy_threshold": 0.08, + "gripper_dist": 0.21431140044880007, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064180475934, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546843892213438, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08632731564456068, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18466092264960693, + "release_required_pad_clearance": 0.053163657822280344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3515920309720797, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c569772cb3fd1dacd9bd8861fbc00fda3077697a80b817feba4e952b60874842", + "visual_seed": 5289642528150093996, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6fb0bdb49471322c1e8d14a432b14fcd32e8279a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_90_success.json @@ -0,0 +1,684 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33296581220950844, + -0.11109203432925208, + 1.049971248243455 + ], + "current_z": 1.049971248243455, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.18886462101939916, + "gripper_z": 1.0524274221728709, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3288053234281303, + -0.11535793871198159, + 1.0524274221728709 + ], + "object_minus_gripper": [ + 0.004160488781378147, + 0.004265904382729516, + -0.0024561739294159946 + ], + "object_to_gripper_xy": 0.005958825983577999, + "object_to_gripper_z": -0.0024561739294159946, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33296581220950844, + -0.13505713499704222, + 1.049971248243455 + ], + "finger_b": [ + 0.322257909520026, + -0.11109203432925208, + 1.049971248243455 + ], + "finger_midpoint": [ + 0.32761186086476723, + -0.12307458466314715, + 1.049971248243455 + ], + "object_minus_finger_midpoint": [ + 0.0053539513447412035, + 0.011982550333895073, + 0.0 + ], + "finger_gap": 0.026248528149683772, + "fingertip_max_gap": 0.09497801939748798, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013124264074841876, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049971248243455, + "object_top_z": 1.1017604317416143, + "finger_top_clearance": 0.05178918349815942, + "fingertip_min_top_clearance": 0.015536755049447841, + "object_projection_between_fingers": 0.833582528317322, + "object_to_finger_line_xy": 0.009776394486996765, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049989009698743994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7636922132828579, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33368695722654845, + -0.1156559229779421, + 1.2433763341009283 + ], + "held_position": [ + 0.3381165014554249, + -0.11167906796285021, + 1.2408428737235289 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006469517707718777, + "max_held_gripper_dist": 0.006477905321104302, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025334603773994324, + "max_held_gripper_z_dist": 0.0025455122438351463, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08731332170841402, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3381165014554249, + -0.13663831987327338, + 1.2408428737235289 + ], + "held_grasp_finger_b": [ + 0.32969862202096717, + -0.11167906796285021, + 1.2408428737235289 + ], + "held_grasp_midpoint": [ + 0.333907561738196, + -0.1241586939180618, + 1.2408428737235289 + ], + "held_grasp_object_position": [ + 0.3381165014554249, + -0.11167906796285021, + 1.2408428737235289 + ], + "held_grasp_finger_gap": 0.026340557133459206, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024441768550936042, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.056692829612006015, + -0.9983873733411778, + -0.002928450697543772 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0034948597842615675, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03702213239015492, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.2989427567228244, + -0.11207142105403277, + 0.7611125824688949 + ], + "target_position": [ + 0.3093543102173819, + -0.11186652475501531, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.010413569448723336, + "xy_threshold": 0.08, + "gripper_dist": 0.20822263614495845, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611125824688949, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549162189727045, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08597664720989044, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1802187230296142, + "release_required_pad_clearance": 0.05298832360494522, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9969611991842279, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "798cc719bc4efdac0ce9ce1a3a146a3c66c9ee90bd2c1904cb36dd9975c8d093", + "visual_seed": 4132638863721366306, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a18ef646f8fae0493458bc1aa62b4b6bd8984109 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_92_success.json @@ -0,0 +1,684 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3339957900509629, + -0.1151606662234221, + 1.050550895154282 + ], + "current_z": 1.050550895154282, + "required_z": 0.8611066868287003, + "initial_z": 0.7611066868287003, + "lift_margin": 0.18944420832558162, + "gripper_z": 1.0531839538934282, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3296196488644134, + -0.11948310397149078, + 1.0531839538934282 + ], + "object_minus_gripper": [ + 0.004376141186549498, + 0.004322437748068689, + -0.002633058739146321 + ], + "object_to_gripper_xy": 0.006150941372712308, + "object_to_gripper_z": -0.002633058739146321, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3339957900509629, + -0.13943292234123747, + 1.050550895154282 + ], + "finger_b": [ + 0.3234258931910208, + -0.1151606662234221, + 1.050550895154282 + ], + "finger_midpoint": [ + 0.32871084162099184, + -0.1272967942823298, + 1.050550895154282 + ], + "object_minus_finger_midpoint": [ + 0.00528494842997107, + 0.012136128058907694, + 0.0 + ], + "finger_gap": 0.02647385760856624, + "fingertip_max_gap": 0.09301526494088022, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013236928804283126, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.050550895154282, + "object_top_z": 1.1009925416600208, + "finger_top_clearance": 0.0504416465057389, + "fingertip_min_top_clearance": 0.01513249395172167, + "object_projection_between_fingers": 0.8405931272894209, + "object_to_finger_line_xy": 0.009690890066598906, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900763247044011, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.693544873114051, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33384480104746234, + -0.118826508595724, + 1.2455759445103742 + ], + "held_position": [ + 0.3383652669002584, + -0.114653597822146, + 1.2428935089623359 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006711427293796654, + "max_held_gripper_dist": 0.006720368319079073, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026824355480383755, + "max_held_gripper_z_dist": 0.002693338059726047, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0864737291031028, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3383652669002584, + -0.13941105140896348, + 1.2428935089623359 + ], + "held_grasp_finger_b": [ + 0.329168321154961, + -0.114653597822146, + 1.2428935089623359 + ], + "held_grasp_midpoint": [ + 0.33376679402760967, + -0.12703232461555475, + 1.2428935089623359 + ], + "held_grasp_object_position": [ + 0.3383652669002584, + -0.114653597822146, + 1.2428935089623359 + ], + "held_grasp_finger_gap": 0.02641051531389281, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02458958219751273, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.017520265666442342, + -0.9997278210982541, + -0.015405324180775448 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.004385064002611553, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03726432603856123, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3123770284661125, + -0.11834332441242601, + 0.7611064087721984 + ], + "target_position": [ + 0.3103453938516759, + -0.11937630341113235, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0022791631837903044, + "xy_threshold": 0.08, + "gripper_dist": 0.21726784429972265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064087721984, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539170842453854, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09032737189117472, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18835160102004744, + "release_required_pad_clearance": 0.05516368594558736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 5.421444581558751, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "498f174080e4c7962bbd9c87140ecc952b97b4e502e668f0fe448ba94282c8a6", + "visual_seed": 6674802481607864952, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..13ec193414043557114a0a97a605bbe93cbb95f6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_93_success.json @@ -0,0 +1,684 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3362191545512659, + -0.11346343020567454, + 1.0519841030077832 + ], + "current_z": 1.0519841030077832, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.19087759499301715, + "gripper_z": 1.0543398893217106, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33191684016034584, + -0.11783839652908128, + 1.0543398893217106 + ], + "object_minus_gripper": [ + 0.004302314390920048, + 0.00437496632340674, + -0.0023557863139274104 + ], + "object_to_gripper_xy": 0.006135979094591248, + "object_to_gripper_z": -0.0023557863139274104, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3362191545512659, + -0.13752009284370148, + 1.0519841030077832 + ], + "finger_b": [ + 0.32535001366306526, + -0.11346343020567454, + 1.0519841030077832 + ], + "finger_midpoint": [ + 0.3307845841071656, + -0.125491761524688, + 1.0519841030077832 + ], + "object_minus_finger_midpoint": [ + 0.005434570444100284, + 0.012028331319013458, + 0.0 + ], + "finger_gap": 0.026398129496754047, + "fingertip_max_gap": 0.0946153958085649, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013199064748377001, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0519841030077832, + "object_top_z": 1.1034054976192165, + "finger_top_clearance": 0.051421394611433247, + "fingertip_min_top_clearance": 0.015426418383430007, + "object_projection_between_fingers": 0.8304709507299702, + "object_to_finger_line_xy": 0.009905067536879, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04980769790428245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.010941400864854, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 213, + "max_stable_success_frames": 213, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33666510762257784, + -0.11796471097387774, + 1.2473875292371026 + ], + "held_position": [ + 0.34123301268477446, + -0.11388462262921065, + 1.2449626445570585 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006587332029664388, + "max_held_gripper_dist": 0.006599805989064726, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0024248846800440926, + "max_held_gripper_z_dist": 0.002439476645633043, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08718721422267237, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34123301268477446, + -0.13887839335042468, + 1.2449626445570585 + ], + "held_grasp_finger_b": [ + 0.3324862467121133, + -0.11388462262921065, + 1.2449626445570585 + ], + "held_grasp_midpoint": [ + 0.33685962969844385, + -0.12638150798981768, + 1.2449626445570585 + ], + "held_grasp_object_position": [ + 0.34123301268477446, + -0.11388462262921065, + 1.2449626445570585 + ], + "held_grasp_finger_gap": 0.026480077225059576, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02457298876159571, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.04517583971718754, + -0.9989741659119938, + -0.003123995243806688 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003804564172820987, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03703861319167252, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3133743002169567, + -0.11078335889333527, + 0.7611063424874882 + ], + "target_position": [ + 0.3125180970119998, + -0.11423685783742499, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00355805268159528, + "xy_threshold": 0.08, + "gripper_dist": 0.21517626294278, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611063424874882, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586956394999579, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08825254222958366, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18614661516003184, + "release_required_pad_clearance": 0.05412627111479183, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2667735560119486, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "db091ae53e611b7cf550b7884b98e60f3cf43fa370fccdbc4c7e3f31582dcb18", + "visual_seed": 7865811220791752784, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f48c020a74d89f1dfcda95a30c33c53c17ecc2c8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_94_success.json @@ -0,0 +1,684 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3396902223278619, + -0.11869453119096725, + 1.0499743894231468 + ], + "current_z": 1.0499743894231468, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.18886788140838084, + "gripper_z": 1.0524355331514572, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33540845739351, + -0.123040754378935, + 1.0524355331514572 + ], + "object_minus_gripper": [ + 0.004281764934351895, + 0.004346223187967749, + -0.002461143728310411 + ], + "object_to_gripper_xy": 0.006101079162957487, + "object_to_gripper_z": -0.002461143728310411, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3396902223278619, + -0.14271347622548397, + 1.0499743894231468 + ], + "finger_b": [ + 0.32881434476072385, + -0.11869453119096725, + 1.0499743894231468 + ], + "finger_midpoint": [ + 0.33425228354429287, + -0.1307040037082256, + 1.0499743894231468 + ], + "object_minus_finger_midpoint": [ + 0.0054379387835690185, + 0.012009472517258354, + 0.0 + ], + "finger_gap": 0.02636654003517549, + "fingertip_max_gap": 0.09562512921026448, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013183270017587739, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499743894231468, + "object_top_z": 1.1021189663911501, + "finger_top_clearance": 0.05214457696800334, + "fingertip_min_top_clearance": 0.015643373090401036, + "object_projection_between_fingers": 0.829853768718532, + "object_to_finger_line_xy": 0.009907523138747843, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05031256460513224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0941300675127206, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3405290683769554, + -0.123851617390081, + 1.2421870444308463 + ], + "held_position": [ + 0.3451049846190229, + -0.119830931566728, + 1.2396313390798874 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.0066057969833660905, + "max_held_gripper_dist": 0.006614827696151442, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0025557053509588368, + "max_held_gripper_z_dist": 0.0025681885567470086, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.0876847283997319, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3451049846190229, + -0.14490328514950437, + 1.2396313390798874 + ], + "held_grasp_finger_b": [ + 0.33675767624877473, + -0.11980962899393553, + 1.2396313390798874 + ], + "held_grasp_midpoint": [ + 0.3409313304338988, + -0.13235645707171995, + 1.2396313390798874 + ], + "held_grasp_object_position": [ + 0.3451049846190229, + -0.119830931566728, + 1.2396313390798874 + ], + "held_grasp_finger_gap": 0.026445588219624328, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.02453985077554397, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.06078619571883638, + -0.9981507573301476, + -0.0003225698130471244 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003404559704521284, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03696418674116957, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3159230720753508, + -0.12574255119788846, + 0.7611062655076648 + ], + "target_position": [ + 0.31590283227517524, + -0.12066227675475794, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.00508031476062619, + "xy_threshold": 0.08, + "gripper_dist": 0.21724114585816826, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611062655076648, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551888866541696, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0861828746517415, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1870321542302202, + "release_required_pad_clearance": 0.05309143732587075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 1.210452089294537, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 190, + "max_placed_release_frames": 190 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7b77993c72086be0b7ace898ee29bbb585097cb17f41af45f8b90f8969e09e41", + "visual_seed": 8296160498739147504, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..eb8b5d9a7cd95dd4f06e37383bc75a65cd88e382 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_96_success.json @@ -0,0 +1,684 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3317967137134396, + -0.10877856250978725, + 1.0499565932787336 + ], + "current_z": 1.0499565932787336, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.1888500852639674, + "gripper_z": 1.0528356089629543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3275508301950813, + -0.113109578794671, + 1.0528356089629543 + ], + "object_minus_gripper": [ + 0.004245883518358307, + 0.004331016284883749, + -0.002879015684220665 + ], + "object_to_gripper_xy": 0.006065082762122454, + "object_to_gripper_z": -0.002879015684220665, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3317967137134396, + -0.13276701750759556, + 1.0499565932787336 + ], + "finger_b": [ + 0.32096099432821995, + -0.10877856250978725, + 1.0499565932787336 + ], + "finger_midpoint": [ + 0.3263788540208298, + -0.1207727900086914, + 1.0499565932787336 + ], + "object_minus_finger_midpoint": [ + 0.005417859692609828, + 0.01199422749890415, + 0.0 + ], + "finger_gap": 0.026322210921142238, + "fingertip_max_gap": 0.09860788539893492, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013161105460571114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0499565932787336, + "object_top_z": 1.102658259604123, + "finger_top_clearance": 0.05270166632538942, + "fingertip_min_top_clearance": 0.01581049989761684, + "object_projection_between_fingers": 0.8305386080590522, + "object_to_finger_line_xy": 0.009875012688711519, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05180394269946746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.773681397709279, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 210, + "max_stable_success_frames": 210, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33195364086361323, + -0.11252714104771704, + 1.244125254974643 + ], + "held_position": [ + 0.3364094407963695, + -0.10841499060173528, + 1.241189467560424 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006736674407497044, + "max_held_gripper_dist": 0.006747948078800953, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.002935787414219071, + "max_held_gripper_z_dist": 0.002957939459577119, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08648408161374524, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3364094407963695, + -0.13318264199292454, + 1.241189467560424 + ], + "held_grasp_finger_b": [ + 0.32743753421520183, + -0.10841499060173528, + 1.241189467560424 + ], + "held_grasp_midpoint": [ + 0.33192348750578565, + -0.12079881629732991, + 1.241189467560424 + ], + "held_grasp_object_position": [ + 0.3364094407963695, + -0.10841499060173528, + 1.241189467560424 + ], + "held_grasp_finger_gap": 0.026342582696779727, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024721356071789196, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.005087011800272885, + -0.9999735491774987, + 0.005198389779597745 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00442336791897788, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03731393183955112, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30214047131467187, + -0.10943718760737021, + 0.7611072768402131 + ], + "target_position": [ + 0.30823033666587896, + -0.11191194738657922, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.006573499521611247, + "xy_threshold": 0.08, + "gripper_dist": 0.21059089207536932, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611072768402131, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545007718729607, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09311196738237802, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.182627252215359, + "release_required_pad_clearance": 0.05655598369118901, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 8.49084874108459, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f79eaf2a2443879acea86a647603720db3068405ab493b41c5f89e8332287fa9", + "visual_seed": 86805031976380555, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..23f64388c8769a8b032286b3bddaf13208333fb0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_98_success.json @@ -0,0 +1,684 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33741518209754306, + -0.11725940341426684, + 1.0509031825245536 + ], + "current_z": 1.0509031825245536, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.18979661490514288, + "gripper_z": 1.0534526359278884, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3332285055007289, + -0.12158042471193106, + 1.0534526359278884 + ], + "object_minus_gripper": [ + 0.004186676596814154, + 0.004321021297664221, + -0.0025494534033347893 + ], + "object_to_gripper_xy": 0.0060166008660355, + "object_to_gripper_z": -0.0025494534033347893, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33741518209754306, + -0.14114155952986465, + 1.0509031825245536 + ], + "finger_b": [ + 0.3265063169643355, + -0.11725940341426684, + 1.0509031825245536 + ], + "finger_midpoint": [ + 0.3319607495309393, + -0.12920048147206575, + 1.0509031825245536 + ], + "object_minus_finger_midpoint": [ + 0.005454432566603773, + 0.011941078057798912, + 0.0 + ], + "finger_gap": 0.026255679751708907, + "fingertip_max_gap": 0.09690279715132313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312783987585446, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0509031825245536, + "object_top_z": 1.103047634600021, + "finger_top_clearance": 0.05214445207546747, + "fingertip_min_top_clearance": 0.015643335622640274, + "object_projection_between_fingers": 0.8273714541953888, + "object_to_finger_line_xy": 0.00992269949279477, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05095139857566157, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 3.005099638629154, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3379532953817342, + -0.12143429556427478, + 1.2457246076294826 + ], + "held_position": [ + 0.34240678724678053, + -0.11739309477580723, + 1.2431093417557246 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006557782338198452, + "max_held_gripper_dist": 0.0065665258135374814, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026152658737579326, + "max_held_gripper_z_dist": 0.0026291438676273593, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08676300271510212, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34240678724678053, + -0.14225168494223547, + 1.2431093417557246 + ], + "held_grasp_finger_b": [ + 0.3336787530847627, + -0.11739309477580723, + 1.2431093417557246 + ], + "held_grasp_midpoint": [ + 0.3380427701657716, + -0.12982238985902134, + 1.2431093417557246 + ], + "held_grasp_object_position": [ + 0.34240678724678053, + -0.11739309477580723, + 1.2431093417557246 + ], + "held_grasp_finger_gap": 0.02634631066004866, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.0245784840843381, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.03074557956161662, + -0.9995270201058628, + 0.0006673947218008847 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00397981681854255, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03716265955918119, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3163287768992448, + -0.11429559622247519, + 0.7611114858823496 + ], + "target_position": [ + 0.3138541360989284, + -0.11874674993608327, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.005092800454834013, + "xy_threshold": 0.08, + "gripper_dist": 0.21827057582416987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611114858823496, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756705148583641, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0935775855132983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1895864740816703, + "release_required_pad_clearance": 0.05678879275664915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 9.014822505390597, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 235, + "max_placed_release_frames": 235 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2f69a03d19e8921c70bfa4bead71adfb9d7d73e43ce0bcc10b84b3987fa8d39", + "visual_seed": 625973970363953731, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a839404ac29cf562bc68fe11e1484be4259824b4 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_99_success.json @@ -0,0 +1,684 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3352610952451792, + -0.11145614755473238, + 1.0508983282409154 + ], + "current_z": 1.0508983282409154, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.18979176062150482, + "gripper_z": 1.0535296445792637, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33088786506952345, + -0.11590324261171439, + 1.0535296445792637 + ], + "object_minus_gripper": [ + 0.004373230175655773, + 0.0044470950569820145, + -0.002631316338348233 + ], + "object_to_gripper_xy": 0.006237130479242846, + "object_to_gripper_z": -0.002631316338348233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3352610952451792, + -0.13542090193901923, + 1.0508983282409154 + ], + "finger_b": [ + 0.3240922086294573, + -0.11145614755473238, + 1.0508983282409154 + ], + "finger_midpoint": [ + 0.32967665193731827, + -0.1234385247468758, + 1.0508983282409154 + ], + "object_minus_finger_midpoint": [ + 0.0055844433078609534, + 0.011982377192143429, + 0.0 + ], + "finger_gap": 0.026439619530811104, + "fingertip_max_gap": 0.09533443801634447, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013219809765405552, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0508983282409154, + "object_top_z": 1.1025207933747903, + "finger_top_clearance": 0.051622465133874806, + "fingertip_min_top_clearance": 0.015486739540162425, + "object_projection_between_fingers": 0.8215529546206195, + "object_to_finger_line_xy": 0.010123429506230616, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.05016721900817224, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4248753184582785, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 212, + "max_stable_success_frames": 212, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3359278690637977, + -0.11634325282161996, + 1.2465281797520187 + ], + "held_position": [ + 0.3406323073024736, + -0.11226432762552456, + 1.2438121199086152 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006793110551861159, + "max_held_gripper_dist": 0.006802426132774757, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0027160598434035066, + "max_held_gripper_z_dist": 0.0027286245265667475, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08739209890419448, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3406323073024736, + -0.1374311358509059, + 1.2438121199086152 + ], + "held_grasp_finger_b": [ + 0.33201849973841707, + -0.11226432762552456, + 1.2438121199086152 + ], + "held_grasp_midpoint": [ + 0.3363254035204454, + -0.12484773173821523, + 1.2438121199086152 + ], + "held_grasp_object_position": [ + 0.3406323073024736, + -0.11226432762552456, + 1.2438121199086152 + ], + "held_grasp_finger_gap": 0.02660011122164192, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024652546678265906, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.055240489902775615, + -0.9984729649860816, + -0.0004758857050874975 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.003605219137176921, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.036918145781195386, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.3106571566082003, + -0.11218885679239941, + 0.7611064501919574 + ], + "target_position": [ + 0.31141113980257756, + -0.11356698330702308, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.0015708988979918816, + "xy_threshold": 0.08, + "gripper_dist": 0.21760936585212057, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611064501919574, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593192523556022, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08763802568221855, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1880519293313608, + "release_required_pad_clearance": 0.05381901284110928, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 2.647347080446131, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 193, + "max_placed_release_frames": 193 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c9a37f06ffb90803b2425d2dd5be5a3d5468aec1a5d3332da8015b9b5bc903f9", + "visual_seed": 159623838666121720, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88d0549d4ca342c0cd5ca015753c2c650f2e3fc1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/episode_9_success.json @@ -0,0 +1,684 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 3, + "total_steps": 3, + "step_accuracy": "3/3", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.33535486133249054, + -0.10849576630689968, + 1.049622822891144 + ], + "current_z": 1.049622822891144, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.18851637448102276, + "gripper_z": 1.0522278719466518, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33090323162819374, + -0.11298752392812149, + 1.0522278719466518 + ], + "object_minus_gripper": [ + 0.0044516297042968, + 0.004491757621221809, + -0.0026050490555078465 + ], + "object_to_gripper_xy": 0.006323993481336126, + "object_to_gripper_z": -0.0026050490555078465, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.33535486133249054, + -0.1324855005140737, + 1.049622822891144 + ], + "finger_b": [ + 0.3240874950812048, + -0.10849576630689968, + 1.049622822891144 + ], + "finger_midpoint": [ + 0.32972117820684765, + -0.12049063341048669, + 1.049622822891144 + ], + "object_minus_finger_midpoint": [ + 0.005633683125642885, + 0.011994867103587006, + 0.0 + ], + "finger_gap": 0.02650397874983052, + "fingertip_max_gap": 0.09708844734404679, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013251989374915266, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.049622822891144, + "object_top_z": 1.1021022132640603, + "finger_top_clearance": 0.05247939037291638, + "fingertip_min_top_clearance": 0.01574381711187493, + "object_projection_between_fingers": 0.8192731522490034, + "object_to_finger_line_xy": 0.010198511104109416, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.051044223672023395, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.890384993854377, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 211, + "max_stable_success_frames": 211, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "shake", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "ShakeSuccessChecker", + "skill": "shake", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33584369792212077, + -0.11325979616897057, + 1.2456102256793355 + ], + "held_position": [ + 0.34064181138263055, + -0.10913564399636747, + 1.242917563702027 + ], + "object_initial_z": 0.7774145980897915, + "required_gripper_z": 0.8974145980897915, + "shake_count": 5, + "held_shake_count": 5, + "effective_shake_count": 5, + "min_shake_count": 3, + "held_gripper_dist": 0.006876114633043485, + "max_held_gripper_dist": 0.0068843186533621235, + "held_gripper_max_dist": 0.15, + "held_gripper_z_dist": 0.0026926619773084415, + "max_held_gripper_z_dist": 0.0027075701087637682, + "held_gripper_z_max_dist": 0.15, + "held_object_xy_range": 0.08759540738362251, + "held_object_min_xy_range": 0.04, + "held_motion_ok": true, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34064181138263055, + -0.13434435344934575, + 1.242917563702027 + ], + "held_grasp_finger_b": [ + 0.3318983032630049, + -0.10913564399636747, + 1.242917563702027 + ], + "held_grasp_midpoint": [ + 0.33627005732281773, + -0.12173999872285661, + 1.242917563702027 + ], + "held_grasp_object_position": [ + 0.34064181138263055, + -0.10913564399636747, + 1.242917563702027 + ], + "held_grasp_finger_gap": 0.026681978309762502, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_a_local_size", + "held_grasp_z_skew": 0.024738926140435043, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.05001920905947013, + -0.9987131450717449, + 0.008374520044087784 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0037373387156562827, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.04972025007009506, + "held_grasp_top_clearance": 0.03691344363932881, + "held_grasp_min_top_clearance": 0.014916075021028518 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "shake", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "shake", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_a", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "beaker_a", + "object_position": [ + 0.30419895133061375, + -0.10727712954605484, + 0.7611095922867157 + ], + "target_position": [ + 0.3114944919812091, + -0.11134466265741551, + 0.7774145980897915 + ], + "target_position_source": "target_key:beaker_a_initial_position", + "xy_dist": 0.008352828203459266, + "xy_threshold": 0.08, + "gripper_dist": 0.21058633635156637, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7611095922867157, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548249498118331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09261387405901626, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18316154452156516, + "release_required_pad_clearance": 0.05630693702950813, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8774145980897915, + "max_z_margin": 0.1, + "object_tilt_deg": 7.91935645949655, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_a", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 7849331405013718693, + "physical_seed": 4845417622841587732, + "layout_id": "layout_00017", + "step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "workflow_spec_digest": "2b420f6ba2744a25b6107e110963dde17e7bc12bfce7f2ebb6a6d37e1fe4729b", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c8631aebea4d3d5d68bc8d5345c922737d2191fefb694f631efcab007bd7d836", + "visual_seed": 25902570965838114, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3030943202933364417, + 4812653209273302290, + 2775566628856368117 + ], + "runtime_workflow_digest": "515218ded65dafd2d82efd0903d986ad4965398cff80ef88639845fae098a23c" + } +} \ No newline at end of file diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..96372fe2a33f45749a707bcad7bb0c4b8caf0bd5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00017/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "fast_2beaker_dual_target_s03_psl_lbk_00017", + "family": "fastfix_v3", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16332e183a193879717bfba3b3dec611d788ba73 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:968d47b82d92cb2bbf9f4197ed26746b6b34d2bc820d7344bc54f76ce4a85b1e +size 4235409 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0fcc409288fb8d08b2eb557eed6dc2e93f3b5469 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dd3aeaa0df86527c4dba46d02a826988511783647485cac8675b566cd74d69d +size 5313018 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..37855275baa06487ae19e0ce2dda8b7cd6a6c531 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b620ec7da61e9445e815e59172288817abdbd62a363872f37c3134621e9eec50 +size 4625758 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d7aadb067cf8edcc96a9d057daa1d9ff4085eed --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c80b2c0277dd90953fe936ebee6bb70949554a00e3fde3c563ff25eb1e182d42 +size 5053847 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ed42e0e681bd031b0e334ef878015576091ff72e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e46bd41bc019c371c70ca6a0e5066465536969c9ee492302084affeb3b84ab3f +size 4239343 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f87180643d954570f65d969429f37cc2d782816b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c58443aa5156ddd64848dac9f4fb3df2c7cd1fb0e931a52c76af2ea3b8352219 +size 3463358 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a78f763cc4d65e76b16d6cc519fd3c9cf126a8f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf88f837d54b2ab2d085f397b37fa3231f4dc85e8d8ea5ce2ecc296350f2487b +size 4088532 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38735bd7497558332df1624b18b7f64bc11bb672 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f98ab5e0a7a8c958b58cb60386d1941620dc8d0ae945fa5d5e5883d338578846 +size 4361552 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c78c1d50978eb26247e19e48ac5b68d06474bac --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6f342cccf8ce719a2995a34a4b75c61e8d55474f767b00052de926cbd0238b5 +size 4685276 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a29d85ed1dab12301cf9069ec18d746ddaf5103a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:953376cb657bc51a4f3fd751c55e1adad02e94f96fab31b45e406fbc5b9db837 +size 3925347 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..edfaf37156bfee4c7605d503a2fcddc4e766e722 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b39e3f7ad4d4738a9d125123e23f5b3042d430d0f4863137cdffc796631a1a23 +size 3939723 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a851f978dd7b45121cb3b6067bb1f9155a123117 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea5c1340d4ed7447ae0062ad6ddb921b08b61cf667bd470f97e4c8675b9f151 +size 3706398 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e553377a407308aa3c2d239ffa71dc8a283c32f1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:245186dd2193287e3859184828974c7056abdeb9c3d20015ed480cd97661d70a +size 5286245 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f2cb2b1d74bb27a561e62b354505af63e17a7e8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d80e4b8b0d3027162da7c826d9d9bd21ab52ffc5cf327154ab4eab8e98efbe0 +size 5193384 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f6d0205deac044ec33036075b863af5ad5d474c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5db84a90c716a0b6a5c7efcbf02cd6df7175392a681640d0de168bea5e5e777e +size 4742750 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5bce883401792b78c0eb8498e9e0aca86a76da3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13279ecf9e17ee4b8fbfd520beaed65b816f0d1fb5d7ebda14b44021c9419a6b +size 4022286 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6d404ad35850ea35fb3a52835352249e82b18d05 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cfdc3a62839fd622729d6293ff089733ee8145883b244616bf3a937f4a99a4d +size 6150465 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b922f9b259a38e83b5750567e91a9c08acd6591b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b774f456ee083b77e388f793989eab2cda5451937c492415b50e994102f27d7 +size 3921279 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..52729e753e7105f3f49e18359d510787356b3004 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bd8236ebe562cbbf2442c4a1221e193d0d5ccba6ba09fc35859d6468e629143 +size 4691160 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62f775fedd1967473aa9c26a457cdeffa05f5fe9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:335e92d35c3259d36d298a42f53b918093966a939ec5aa2e59bb6389d0dcaee7 +size 4708284 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a075669f571283c1560c9751bed175b231e520e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5be9a11e71f453b50c706d08bd847a501f761e141a4489808922aa55dde201e2 +size 5445737 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..032f5c9e6939520134e4e1744aa5776b53e38ea1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2302c6fc3727ece24f98223301c16da3395a32c78267b11123f44409fe03d818 +size 4702721 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abec0dfd1a1605f2458c6bd5d6cc03bdf3a7e833 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f07d3d58ce4958fe558ef23beaec619f56e4cb9cb429852b03aa5bb3d75c93 +size 4324103 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ecd4aa9ac40fa39b49c50a5be3b2e5cafa94ad81 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c4982f0cbe995da91b762509447633d8d716632ce70be072a6060a0040159bb +size 5200586 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5472ab816a8997bd7f12266e3e3b8e56870476a8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b0ef9170bd15194d6c40b6888f3c5137244d671b01d40ee9cd88577e5d944c1 +size 4059589 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bce3c29b1d5bfe83fcc4ba2cc3f251335e3f655e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1436de4c4089b80b53d124c9b66d9b17a280d3d4e201f061eb5195459dc16e98 +size 4714477 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f3f62ef389f14c7972b5df7c0df74ac75e2a1fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07bc3d6a07c85a8edabdc667066e314bcdb33451f999fd63e6d1816b3cf74762 +size 6079828 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7a9e586cc05d22bc3da7511758adbd83862fd55f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29c52d27606fe7359dc03e3ec6d9410916d3af4a2997c61bc815001692c8d1e1 +size 3861205 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5dcc4e0dac5ec65bd114c6055101c0f100f02caa --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8968eabceff6ee6812b55baf7a0c47eace7ff19806a3184fab7ee265f104a03 +size 3508493 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e514bf52bdb5c93d994539bab3f6263cde64d25e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3743b687bfdbe6a6bf88cb839665e03b8ddf4049424b5b3f14752ae37f6309f +size 4433566 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e3eaed2b210e2e87719f88950e62b38e1a154401 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f5e2981f741ed650acaf5313683d286e2fe33c3f168a8e07374337215fc180a +size 4060551 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..87d91ae2e24b7abedeeddb001d24e4cc46b304dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92769ab3dfd523ac39db47ddd04b801addfac139f5428699c4a3e7c3fe0bc6dc +size 4777427 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ff78f83703a767ed4dff916a3b2371d10e089d94 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:576d0ffe8619f52ec71aafca65fe25af6a5eecc6cae99cfc9dc444cdedd2ec23 +size 4220428 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7d28b701dbd481fcc778a9640babe58cf0196a8a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:446fe195c2c82bae6f052f4b72276510736836f6180996bbbbe5862a36acf391 +size 4258184 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cb4932114bda096f2796e79d0dce9a2f38a82815 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dd1cd1660363828d119f5e79baa7d0c19ea1722c99296204d07b87757dc5d83 +size 4836280 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0017268af06a7bd262c49d31a2a3b7bfc48bde80 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66f9a18475c8d223c22997b2c50d8708868060aa5e1124bda8b02fd8ae162c46 +size 4019448 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1edf7619ca9a047fe953c1d0c8e779c5b0e1b393 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85f1b25d2f00fbd0d0b86b97734db1c3641cf48c2c590bdf6812bb30ee409363 +size 4922727 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e74086b55da6e4b89d2d1b25f7ccdd36f966acf5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d2cfcc8f1a4afa9cdfe46543ea965a6d48e6b228279619a835f21b5f6edd8d2 +size 6061890 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..822d422b0b154c7d4c6646aedccb089da917c366 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de9083fd9353aa1580b2bb0fe26cf850d0dda2b7390bb80510e59a9fb560ff49 +size 4433784 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..70934e45f06bfd0bf23a4a6f3d2590bfc9a80532 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50d10b640e79e65014a7a2351fca0d82b4cb35bb4e90909fd6c4a47750e0ffdb +size 3902569 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..60bb9714fa34abc43c2f965fcf34f3b162165fc8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89878e0ed3944ea63234eea2fafffe611da44383682f6075131119f3587df16d +size 5386112 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..352c4963c9aca5bf370096a2a0010f39394bd8c5 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d711400e2594769942baa4790e66a3e39a6976a3cbf6aceae907d7c3ea12a0c3 +size 4304721 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5c2e82ee183f091e06a12c1b8e4241dc05ab782 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c49acbeb5221c489a70b0ed28dfc9991e8598ee72d9264689b40c4d706b3b3e7 +size 6015344 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..869ae835610197a9139dced3be1fad41aa044e3a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7fd624b910c5b6512e300188643e147bdf35860e16adcd7c07e14eb6eb2f34 +size 5130523 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..991b7d506ada2c78e099d63725a15fc447d02c69 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a2d6e7300e1829fdc6db8500ad29ac626ed83e1a3f41ce39195ad529cb8631c +size 3591654 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..57a977f435f9279308742c1cbaf8d724cf4c43ad --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b4215db6225776e14b6194ddbce098bda43e6a225ab39b8ac930ce41905c96 +size 4360556 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0084f985d8d207e7f9dc1bc57bd0a3bf6953515e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:527d751ed8d41447b06fec28b459882e6f7b6608310d08029b553fc5c325d912 +size 4228942 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d622082d7f83784e8697331d1ee79b88c3e06636 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4cee7d77ba54b0f0e5c84a4902da32efaea96e4eeb462ca0da1c6309a9a0398 +size 4880213 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1430197d4dd2ea98e4ba33a8028d264bde1d84d1 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d95f525a8ccd5eefc4338643e6bacf95a4d4ea3ac54d4eb4616904b101a2c309 +size 4650163 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bba9b5de6d7d387605a7099fe0fb5aa4641f12dc --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f7dc40659b19e90914890affcfd065975dc862888d454c2477374536a18e71d +size 4813689 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c23af21976423b24861b6b32eb4818ae13190e55 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac2be13d9457020f9a6c166b7a6a4304c7954dbabbd61d67aa72b175ad0fa1c8 +size 5649963 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bbfdf71bc5aa674563a72c70546f7b984a2c2d91 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:078ce557f2e473bc2f66c9952508870c80fa03c0ce0d08d70b2502c081135ddf +size 5178402 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ae9c34322d4d0fe865006fdfae7b58b40eecb997 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae3f43673abcadeb03ca46673613e5bf0f4b0a3f4dd7cf11e2dc5247a6d6cbb8 +size 5278891 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f3c04eef579cfb2b4d32ad3fb6598f20a1feee7f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b1e2bdb6e2e5f6c234c81fd427c22c5eeccdeb7f30be17e4f32531b5521b611 +size 6037554 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..538eac36eb3e0f7332f3181ca0a2bb52ef848611 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24100b0e39c66a1ee847fdae630684777e708e942947424afa2345259e04f17c +size 4749346 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0103.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cab777cf4bd035a398abc13bd3983ba86ef4f042 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0103.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61da1e1b5a91b5b71b982dc95477c05be14b96ce2c678db71da9f9bcf87b6b71 +size 4035732 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0104.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d318033bb130818a085b5f73f9ee221581b19525 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0104.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f935615f370a011e8d916c3adc6a7b7c06809b144716c8cd6780dd302fc103c +size 5316214 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0108.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9229105a31ab30363155e20972cc42bdef23704e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0108.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:022b39129bf170a52b688150a876ca89d20d09b070542c2a1ad76f0616c11ecd +size 4626399 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0109.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0109.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3df4beb34b3465bfa22af9a80dc02703240284b3 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0109.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:201269c7d7695aaaf278a13db913335e542a74cb1a1dc4358bfd7d0e0834bef2 +size 5208006 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0110.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8791ca67ade17c710539b223eabf2499875b5226 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0110.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e01ceefae5bc752917cd8a006b7a10796020331e0b6402324e9ca11f00d55d80 +size 3864619 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0111.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1cfca2231ce7c8d8b3a8cc406bf551fb7e242efe --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0111.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfcfdcd5f878c5c2a8a20e5d58c9795a4d25f7ac54eaf08a419409d01dc77515 +size 4532472 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0112.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0112.h5 new file mode 100644 index 0000000000000000000000000000000000000000..288bab81f1c0b7f12432a5d15ef13ac4a2890630 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0112.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b55b73c8be59a8d7f55a5bc325c9ce3ab686f6195ffd26848f181c914bd83de9 +size 4915403 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0114.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3acd93e9e54ce9a5cabc18182334ada646d3038d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0114.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c7119234160efe3412fe614f38dc58e881cb52d76e017fa88023a9285b6f2f1 +size 4113959 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0116.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0116.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab8549aae15234d22306a53c198f93204c2eec1d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0116.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865393768bd72bcafed86f7c6932619ddc7866ec937c4da51e8685ccf737ad8d +size 5405198 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0117.h5 new file mode 100644 index 0000000000000000000000000000000000000000..36b5936ff7d31d91382c1010d55f35dea0f0d31f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0117.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93c29f4b748ded33de0de5936526198f0c694294de3e65377cfbf45a4be4247a +size 4625120 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0123.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0123.h5 new file mode 100644 index 0000000000000000000000000000000000000000..54ef397823d3208445c8db50d1800d8812a14c4a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0123.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5f1cc504cd59af1bca03e53fca5d5717a553be34ece6b105cd93c678b187646 +size 5235573 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0124.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b49b7243827dec4d46d5e991318b94e9094f2486 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0124.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a041d4d06c370ce65770be537983c4f3318237b32be76135efe44256e2c51cc5 +size 4496322 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0129.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0129.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1736a258b58b6a810791aa9ee936cc72309cb4e6 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0129.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aad82fcc80f2d13898d8cadb5bf55f7eccd2e5c6e5a9220d89633fb531715701 +size 6125860 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0130.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e7fbb01dd1dc2bde6732d86926874ead34d5e3fd --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0130.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01de2e79fdfef535a63c0b8b38d35040ec52888d40d3baf6c8b455c44944ad03 +size 4924654 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0131.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0131.h5 new file mode 100644 index 0000000000000000000000000000000000000000..302e10ec95f4725fb8616ac95f652864336ada2a --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0131.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52f70c658c506ffbe547e0f940690fc3f162dce481e5f4c987f19875e1514f62 +size 4665037 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0133.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0133.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5a9851121ab41e185a37de988025f161dabf6f3d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0133.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12709e9b591fe2b8e0f3f88a0b093bffbd7ca7f2c87c664ec0d35b90a45aa875 +size 4530789 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0134.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0134.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6a94f3f619efbc3d867a480c22a1492ceeb5983c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0134.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:164f8f01d7a548d37563fe6d3eb37ec0ee9fff2aeb304f01d10c5ece152a3878 +size 4154189 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0135.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0135.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cce69f47efc326eb045cb5469e422626cba3c148 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0135.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b38e3f80d6b0fb52480ee330bccfcd2448a424ecb9e9d9143ff0c8cdc1f21be8 +size 5041669 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0137.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0137.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b972b9867402c8c8a8a52dde4ce3b6f1288da861 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0137.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b65ad515c45e42f267d233b84a49e37a7d46845c6cde80db263ee424d6d734a +size 3964641 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0138.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0138.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6bf47a13fe75295e3be77534be3059d5432ee71b --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0138.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed946ec3fec9a51fa1577431c86be9f01aa21ffb4b7316519482240f54168b7a +size 5082996 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0143.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0143.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7373d1a93c8ebc28f012caf1838d0aa35cff3eb8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0143.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb23132a3918d346765243f8f34e9564401d18afac3579e4363751fa118d805 +size 5185988 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0144.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0144.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5f121d5cc446e964d54f411820b647ec13b599c0 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0144.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5de13c641cded04daadd105b5a6cec4c43e49d9a4fc5a48e814f7601def1b968 +size 5952363 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0145.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0145.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b550325db2f8f3d7d3f29096936641454f0deb1e --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0145.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063296cf8334baeb9d539877f69eb8a57e2bfc0419ee819c256ae201c85fff4f +size 4683552 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0149.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0149.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d83df713d1ab02cb159f1cef770bea1b40661c7c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0149.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ca40d4a1a3c1f0a1537dbf2262ee0494b907119f720d07d18a86e84ad7e20ec +size 6488923 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0150.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0150.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6ad8b120349d12b908fca15d3a9d6a22c3a1ac7c --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0150.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d998474c6eff033224987e99485aec99cbf25f064e682e9fe1ad8da8e87363a +size 5445957 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0151.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0151.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0d4bad0c9d2565c1642f55d216dbcb49bdfc66d8 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0151.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49cffd67c3e4b23e87911b033400c21a8a04dfbfeab8ff6826437752a05c34a8 +size 5488719 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0153.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1667270240d9ad314b500e94eae13323d82565f9 --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0153.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:259ac305bc90ec5aa8fb972c46fc8ead203607fc225f7afa22b2a261cd1fdb96 +size 5150827 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0154.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0154.h5 new file mode 100644 index 0000000000000000000000000000000000000000..865837ebd6073eed7d2f0f6d7c3cc5cdbd34791f --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0154.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fcdea0b69211af3c63017ef42df797eafe4522638c848211724575d18ad429a +size 5231481 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0155.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4dc1f9809820e1bdaa71befc0f0cf5cf26703eda --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0155.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c96bbd834bddeb7c6983fc63bb9010e7d36cf43202f9c1eae0b3d41f0221785 +size 4476159 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0156.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0156.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e86af2a15dca59dfc3846cc39b6e5ba2f60dd03d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0156.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7895f4584247e1336e874b5de42cee1f14bfde4ea39910f50dfc76336cf885c0 +size 5076240 diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0157.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0157.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8555cf4b2b19e4206e0f6f6b78b86ffe369daf4d --- /dev/null +++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_lbk_00018/dataset/episode_0157.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b755dc66f6a49315f30a7d8a8817c48e86f84c296fbec417b37f6a45cb80555 +size 4588698